CN109185337A - A kind of real-time control system and motorized spindle supported with AMB system of motorized spindle supported with AMB - Google Patents
A kind of real-time control system and motorized spindle supported with AMB system of motorized spindle supported with AMB Download PDFInfo
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- CN109185337A CN109185337A CN201811132623.9A CN201811132623A CN109185337A CN 109185337 A CN109185337 A CN 109185337A CN 201811132623 A CN201811132623 A CN 201811132623A CN 109185337 A CN109185337 A CN 109185337A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a kind of real-time control system of motorized spindle supported with AMB and motorized spindle supported with AMB systems, comprising: upper debugging machine and control circuit；Control circuit includes controller, electric current drive module, current sensor and sampling module；The input terminal of current sensor is used to acquire the coil current of motorized spindle supported with AMB；The first input end of sampling module is connected to the output end of current sensor, and the second input terminal is used to acquire the position signal of motorized spindle supported with AMB；The input terminal of controller is connected to the output end of sampling module, and parameter input end is connected to the parameter output of upper debugging machine, and state output end is connected to the state output terminal of upper debugging machine；The input terminal of electric current drive module is connected to the output end of controller, and output end is used to drive the coil of motorized spindle supported with AMB.The present invention can be improved the real-time and reliability of control, and realize the on-line testing and adjusting of parameter inside the control system, while guaranteeing that cost is not too high.
Description
Technical field
The invention belongs to magnetic suspension bearing control technology and machine tool spindle fields, more particularly, to a kind of magnetcisuspension
The real-time control system and motorized spindle supported with AMB system of floating electro spindle.
Background technique
Magnetic suspension bearing is by rotor or axis stable suspersion using controllable electric magneticaction in the novel high property of one kind in space
Energy bearing does not contact between magnetic suspension bearing relative motion surface compared with traditional bearing, and rotor can run to very high
Revolving speed, while having many advantages, such as without friction, without lubrication, low in energy consumption, cleanliness without any pollution, therefore be widely used in mechanical industry
Field, such as the various high-speed rotating machines of all kinds of lathes, turbomolecular pump, supercentrifuge, turbogenerator.
Motorized spindle supported with AMB is the complicated electro-mechanical system for applying magnetic suspension bearing, motorized spindle supported with AMB
Structure be broadly divided into mechanical structure and circuit structure two large divisions, when using motorized spindle supported with AMB, to guarantee stable operation,
Need constantly to adjust the size of magnetic field force according to the suspended state of bearing, it is therefore desirable to system mode is monitored in real time and
Adjust control parameter.Motorized spindle supported with AMB is higher to the real-time and reliability requirement of control system.Due to motorized spindle supported with AMB
The complexity of structure, it is relatively low to the real time monitoring of motorized spindle supported with AMB state, the adjusting efficiency of parameter in the prior art, and
Control effect is bad.The current control system of real-time simulation on the market can improve efficiency, but these equipment is expensive, use
Control system higher cost of these equipment as motorized spindle supported with AMB.In addition, the control system of existing motorized spindle supported with AMB
In, it all cannot achieve the on-line testing and adjusting of parameter inside the control system.
Summary of the invention
In view of the drawbacks of the prior art and Improvement requirement, the present invention provides a kind of real-time control systems of motorized spindle supported with AMB
System and motorized spindle supported with AMB system, it is intended that improving to the real-time of motorized spindle supported with AMB status monitoring and control and can
By property, and realize the on-line testing and adjusting of parameter inside the control system, while guaranteeing that cost is not too high.
To achieve the above object, according to the invention in a first aspect, providing a kind of real-time control of motorized spindle supported with AMB
System, for realizing the real-time monitoring and control to motorized spindle supported with AMB state, comprising: upper debugging machine and control circuit；
Control circuit includes controller, electric current drive module, current sensor and sampling module；
The input terminal of current sensor is connected with the coil of motorized spindle supported with AMB, and current sensor is for acquiring magnetic suspension electricity
The current signal of main shaft coil；
The first input end of sampling module is connected to the output end of current sensor, the second input terminal and magnetic of sampling module
The displacement sensor of suspension electro spindle is connected, and sampling module is used to carry out the current signal and position signal of motorized spindle supported with AMB
It samples and is converted to digital signal；
The input terminal of controller is connected to the output end of sampling module, for according to the obtained position signal of sampling and given
The position signal current signal and current controling signal that obtain current controling signal, and obtained according to sampling obtain electric current driving
The pwm signal of module；
The input terminal of electric current drive module is connected to the output end of controller, and the output end of electric current drive module is for driving
The coil of motorized spindle supported with AMB, electric current drive module is used to generate control electric current according to pwm signal, and control electric current is inputted magnetic
The coil of suspension electro spindle, so that coil generates controllable electric current and magnetic force, so as to adjust position of the spindle rotor in air gap
It sets；
The parameter input end of controller is connected to the parameter output of upper debugging machine, the state output end connection of controller
To the state output terminal of upper debugging machine, controller is also used to receive the control parameter that upper debugging machine issues to realize control system
Unite the on-line testing and adjusting of inner parameter, and by the status information of collected motorized spindle supported with AMB be uploaded to upper tune
Test-run a machine, to carry out visualization display by status information of the upper debugging machine to motorized spindle supported with AMB.
Further, controller includes ten road current controlled circuits and five road Bit andits control loops；Per Bit andits control all the way
Loop is corresponding with two-way current controlled circuit, for realizing the control to one direction of motorized spindle supported with AMB, wherein position all the way
It moves control loop and is used to carry out the direction gating control, two-way current controlled circuit is used to be believed according to the current control of the direction
Number difference obtains corresponding pwm signal.
Further, the control parameter between host computer debugging machine and controller and status information pass through the shape of data frame
Formula transmission, and two kinds of data frame frame formats having the same.
Further, control circuit realizes that design logic is simple, while can guarantee faster operation speed based on FPGA
Accurately run timing.
Further, it is control parameter of algorithm by the control parameter that upper debugging machine issues, is obtained for adjusting controller
To current controling signal or the algorithm of pwm signal；
Alternatively, be test control signal by the control parameter that upper debugging machine issues, for carrying out open current loop test, with
Verifying is to control system to the monitoring function in any one direction of motorized spindle supported with AMB；
On the one hand, when realizing related algorithm based on FPGA, often first according to by the structure ginseng of control motorized spindle supported with AMB
Several and physical characteristic carries out theory analysis, to complete the setting of related algorithm parameter, the algorithm routine programming that then will set
Into in controller；Motorized spindle supported with AMB is complicated electro-mechanical system, and essential there are various ambient noises, and
The systematic errors such as rigging error, and the process of modeling would generally be related to when theory analysis, and can ignore in modeling many non-
Linear problem, so according to theory analysis set algorithm parameter, the control result of obtained algorithm often has biggish mistake
Difference, it is therefore desirable to by the relevant algorithm parameter of actual testing and debugging, precision be met with the control effect of Guarantee control system
It is required that；According to traditional implementation method, algorithm parameter of every adjustment requires programming algorithm routine again, this process needs
It repeatedly to program and regenerate chip execution file, it is quite time-consuming, while frequent programming can be biggish to fpga chip generation
Loss only needs once by the algorithm burning of design into chip, directly by upper and in control system provided by the present invention
Relevant algorithm parameter is issued to controller by position debugging machine, and the ratio of different parameters effect can be carried out in system operation
Compared with, and then can realize the real-time adjusting of algorithm, in contrast, parameter on-line control method provided by the present invention can either shorten
R&D cycle, and it is able to extend the service life of fpga chip；
On the other hand, it since the control of motorized spindle supported with AMB is related to the control of five freedom degrees, is surveyed by open current loop
Examination separately verifies the monitoring function in each direction of motorized spindle supported with AMB, can reduce the adjusting granularity of electric current drive module, mention
The control precision and adjusting efficiency of high control system.
Second aspect according to the invention additionally provides a kind of motorized spindle supported with AMB system, comprising: control system and magnetcisuspension
Floating electro spindle；
Control system is the real-time control system of motorized spindle supported with AMB provided by first aspect present invention, for realizing right
The real-time monitoring and control of motorized spindle supported with AMB；
Wherein, the input terminal of electric current drive module of control system is connected with the coil of motorized spindle supported with AMB, control system
The second input terminal of sampling module be connected with the displacement sensor of motorized spindle supported with AMB.
In general, contemplated above technical scheme through the invention, can obtain it is following the utility model has the advantages that
(1) real-time control system of motorized spindle supported with AMB provided by the present invention, including debugging host computer and control circuit,
It can be realized the real-time monitoring and control to motorized spindle supported with AMB, meanwhile, upper debugging machine is also received by controller therein
The control parameter issued realizes the on-line testing and adjusting of parameter inside the control system, can either shorten the R&D cycle, and can
Extend the service life of fpga chip, additionally it is possible to improve the control precision of control system and adjust efficiency.
(2) real-time control system of motorized spindle supported with AMB provided by the present invention, control circuit based on FPGA realize, by
There is faster operation speed in FPGA and accurately run timing, can guarantee the real-time of control；Inside controller
Algorithm can according to actual needs adjustment in real time, can either Guarantee control system control precision with higher, and can guarantee
Control system is suitable for the variation of controlled device and external environment, therefore, the control of motorized spindle supported with AMB provided by the present invention
System can be improved the reliability to motorized spindle supported with AMB status monitoring and control.
(3) control system of motorized spindle supported with AMB provided by the present invention only includes basic, simple control circuit, because
This its cost of implementation is lower.
Detailed description of the invention
Fig. 1 is the schematic diagram of the control system of motorized spindle supported with AMB provided in an embodiment of the present invention；
In all the appended drawings, identical appended drawing reference is used to indicate identical element or structure, in which:
1 is debugging host computer, and 2 be control circuit, and 3 be motorized spindle supported with AMB, and 5 be serial ports, and 6 be controller, and 7 drive for electric current
Dynamic model block, 8 be current sensor, and 9 be displacement sensor, and 10 be sampling module, and 11 be coil, and 12 be spindle rotor.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Before describing in detail to technical solution of the present invention, letter first is carried out to the basic structure of motorized spindle supported with AMB
It is single to introduce.Motorized spindle supported with AMB includes the magnetic suspension bearing of five freedom degrees, this five freedom degrees specifically: front end x, y-axis, after
Hold x, y-axis and z-axis；As shown in Figure 1, each freedom degree includes displacement sensor 9, coil 11 and spindle rotor 12,
In, displacement sensor 9 alives, for generating accordingly for measuring position of the spindle rotor 12 in air gap in coil 11
Magnetic force, with a certain position of the supports main shaft rotor 12 into air gap.
The control system of motorized spindle supported with AMB provided by the present invention, for realizing to above-mentioned motorized spindle supported with AMB state
Real-time monitoring and control, as shown in Figure 1, comprising: upper debugging machine 1 and control circuit 2；
Control circuit includes controller 6, electric current drive module 7, current sensor 8 and sampling module 10；
The input terminal of current sensor 8 is connected with the coil of motorized spindle supported with AMB 3, and current sensor 8 is for acquiring magnetcisuspension
The current signal of floating 3 coil of electro spindle；
The first input end of sampling module 10 is connected to the output end of current sensor, the second input terminal of sampling module 10
It is connected with the displacement sensor 9 of motorized spindle supported with AMB 3, sampling module 10 is used for current signal and position to motorized spindle supported with AMB 3
Confidence number is sampled and is converted to digital signal；In embodiments of the present invention, sampling module 10 is specially ADC (Analog-
To-Digital Converter, refers to A/D converter)；
The input terminal of controller 6 is connected to the output end of sampling module 10, for according to the obtained position signal of sampling and
Given position signal obtains current controling signal, and the current signal and current controling signal that are obtained according to sampling obtain electric current
The pwm signal of drive module 7；In embodiments of the present invention, controller 6 specifically includes ten road current controlled circuits and the displacement of five tunnels
Control loop；It is corresponding with two-way current controlled circuit per Bit andits control loop all the way, for realizing to motorized spindle supported with AMB one
The control in a direction, wherein for carrying out gating control to the direction, two-way current regulator is used for Bit andits control loop all the way
Corresponding pwm signal is obtained according to the current controling signal difference of the direction, to complete to motorized spindle supported with AMB 3 all five
The control of freedom degree；
The input terminal of electric current drive module 7 is connected to the output end of controller 6, and the output end of electric current drive module 7 is used for
The coil 11 of motorized spindle supported with AMB 3 is driven, electric current drive module 7 is used to generate control electric current according to pwm signal, and will control electricity
The coil 11 of stream input motorized spindle supported with AMB 3, so that coil 11 generates controllable electric current and magnetic force, so as to adjust spindle rotor
12 position in air gap；In embodiments of the present invention, electric current drive module 7 specifically includes photoelectrical coupler and half-bridge power is put
Big circuit, wherein photoelectrical coupler can drive half-bridge power amplifying circuit for being converted to the pwm signal that controller 6 exports
Signal, half-bridge power amplifying circuit under the control for the signal that photoelectrical coupler exports for generating final control electric current；
The parameter input end of controller 6 is connected to the parameter output of upper debugging machine 1, the state output end of controller 6
It is connected to the state output terminal of upper debugging machine 1, controller 6 is also used to receive control parameter that upper debugging machine 1 issues with reality
The now on-line testing and adjusting of parameter inside the control system, and by collected motorized spindle supported with AMB status information upload
To upper debugging machine, to carry out visualization display by status information of the upper debugging machine to motorized spindle supported with AMB；To realize magnetcisuspension
The visualization display of the status information of electro spindle is floated, being based on Labview in upper debugging machine 1 realizes specific display interface,
Labview is a general programming development environment using graphic programming, and kit is comprehensive, and is easily achieved, and is commonly used
In exploitation measurement or control system；
In the present embodiment, it is communicated, and is used by the completion of RS-232 serial ports 5 between controller 6 and upper debugging machine 1
Baud rate be 115200；It should be understood that other communication protocols or communication mode can also be used for realizing controller 6 and upper
Communication between debugging machine 1；Control parameter and status information between host computer debugging machine 1 and controller 6 pass through data frame
Form transmission, the data frame that controller 6 uploads is by five freedom degree displacement datas, five road current controling signals and corresponding mark
Will position and check bit composition；The parameter frame that upper debugging machine 1 is sent, the select switch position comprising corresponding five tunnels displacement ring are corresponding
The on-off switch position of loop, the initialization bit of system parameter, the key parameter and flag bit and check bit of control algolithm；At other
In embodiment, other frame formats are can also be used in data frame.
In an optional embodiment, position signal and given position signal that controller 6 is obtained according to sampling
Current controling signal is obtained, used algorithm is pid algorithm, specific calculation formula are as follows:
Also, the current signal and current controling signal that controller 6 is obtained according to sampling obtain pwm signal, used
Algorithm is PI control algolithm；
Wherein, u (t) is current controling signal, and e (t) is between position signal and given position signal that sampling obtains
Error, Kp, Ki, KdProportionality coefficient respectively in pid algorithm, integral coefficient and differential coefficient；
It should be appreciated that other can be realized the algorithm of relevant calculation, such as neural network, it is used equally in controller 6
To complete specific calculate.
In an optional embodiment, control circuit 2 is realized based on FPGA；The control issued by upper debugging machine 1
Parameter is control parameter of algorithm, obtains the algorithm of current controling signal or pwm signal for adjusting the controller 6, i.e. PID is calculated
The parameters such as method or proportionality coefficient, integral coefficient, differential coefficient in PI control algolithm；After the algorithm parameter of adjusting controller 6,
The status information of motorized spindle supported with AMB under the corresponding algorithm parameter of electricity can be monitored, and the further current control effect of analysis and Control system
Fruit；The process for repeating adjustment parameter, monitoring responsive state, until control effect meets control and requires；
Alternatively, being test control signal by the control parameter that the upper debugging machine 1 issues, for carrying out open current loop survey
Examination, to verify to the control system to the monitoring function in any one direction of motorized spindle supported with AMB；
On the one hand, when realizing related algorithm based on FPGA, often first according to by the structure ginseng of control motorized spindle supported with AMB
Several and physical characteristic carries out theory analysis, to complete the setting of related algorithm parameter, the algorithm routine programming that then will set
Into in controller；Motorized spindle supported with AMB is complicated electro-mechanical system, and essential there are various ambient noises, and
The systematic errors such as rigging error, while the process of modeling would generally be related to when theory analysis, and can ignore in modeling many non-
Linear problem, therefore according to theory analysis set algorithm parameter, often there is biggish mistake in the control result of obtained algorithm
Difference, it is therefore desirable to by the relevant algorithm parameter of actual testing and debugging, precision be met with the control effect of Guarantee control system
It is required that；According to traditional implementation method, algorithm parameter of every adjustment requires programming algorithm routine again, this process needs
It repeatedly to program and regenerate chip execution file, it is quite time-consuming, while frequent programming can be biggish to fpga chip generation
Loss only needs once by the algorithm burning of design into chip, directly by upper and in control system provided by the present invention
Relevant algorithm parameter is issued to controller by position debugging machine, and the ratio of different parameters effect can be carried out in system operation
Compared with, and then can realize the real-time adjusting of algorithm, the R&D cycle can either be shortened, and be able to extend the service life of fpga chip；
On the other hand, it since the control of motorized spindle supported with AMB is related to the control of five freedom degrees, is surveyed by open current loop
Examination separately verifies the monitoring function in each direction of motorized spindle supported with AMB, can reduce the adjusting granularity of electric current drive module, mention
The control precision and adjusting efficiency of high control system.
The present invention also provides a kind of motorized spindle supported with AMB systems, as shown in Figure 1, comprising: control system and magnetic suspension electricity
Main shaft 3；
Control system is the real-time control system of motorized spindle supported with AMB provided by the present invention, for realizing to magnetic suspension electricity
The real-time monitoring and control of main shaft 3；
Wherein, the input terminal of the electric current drive module 7 of control system is connected with the coil 11 of motorized spindle supported with AMB 3, control
Second input terminal of the sampling module 10 of system is connected with the displacement sensor 9 of motorized spindle supported with AMB 3.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of real-time control system of motorized spindle supported with AMB, for realizing the real-time monitoring and control to motorized spindle supported with AMB state
System characterized by comprising upper debugging machine (1) and control circuit (2)；
The control circuit (2) includes controller (6), electric current drive module (7), current sensor (8) and sampling module
(10)；
The input terminal of the current sensor (8) is connected with the coil of motorized spindle supported with AMB, and the current sensor (8) is for adopting
Collect the current signal of motorized spindle supported with AMB coil；
The first input end of the sampling module (10) is connected to the output end of the current sensor (8), the sampling module
(10) the second input terminal is connected with the displacement sensor of motorized spindle supported with AMB, and the sampling module (10) is used for magnetic suspension electricity
The current signal and position signal of main shaft are sampled and are converted to digital signal；
The input terminal of the controller (6) is connected to the output end of the sampling module (10), the position for being obtained according to sampling
Confidence number and given position signal obtain current controling signal, and the current signal obtained according to sampling and the current control
Signal obtains the pwm signal of electric current drive module；
The input terminal of the electric current drive module (7) is connected to the output end of the controller, the electric current drive module (7)
Output end is used to drive the coil of motorized spindle supported with AMB, and the electric current drive module (7) is used to generate control according to the pwm signal
Electric current processed, and by the coil of the control electric current input motorized spindle supported with AMB, so that coil generates controllable electric current and magnetic force,
So as to adjust position of the magnetic spindle rotor in air gap；
The parameter input end of the controller (6) is connected to the parameter output of the upper debugging machine (1), the controller
(6) state output end is connected to the state output terminal of the upper debugging machine (1), and the controller (6) is also used to receive institute
The control parameter that upper debugging machine (1) issues is stated to realize the on-line testing and adjusting of the parameter inside the control system, and
By the status information of collected motorized spindle supported with AMB be uploaded to the upper debugging machine (1), by the upper debugging machine
(1) visualization display is carried out to the status information of motorized spindle supported with AMB.
2. the real-time control system of motorized spindle supported with AMB as described in claim 1, which is characterized in that controller (6) packet
Include ten road current controlled circuits and five road Bit andits control loops；It is opposite with two-way current controlled circuit per Bit andits control loop all the way
It answers, for realizing the control to one direction of motorized spindle supported with AMB, wherein the loop of Bit andits control all the way is used for the direction
Gating control is carried out, the two-way current controlled circuit, which obtains corresponding PWM according to the current controling signal difference of the direction, to be believed
Number.
3. the real-time control system of motorized spindle supported with AMB as described in claim 1, which is characterized in that the host computer debugs machine
(1) control parameter between the controller (6) and status information are transmitted by way of data frame.
4. the real-time control system of motorized spindle supported with AMB as described in claim 1, which is characterized in that the control circuit (2)
It is realized based on FPGA.
5. the real-time control system of motorized spindle supported with AMB as claimed in claim 4, which is characterized in that by the upper debugging machine
(1) control parameter issued is control parameter of algorithm, obtains current controling signal or PWM letter for adjusting the controller (6)
Number algorithm；
Alternatively, being test control signal by the control parameter that the upper debugging machine (1) issues, for carrying out open current loop survey
Examination, to verify to the control system to the monitoring function in any one direction of motorized spindle supported with AMB.
6. a kind of motorized spindle supported with AMB system characterized by comprising control system and motorized spindle supported with AMB (3)；
The control system is the real-time control system of the described in any item motorized spindle supported with AMB of claim 1-5, for realizing
To the real-time monitoring and control of the motorized spindle supported with AMB (3)；
Wherein, coil (11) phase of the input terminal of the electric current drive module of the control system and the motorized spindle supported with AMB (3)
Even, displacement sensor (9) phase of the second input terminal and the motorized spindle supported with AMB (3) of the sampling module of the control system
Even.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111043066A (en) * | 2019-12-04 | 2020-04-21 | 广东三奇实业发展有限公司 | Magnetic suspension blower control device based on internet of things |
| CN113608485A (en) * | 2021-08-16 | 2021-11-05 | 杭州电子科技大学 | Magnetic suspension real-time signal monitoring system and method based on Ethernet and virtual instrument |
| CN113864335A (en) * | 2021-09-26 | 2021-12-31 | 赛特勒斯磁悬浮科技承德有限公司 | Parameter debugging device and method for magnetic suspension bearing controller |
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