CN105974790B - A kind of magnetic suspension micro-vibration control system based on flux density feedback - Google Patents
A kind of magnetic suspension micro-vibration control system based on flux density feedback Download PDFInfo
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- CN105974790B CN105974790B CN201610364302.6A CN201610364302A CN105974790B CN 105974790 B CN105974790 B CN 105974790B CN 201610364302 A CN201610364302 A CN 201610364302A CN 105974790 B CN105974790 B CN 105974790B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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Abstract
A kind of magnetic suspension micro-vibration control system based on flux density feedback of the present invention, including detection module, processor module and linear power amplification module；The detection module includes flux density detection unit, current detecting unit and rotor-position solving unit；The processor module is completed to suspend and adaptive Vibration Active Control operation；The linear power amplification module selects linear Integrated power amplifier chips, drives magnetic bearing winding, realizes that rotor micro-vibration suspends and controls.Present system can not only suspend and control magnetic suspension rotor, realize that the institute of traditional control system is functional, and have the characteristics that small rotor axial size, the same position of detection/control, to have vibration detection function, micro-vibration control with high accuracy, is very suitable to the application of super magnetostatic suspending flywheel micro-vibration control.
Description
Technical field
The present invention relates to a kind of magnetic suspension micro-vibration control system, be suitable for magnetically levitated flywheel/control-moment gyro into
The control of row micro-vibration has the function of that rotor axial size is small, detection/control is total to position, have vibration detection and control is with high accuracy
Feature.
Background technique
Magnetic bearing is as a kind of non-contact bearing, compared with mechanical bearing, have without abrasion, can Vibration Active Control etc. it is excellent
Point has positive effect to improving attitude control system of the spacecraft service life, reducing ontology vibration.
Use active magnetic bearing that there is Vibration Active Control ability as the magnetic suspension system of bearing, this function is very suitable
It shares in the inertia actuator of magnetic suspension bearing, to reduce vibration on this transmission link of magnetic suspension bearing system.
(room is built up, Feng Rui, the Sudan, and a kind of amount of unbalance of magnetic suspension rotating machinery of is waited to recognize and vibration suppression control system
CN201310367769.2), (Cui Peiling, Zhao Guangzai, room are built up, and wait magnetic bearing unbalance vibration of the based on phase shift trapper complete
Frequency self adaptive control [J] vibration and impact, 2015,34 (20): 16-20) it is all made of the micro-vibration controlling party of magnetic force estimation trap
Method.
Method as above detects rotor-position using position sensor, needs individual position detection face.This is not only increased
Rotor axial size can also lead to the problem of detection/control dystopy.
Meanwhile method as above does not have vibration force detection function, the intended vibratory of micro-vibration control is needed according to rotor displacement
Estimation acquisition is carried out with winding current.Nonlinearity erron, the power amplifier saturation nonlinearity of rotor displacement/winding current to electromagnetic force miss
Magnetic bearing eddy current effect when difference, high speed rotation, in addition detection/control dystopy error, influences the estimated accuracy of intended vibratory,
Greatly reduce micro-vibration control precision.
Summary of the invention
Technical problem solved by the present invention is overcoming the deficiencies of the prior art and provide a kind of magnetcisuspension based on flux density feedback
Floating micro-vibration control system, the system can not only suspend and control magnetic suspension rotor, realize that the institute of traditional control system is functional,
And has the function of small rotor axial size, the same position of detection/control, has vibration detection, micro-vibration control spy with high accuracy
Point is very suitable to the application of super magnetostatic suspending flywheel micro-vibration control.
The technical scheme is that a kind of magnetic suspension micro-vibration control system based on flux density feedback, including detection mould
Block, processor module and linear power amplification module；The detection module includes flux density detection unit, current detecting unit and rotor
Position solving unit；The processor module is completed to suspend and adaptive Vibration Active Control operation；The Linear Power Amplifier
Module selects linear Integrated power amplifier chips, drives magnetic bearing winding, realizes that rotor micro-vibration suspends and controls.
The current detecting unit includes resistance, the first instrument and meter amplifying circuit, the first low-pass filter circuit and
One tuningout circuit；The series resistance on magnetic bearing winding, with the first instrument and meter amplifying circuit detection resistance both end voltage；Survey
The voltage signal obtained is sent into the first low-pass filter circuit, carries out signal hardware filtering；By the first tuningout circuit to being filtered
Voltage signal carries out tuningout processing, obtains magnetic bearing winding current signal；
Flux density detection unit includes flux density probe, the second instrument and meter amplifying circuit, the second low-pass filter circuit and second
Tuningout circuit；It by flux density probe placement in the magnetic gap of magnetic bearing, is popped one's head in and is powered to flux density using constant-current source, flux density probe is defeated
Signal is sent into the second low-pass filter circuit after the amplification of instrument second instrument amplifying circuit out, carries out signal hardware filtering, leads to
It crosses the second tuningout circuit and tuningout processing is carried out to the signal being filtered, obtain magnetic bearing air gap flux density signal；
Rotor-position solving unit includes divider, third low-pass filter circuit and third tuningout circuit；After tuningout
Magnetic bearing winding current signal and magnetic bearing air gap flux density signal access divider carry out division arithmetic, obtain magnetic bearing air gap letter
Number；Magnetic bearing air gap signal is sent into third low-pass filter circuit, signal hardware filtering is carried out, by third tuningout circuit to filter
The complete signal of wave carries out tuningout processing, obtains rotor-position signal.
The processor module includes suspension control unit and Vibration Active Control unit；The suspension control unit
Including AD collector, PID controller, forward direction proportional amplifier and backward proportional amplifier；AD collector is by collected rotor
Position signal compared with magnetic bearing center relatively after, obtain location error and be sent into PID controller to carry out operation, before output
To control amount；AD collector, to proportional amplifier, will obtain flux density ring feedback quantity after the flux density signal feeding of acquisition；By preceding to control
Suspension control amount is obtained to proportional amplifier before feeding after amount processed is added with flux density ring feedback quantity；
Vibration Active Control unit by flux density ring feedback quantity multiplied by amplitude gain coefficient A after, divide two-way respectively correspond multiplied by
With revolving speed with frequency just, cosine function, later be sent into integrator carry out Integral Processing, then and band phase bias coefficient's
Just, cosine function is multiplied respectively；Two-way calculated value is added to obtain vibration control amount；Vibration control amount is added with suspension control amount
It obtains total control amount and is sent into linear power amplification module.
Total control amount is carried out digital-to-analogue conversion by the linear power amplification module, is obtained simulation control amount, is sent into Linear Power Amplifier
In chip, electric current is controlled to needed for the offer of magnetic bearing winding, realizes that rotor micro-vibration suspends and controls.
Beneficial effects of the present invention: the present invention resolves rotor-position using magnetic bearing air gap flux density and winding current, saves
Special position sensor and position detection face, so that rotor axial size becomes smaller, while realizing the same position of detection/control.With
Flux density sensor measures magnetic bearing flux density, directly characterizes rotor vibration force, has vibration detection function, eliminates estimation and misses
Difference improves micro-vibration control precision.
Detailed description of the invention
Fig. 1 is that flux density feeds back magnetic suspension micro-vibration control system function composition schematic diagram；
Fig. 2 is detection module structural block diagram；
Fig. 3 is processor module structural block diagram；
Fig. 4 is global self adaptive control block diagram；
Fig. 5 is linear power amplification module block diagram；
Fig. 6 is the magnetic suspension system vibration force size variation figure fed back before and after micro-vibration control method using flux density.
Specific embodiment
Control object of the invention is magnetic suspension rotor, and rotor is made of wheel disc and shaft, the magnetic control that magnetic bearing provides
Rotor suspension processed.Because of reasons such as material unevenness, process and assemble errors, the axes of inertia and rotary shaft when rotor rotates are inconsistent, lead
It causes to exist with revolving speed between magnetic bearing and rotor with the interaction force of frequency.This active force is transmitted on satellite body, makes its production
Raw vibration, influences satellite performance.
As shown in Figure 1, the invention mainly comprises three modules: (1) detection module, including the inspection of flux density detection unit, electric current
Unit and rotor-position solving unit are surveyed, magnetic bearing flux density, winding current and rotor position information are obtained；(2) processor module,
Including suspension control unit and Vibration Active Control unit, the operation of suspension control method and Vibration Active Control method is completed；
(3) linear power amplification module selects linear Integrated power amplifier chips, drives magnetic bearing winding, realizes that rotor micro-vibration suspends and controls.
It describes in detail below to each module.
1, detection module
As shown in Fig. 2, being detection module structural schematic diagram.It mainly include current detecting unit, flux density detection unit, rotor
Position solving unit.
1.1 current detecting unit
The current detecting unit includes resistance, the first instrument and meter amplifying circuit, the first low-pass filter circuit and
One tuningout circuit；The series resistance on magnetic bearing winding, with the first instrument and meter amplifying circuit detection resistance both end voltage；Survey
The voltage signal obtained is sent into the first low-pass filter circuit, carries out signal hardware filtering；By the first tuningout circuit to being filtered
Voltage signal carries out tuningout processing, obtains magnetic bearing winding current signal；
1.2 flux density detection units
Flux density detection unit includes flux density probe, the second instrument and meter amplifying circuit, the second low-pass filter circuit and second
Tuningout circuit；It by flux density probe placement in the magnetic gap of magnetic bearing, is popped one's head in and is powered to flux density using constant-current source, flux density probe is defeated
Signal is sent into the second low-pass filter circuit after the amplification of instrument second instrument amplifying circuit out, carries out signal hardware filtering, leads to
It crosses the second tuningout circuit and tuningout processing is carried out to the signal being filtered, obtain magnetic bearing air gap flux density signal；
1.3 rotor-position solving units
Being displaced solving unit includes divider, third low-pass filter circuit and third tuningout circuit；By the magnetic axis after tuningout
It holds winding current signal and magnetic bearing air gap flux density signal access divider carries out division arithmetic, obtain magnetic bearing air gap signal；
Magnetic bearing air gap signal is sent into third low-pass filter circuit, signal hardware filtering is carried out, by third tuningout circuit to filtering
Complete signal carries out tuningout processing, obtains rotor-position signal.
2, processor module
As shown in figure 3, the processor module includes suspension control unit and Vibration Active Control unit；
2.1 suspension control units
As shown in figure 4, the suspension control unit includes AD collector, PID controller, forward direction proportional amplifier and backward
Proportional amplifier；AD collector by collected rotor-position signal compared with magnetic bearing center relatively after, obtain position mistake
Difference is simultaneously sent into PID controller and carries out operation, to control amount before output；AD collector the flux density signal of acquisition is sent into after to than
Example amplifier, obtains flux density ring feedback quantity；By it is preceding be added to control amount with flux density ring feedback quantity after be sent into before to proportional amplifier,
Obtain suspension control amount；
2.2 Vibration Active Control units
As shown in figure 5, the Vibration Active Control unit by flux density ring feedback quantity multiplied by amplitude gain coefficient A after, be divided to two
Road respectively multiplied by with revolving speed with frequency just, cosine function, be sent into integrator carry out Integral Processing, then and band phase bias coefficientJust, cosine function be multiplied；Two-way calculated value is added to obtain vibration control amount.Vibration control amount is added with suspension control amount
It obtains total control amount and is sent into linear power amplification module.Adjustment parameter A andVibration Active Control algorithm may be implemented in global model
Enclose interior stabilization.
3, linear power amplification module
As shown in fig. 6, total control amount is carried out digital-to-analogue conversion by the linear power amplification module, simulation control amount is obtained, is sent
Enter in Linear Power Amplifier chip, control electric current to needed for the offer of magnetic bearing winding, realizes that rotor micro-vibration suspends and control.To reduce function
Place system interferes the switch of sensing system, and power amplification unit selects linear power chip.DSP controls the number having been calculated
Amount processed is transmitted to DA chip.Digital control amount is converted into simulation control amount by DA, is sent into Linear Power Amplifier chip, and magnetic bearing winding is given
Electric current is provided needed for providing.Suspension rotor
Embodiment 1
(1) function: the suspension control of super magnetostatic suspending flywheel realizes that the micro-vibration of magnetically levitated flywheel controls, vibration force <
0.2N.Displacement sensor and special detection faces are not needed.
(2) flux density sensor: GaAs ultrathin flexible flux density sensor, thickness < 0.2mm, supply current 10mA.
(3) divider: the AD734 chip of AD company is selected.
(4) low-pass filter: Signal Pretreatment low-pass filter of the present invention selects second order Butterworth filter, cutoff frequency
Rate is 3kHz.
(5) instrument amplifier: the AD623 chip of AD company is selected
(6) TI company's T MS28335F, 150M floating-point operation ability DSP: are selected.
(7) DA: TLV5614 is selected.
(8) Linear Power Amplifier chip: OPA541 is selected.
(9) AD: 12 A/D modules for selecting TMS28335F included.
(10) Fig. 6 is to be added at the 2nd second micro- using the magnetic suspension system vibration force variation diagram before and after micro-vibration control method
Vibration control method, vibration force quickly fall to 0.4N from 45N.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (3)
1. a kind of magnetic suspension micro-vibration control system based on flux density feedback, it is characterised in that: including detection module, processor die
Block and linear power amplification module；The detection module includes that flux density detection unit, current detecting unit and rotor-position resolve list
Member；The processor module is completed to suspend and adaptive Vibration Active Control operation；The linear power amplification module selects line
Property integrated amplifier chip, drive magnetic bearing winding, realize rotor micro-vibration suspend control；The current detecting unit includes electricity
Resistance, the first instrument and meter amplifying circuit, the first low-pass filter circuit and the first tuningout circuit；The series electrical on magnetic bearing winding
Resistance, with the first instrument and meter amplifying circuit detection resistance both end voltage；The voltage signal measured is sent into the first low-pass filtering electricity
Road carries out signal hardware filtering；Tuningout processing is carried out to the voltage signal being filtered by the first tuningout circuit, obtains magnetic bearing
Winding current signal；
Flux density detection unit includes flux density probe, the second instrument and meter amplifying circuit, the second low-pass filter circuit and the second tuningout
Circuit；By flux density probe placement in the magnetic gap of magnetic bearing, is popped one's head in and powered to flux density using constant-current source, flux density probe output letter
Number after the amplification of instrument second instrument amplifying circuit, it is sent into the second low-pass filter circuit, carries out signal hardware filtering, by the
Two tuningout circuits carry out tuningout processing to the signal being filtered, and obtain magnetic bearing air gap flux density signal；
Rotor-position solving unit includes divider, third low-pass filter circuit and third tuningout circuit；By the magnetic axis after tuningout
It holds winding current signal and magnetic bearing air gap flux density signal access divider carries out division arithmetic, obtain magnetic bearing air gap signal；
Magnetic bearing air gap signal is sent into third low-pass filter circuit, signal hardware filtering is carried out, by third tuningout circuit to filtering
Complete signal carries out tuningout processing, obtains rotor-position signal.
2. a kind of magnetic suspension micro-vibration control system based on flux density feedback according to claim 1, it is characterised in that: institute
The processor module stated includes suspension control unit and Vibration Active Control unit；The suspension control unit includes AD acquisition
Device, PID controller, forward direction proportional amplifier and backward proportional amplifier；AD collector by collected rotor-position signal with
It after magnetic bearing center is compared relatively, obtains location error and is sent into PID controller to carry out operation, to control amount before output；
AD collector, to proportional amplifier, will obtain flux density ring feedback quantity after the flux density signal feeding of acquisition；By preceding to control amount and magnetic
Suspension control amount is obtained to proportional amplifier before feeding after close ring feedback quantity is added；
Vibration Active Control unit by flux density ring feedback quantity multiplied by amplitude gain coefficient A after, divide two-way respectively correspond multiplied by with turn
Speed with frequency just, cosine function, later be sent into integrator carry out Integral Processing, then and band phase bias coefficientJust, it is remaining
String function is multiplied respectively；Two-way calculated value is added to obtain vibration control amount；Vibration control amount is added to obtain with suspension control amount
Total control amount is simultaneously sent into linear power amplification module.
3. a kind of magnetic suspension micro-vibration control system based on flux density feedback according to claim 1, it is characterised in that: institute
Total control amount is carried out digital-to-analogue conversion by the linear power amplification module stated, and is obtained simulation control amount, is sent into Linear Power Amplifier chip, gives magnetic
Bearing winding controls electric current needed for providing, and realizes the suspension control of rotor micro-vibration.
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| CN107491109B (en) * | 2017-08-04 | 2019-10-11 | 南京航空航天大学 | Magnetically levitated flywheel multiple-frequency vibration power suppressing method based on modified multi-resonant controller |
| CN108710287B (en) * | 2018-04-17 | 2021-07-20 | 同济大学 | On-bridge suspension control system and method based on feedforward principle |
| CN110034630B (en) * | 2019-03-27 | 2020-02-21 | 微控物理储能研究开发（深圳）有限公司 | Starting and stopping control method and device of flywheel energy storage device based on magnetic suspension bearing |
| CN111933593A (en) * | 2020-10-12 | 2020-11-13 | 山东天瑞重工有限公司 | Magnetic bearing power amplification module |
| CN113125073B (en) * | 2021-04-21 | 2022-10-14 | 北京控制工程研究所 | Online dynamic balance system and method for detection control rotor fixed magnetic suspension rotary joint |
| CN114904665B (en) * | 2022-04-20 | 2023-06-13 | 珠海格力电器股份有限公司 | Anti-surge control method and device for magnetic suspension centrifuge and storage medium |
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