CN110518888A - A kind of switch power amplifier for magnetic suspension motor - Google Patents
A kind of switch power amplifier for magnetic suspension motor Download PDFInfo
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- CN110518888A CN110518888A CN201910852931.7A CN201910852931A CN110518888A CN 110518888 A CN110518888 A CN 110518888A CN 201910852931 A CN201910852931 A CN 201910852931A CN 110518888 A CN110518888 A CN 110518888A
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- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
- G01R19/2506—Arrangements for conditioning or analysing measured signals, e.g. for indicating peak values ; Details concerning sampling, digitizing or waveform capturing
- G01R19/2509—Details concerning sampling, digitizing or waveform capturing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R25/00—Arrangements for measuring phase angle between a voltage and a current or between voltages or currents
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F1/00—Details of amplifiers with only discharge tubes, only semiconductor devices or only unspecified devices as amplifying elements
- H03F1/02—Modifications of amplifiers to raise the efficiency, e.g. gliding Class A stages, use of an auxiliary oscillation
- H03F1/0205—Modifications of amplifiers to raise the efficiency, e.g. gliding Class A stages, use of an auxiliary oscillation in transistor amplifiers
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F1/00—Details of amplifiers with only discharge tubes, only semiconductor devices or only unspecified devices as amplifying elements
- H03F1/26—Modifications of amplifiers to reduce influence of noise generated by amplifying elements
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F1/00—Details of amplifiers with only discharge tubes, only semiconductor devices or only unspecified devices as amplifying elements
- H03F1/30—Modifications of amplifiers to reduce influence of variations of temperature or supply voltage or other physical parameters
- H03F1/303—Modifications of amplifiers to reduce influence of variations of temperature or supply voltage or other physical parameters using a switching device
- H03F1/304—Modifications of amplifiers to reduce influence of variations of temperature or supply voltage or other physical parameters using a switching device and using digital means
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
- H03F3/20—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers
- H03F3/21—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers with semiconductor devices only
- H03F3/213—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers with semiconductor devices only in integrated circuits
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
- H03F3/20—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers
- H03F3/21—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers with semiconductor devices only
- H03F3/217—Class D power amplifiers; Switching amplifiers
- H03F3/2173—Class D power amplifiers; Switching amplifiers of the bridge type
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
Abstract
The present invention provides a kind of switch power amplifier for magnetic suspension motor, is related to magnetic suspension motor technical field.The present invention includes control circuit, driving circuit, three bridge arm main circuit of two-phase, sample circuit, filter circuit；Control circuit includes DSP central processing module, FPGA module；The DSP central processing module includes converter, control algolithm module；Converter is connected with control algolithm module；Control algolithm module is connected with FPGA module；FPGA module includes data latch module and n PWM module, and data latch module is connected with the input terminal of n PWM module；The output end of PWM module is connected with the input terminal of driving circuit；Driving circuit is connected with three bridge arm main circuit of two-phase；Three bridge arm main circuit of two-phase is connected with sample circuit；Sample circuit is connected with filter circuit；The output end of the filter circuit is connected with the AD conversion interface of dsp controller.The invention integrated level is higher, small in size, light-weight, realizes the requirement of low energy consumption.
Description
Technical field
The present invention relates to magnetic suspension motor technical field more particularly to a kind of magnetic bearing electromagnetism for magnetic suspension motor
The control electric current of coil carries out the digital switch power amplifier of active control.
Background technique
Magnetic suspension motor is a kind of rotor frictionally to be suspended a kind of skyborne high-performance electric without machinery using magnetic field force
Machine has many advantages, such as without friction, without abrasion, without lubrication, loss less and the service life is long, either in high-speed motion occasion or low
Fast cleaning occasion all has broad application prospects.In a series of turbines, its friction free ultrahigh rotating speed has greatly been played
Characteristic.Due to its high-precision active control performance, rotor behavior in service is largely improved.It is external that it is extensive
Applied to industrial circles such as conventional fan, compressor, molecular pump and Medical Devices.Switch power amplifier is magnetic suspension motor
Important component, the effect of power amplifier is required for providing corresponding control electric current to electromagnet coil to generate
Electromagnetic force, therefore the accounting in the entire system that consumes energy is very high.Moreover, the magnetic suspension motor switch traditional when running at high speed
Power amplifier output current ripple is bigger to generate copper loss and iron loss in electromagnetic bearing, and rotor is generated because of copper loss
Heat and expand, lead to the damage of equipment.
Power amplifier mainly using Linear Power Amplifier, although however Linear Power Amplifier structure is simple, Yi Shixian, it is dynamic
State property can be poor, and low efficiency, fever are seriously, limit the promotion of magnetic suspension motor power grade to a certain extent.In order to mention
The efficiency of high power amplifier, the switch power amplifier main circuit current response speed of conventional maglev electric machine control system
Slowly, the poor disadvantage of performance；The existing switch power amplifier main circuit for magnetic suspension motor control system has using single
Arm-type close power amplifier topology, which can quickly increase, but reduced process is slower, electricity
When flowing down drop, the voltage at coil both ends is only 0, and there can be no reverse voltages, and the topological structure can only pass through unipolarity electricity
Stream, current response rate is slow, the poor defect of performance.In addition, magnetic bearing motor electromagnetic number of coils is more, to avoid intercoupling
Influence, improve the control precision of system, each group of coil requires independent driving circuit.But this not only adds entire magnetic
The driving circuit quantity of floatation electric motor control system certainly will increase simultaneously the volume and weight of integrated circuit, to reduce control
The reliability of system.The rotor of magnetic suspension motor needs to suspend in the sky during the work time, therefore slight disturbance will be led
Cause the huge offset of rotor-position.Most of existing magnetic suspension motor control system is using analog device or DSP as master
Chip is controlled, analog signal is always subjected to the influence of noise (the random changing value being not intended in signal).Signal is more
After secondary duplication, or progress long distance transmission, the influence of these random noises may become very significant, and noise effect can make
Signal generation damages.
Summary of the invention
It is a kind of for magnetic suspension motor the technical problem to be solved by the present invention is in view of the above shortcomings of the prior art, provide
Switch power amplifier, the present invention overcome conventional maglev electric machine control system switch power amplifier main circuit current ring
Answer speed slow, the poor disadvantage of performance；Design it is a kind of it is small in size, device is few, the magnetic suspension motor control system of Highgrade integration
Driving circuit, enhance the reliability of system；A kind of current feedback detection circuit with high accuracy is provided, magnetic suspension motor is improved and opens
Close the efficiency and stability of power amplifier.
In order to solve the above technical problems, the technical solution used in the present invention is:
The present invention provides a kind of switch power amplifier for magnetic suspension motor, including control circuit, driving circuit, two
Three bridge arm main circuit of phase, sample circuit, filter circuit；
The control circuit includes DSP central processing module, FPGA module；The DSP central processing module includes that AD turns
Parallel operation, control algolithm module；The converter is for adopting the current signal of electromagnetic coil and the displacement signal of bearing
Sample, and rotor displacement signal and current feedback signal are subjected to digital-to-analogue conversion and generate rotor displacement analog signal and current feedback mould
Quasi- signal, the output end of converter are connected with the input terminal of control algolithm module；The control algolithm module is for passing through
It makes the difference rotor displacement signal and reference position to obtain bearing offset, is obtained controlling current signal accordingly according to offset；
Control algolithm module output end is connected with the input terminal of FPGA module；
The FPGA module includes data latch module and n PWM module, and the data latch module is for storing DSP
The control current signal that central processing module transmits, output end are connected with the input terminal of n PWM module respectively；Institute
The output end for stating PWM module is connected with the input terminal of driving circuit；
The driving circuit include integrated chip UC1, integrated chip UC2, resistance R1, resistance R2, resistance R3, capacitor C1,
Capacitor C2, diode D1, switching tube VT, transformer T, one end of the resistance R1 are connected with integrated chip UC1, capacitor C1's
One end is connected with integrated chip UC1, and resistance R1 and capacitor C1 ground connection, transformer T input terminal are connected with integrated chip UC1,
It is connected after output end is in parallel with resistance R3 with integrated chip UC2；Integrated chip UC2 is connected with resistance R2, and D1 is in parallel with R2
After be connected to switching tube VT grid；The output end of driving circuit is connected with three bridge arm main circuit of two-phase；
The three bridge arm main circuit of two-phase includes 6 switching tube VT1-VT6,6 sustained diode 21-D26, electromagnetic wires
Enclose X, electromagnetic coil Y；The switching tube VT1 is in parallel with D21, and VT2 is in parallel with D22, and VT3 is in parallel with D23, and VT4 is in parallel with D24,
VT5 is in parallel with D25, and VT6 is in parallel with D26；One end of electromagnetic coil X is connected with the drain electrode of the source electrode of VT1 and VT4 respectively, separately
One end is connected with the drain electrode of the source electrode of VT2 and VT5 respectively, the leakage with the source electrode of VT2 and VT5 respectively of one end of electromagnetic coil Y
Pole is connected, and the other end is connected with the drain electrode of the source electrode of VT3 and VT6 respectively；Electromagnetic coil X and electromagnetic coil Y respectively with adopt
Sample circuit is connected；
The sample circuit includes Hall sensor, LM393 comparator, resistance R11, resistance R12, capacitor C11, capacitor
C12, capacitor C13, inductance L11；One end of Hall sensor electromagnetic coil X and electromagnetic wire with three bridge arm main circuit of two-phase respectively
Circle Y is connected, in parallel with LM393 comparator after the other end is connected with LM393 comparator, resistance R11 connects with resistance R12,
A termination electricity of resistance R11, one end ground connection of resistance R12, one end of capacitor C13 are connected with LM393 comparator, another termination
The one end on ground, capacitor C11 is connected with LM393 comparator, and other end ground connection, inductance L11 connects with capacitor C12, inductance L11's
The other end is connected with LM393 comparator, the other end ground connection of capacitor C12；Sample circuit is connected with filter circuit；
The output end of the filter circuit is connected with the AD conversion interface of dsp controller.
VT1 and VT4 constitutes the first bridge arm S1, VT2 and VT5 and constitutes the second bridge arm S2 in the three bridge arm main circuit of two-phase,
VT3 and VT6 constitute third bridge arm S3, the electromagnetic coil of magnetic suspension motor connect the first bridge arm and the second bridge arm, the second bridge arm and
Between third bridge arm.
The course of work of the switch power amplifier are as follows: converter believes the electric current of electromagnetic coil X and electromagnetic coil Y
Number and and motor bearings displacement sensor output bearing displacement signal sampled, by collected Displacement Feedback signal
Fixed position of bearings reference signal makes the difference to obtain bearing offset with motor, and solenoid current expectation is obtained by calculation
Value, then the current signal fed back by filter circuit make the difference with control current expected value, will obtain difference and are denoted as control electricity
True value is flowed, calculation formula is as follows:
ix=i-if
Wherein, k is linear rigidity coefficient, ksFor bearing negative stiffness, kiFor power-current coefficient, x is bearing offset, and d is
Damped coefficient,It is bearing offset to the inverse of time, i is control current expected value, ixTo control electric current true value, ifFor
Feedback current；
Output to n PWM module, each module exports the pwm signal of two-way complementation after current control value is stored,
It is denoted as
The pwm signal of each PWM module output two-way complementation is exported to driving circuit, control three bridge arm master of two-phase is generated
The gate drive signal of circuit switch pipe turn-on and turn-off, by being led to six switching tubes on three bridge arm main circuit bridge arm of two-phase
Logical and shutdown sequence control, makes electromagnetic coil both ends load+Udc、0、-UdcThree kinds of of-state voltages；To in electromagnetic coil
The electromagnetic force for generating electric current and being positively correlated with the magnitude of current, rotor bearing of the electromagnetic force for the magnetic suspension motor that suspends；It is different
Switching tube conducting situation under voltage status is as shown in table 1 below；
Situation is connected in switching tube under 1 different voltages state of table
When wherein half bridge arm is connected instantly, SF=1；When the conducting of upper half bridge arm, SF=0, F=1,2,3；
Sample circuit acquires the current feedback signal of the electromagnetic coil X and electromagnetic coil Y of three bridge arm main circuit of two-phase, will
To electromagnetic coil current signal voltage, the noise in current feedback signal are filtered out by filter circuit after be transmitted to AD conversion
Device.
The beneficial effects of adopting the technical scheme are that provided by the invention a kind of for magnetic suspension motor
Switch power amplifier, compared with traditional digital switch power amplifier, the present invention has following advantage:
(1) integrated level is higher, small in size, light-weight, realizes the requirement of low energy consumption；
(2) different from the digital switch power amplifier of single use DSP, what the present invention was combined using DSP with FPGA
Method is realized the acquisition and AD conversion of signal by DSP, and FPGA realizes the generation and output of pwm signal, and moreover, FPGA is also
The output that multi-channel PWM signal may be implemented greatly reduces the usage quantity of chip, reduces costs, and it is steady to improve system work
It is qualitative；
(3) driving circuit using integrated chip as core is used, driving delay is small, and device heating situation has obtained well
It solves, strong antijamming capability；
(4) main circuit uses three bridge arm circuit of two-phase, compared to single arm type and half bridge circuit, main circuit volume reduces,
Quality reduces, and performance is more superior；
(5) sample circuit proposed by the present invention not only can detecte the amplitude of electric current, can also detect the phase of electric current,
Speed is fast, and precision is high, and lesser current fluctuation can be detected accurately.
Detailed description of the invention
Fig. 1 is magnetic suspension motor control system digital switch power amplifier overall structure provided in an embodiment of the present invention
Figure；
Fig. 2 is control circuit schematic diagram provided in an embodiment of the present invention；
Fig. 3 is pwm signal modular structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the circuit diagram of driving circuit provided in an embodiment of the present invention；
Fig. 5 is the circuit diagram of three bridge arm main circuit of two-phase provided in an embodiment of the present invention；
Fig. 6 is the circuit diagram of sample circuit provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
As shown in Figure 1, the method for the present embodiment is as described below.
The present invention provides a kind of switch power amplifier for magnetic suspension motor, including control circuit, driving circuit, two
Three bridge arm main circuit of phase, sample circuit, filter circuit；
The control circuit is as shown in Fig. 2, include DSP central processing module, FPGA module；The DSP central processing mould
Block includes converter, control algolithm module；The converter is used for the displacement to the current signal and bearing of electromagnetic coil
Signal is sampled, and by rotor displacement signal and current feedback signal carry out digital-to-analogue conversion generate rotor displacement analog signal and
Current feedback analog signal, the output end of converter are connected with the input terminal of control algolithm module respectively；The control is calculated
Method module is used to be obtained accordingly by making the difference rotor displacement signal and reference position to obtain bearing offset according to offset
Control current signal；Control algolithm module output end is connected with the input terminal of FPGA module；
DSP central processing module uses TMS320F28335 in the present embodiment, and FPGA module uses Altera Cyclone
IV EP4CE10F17C8；
The FPGA module ((Field-Programmable Gate Array)) is as shown in figure 3, include that data latch mould
Block and n PWM module, the data latch module are used to store the control current signal that DSP central processing module transmits,
Its output end is connected with the input terminal of n PWM module respectively；Each PWM module includes clock module, counts and compare
Module, movement limit module, dead zone module, and the clock module is used to generate clock frequency, determine the period of PWM waveform, with
And the numerical value of clock counter is generated, clock module output end limits module with the input terminal and movement for counting comparison module respectively
Input terminal be connected；The counting comparison module includes two mutually independent register count comparand registers 1 and counts
Comparand register 2, control current signal by being exported according to data latch module is by the numerical value of clock counter respectively with based on
Number comparand register 1 and the numerical value counted in comparand register 2 are compared, and two numerical value export PWM wave when equal, by changing
Become the value of two counting comparand registers to change the duty ratio of output pwm signal, counts comparison module and generate two paths of signals biography
It passs movement and limits module, two paths of signals is independent of one another, does not interfere with each other；The output end and movement for counting comparison module limit module
Input terminal be connected；The movement limits the signal that module is used to receive from clock module and count comparison module, according to
Whether there is pumping signal to determine that movement limits the manner of execution (manner of execution includes setting height or dragging down) of module, according to movement
Mode changes PWM wave signal, and movement limits module output two-way PWM waveform (PWMA, PWMB), and movement limits the output end of module
It is connected with the input terminal of dead zone module；The dead zone module selects position IS for generating dead time, by internal schema
(IN_SELECT) pwm signal of selection input is believed by the PWM of internal schema selection position OS (OUT_SELECT) selection output
Number, polarity selects the polarity of position P (POSEL) control output pwm signal, and by the way that the value of each control bit is arranged, output two-way is mutual
The pwm signal (PWM1, PWM2) of benefit, the output end of dead zone module are connected with the input terminal of driving circuit；
Each pwm signal module of the invention is equipped with independent clock module, and each clock module can produce difference
Clock frequency, so that different timing be arranged to realize more functions；Each pwm signal generation module can be by respective
Clock module realize synchronous triggering, the output for reaching pwm signal is synchronous；Three kinds of meters may be implemented in clock counter of the invention
Digital modeling: rise count mode, decline count mode and increase and decrease count mode；It is symmetrical that output may be implemented by software programming
Pwm signal can also export asymmetrical pwm signal；
The driving circuit and generates driving signal, wraps as shown in figure 4, pwm signal for receiving control circuit output
Include integrated chip UC1, integrated chip UC2, resistance R1, resistance R2, resistance R3, capacitor C1, capacitor C2, diode D1, switching tube
VT, transformer T, one end of the resistance R1 are connected with the pin 8 of integrated chip UC1, one end of capacitor C1 and integrated chip
The pin 1 of UC1 is connected, and resistance R1 and capacitor C1 ground connection, transformer T are used as electromagnetic isolation, and input terminal is with integrated chip UC1's
Pin 4 is connected with pin 6, is connected after output end is in parallel with resistance R3 with the pin 7 of integrated chip UC2 and pin 8；It is integrated
The pin 2 of chip UC2 is connected with resistance R2 and diode D1, and switching tube VT grid is connected to after D1 is in parallel with R2；Driving electricity
There are two integrated chips on road, can produce the up to switch frequency signal of 100KHZ, the input terminal and control circuit FPGA of circuit
The pwm signal output end that module generates is connected, the output end of driving circuit and the grid of three bridge arm main circuit switch pipe of two-phase
It is connected；
Two integrated chips use UC3724 and UC3725 in the present embodiment, and wherein UC3724 is used to generate high frequency carrier letter
Number, the size of carrier frequency is determined by selecting the value of capacitor C1 and resistance R1, generates high frequency modulated wave by 4,6 pins,
Modulating wave exports signal after transformer isolation to 7,8 pins of UC3725 chip, generates after modulating using UC3725
Driving signal.It is core that the high frequency modulated wave of 7,8 pins is rectified into DC voltage by the inside Schottky rectification bridge of UC3725 simultaneously
Piece power supply.The magnetizing inductance that transformation is isolated is very big, can reduce magnetizing current, reduces the fever of UC3724.The driving circuit is only
It needs single supply to can be carried out work, realizes being isolated for control signal and driving signal, it is small in size, it is suitable for magnetic suspension electricity
Machine.
The three bridge arm main circuit of two-phase includes 6 switching tube VT1-VT6,6 sustained diode 21-D26, electromagnetic wires
Enclose X, electromagnetic coil Y；The switching tube VT1 is in parallel with D21, and VT2 is in parallel with D22, and VT3 is in parallel with D23, and VT4 is in parallel with D24,
VT5 is in parallel with D25, and VT6 is in parallel with D26；One end of electromagnetic coil X is connected with the drain electrode of the source electrode of VT1 and VT4 respectively, separately
One end is connected with the drain electrode of the source electrode of VT2 and VT5 respectively, the leakage with the source electrode of VT2 and VT5 respectively of one end of electromagnetic coil Y
Pole is connected, and the other end is connected with the drain electrode of the source electrode of VT3 and VT6 respectively；To prevent to lead directly to, VT1 and VT4 cannot be same
When be connected, VT2 and VT5 cannot be simultaneously turned on, and VT3 and VT6 cannot be simultaneously turned on；Wherein, the second bridge arm that VT2 and VT5 is constituted
For public bridge arm.The conducting and shutdown for the gate drive signal control switch pipe that driving circuit generates, thus in electromagnetic coil
Electromagnetic force needed for generating rotor suspension, the electromagnetic coil of magnetic suspension motor connect in the first bridge arm and public bridge arm, public bridge arm
Between third bridge arm；Electromagnetic coil X and electromagnetic coil Y are connected with sample circuit respectively；As shown in figure 5, wherein by resistance
R21 and inductance L1 are equivalent to electromagnetic coil X, and resistance R22 and inductance L2 are equivalent to electromagnetic coil Y；
Switching tube uses IRF4868 in the present embodiment；
The sample circuit includes Hall sensor, LM393 comparator, resistance R11, resistance R12, capacitor C11, capacitor
C12, capacitor C13, inductance L11；One end of Hall sensor electromagnetic coil X and electromagnetic wire with three bridge arm main circuit of two-phase respectively
Circle Y is connected, in parallel with LM393 comparator after the other end is connected with LM393 comparator, resistance R11 connects with resistance R12,
A termination electricity of resistance R11, one end ground connection of resistance R12, one end of capacitor C13 are connected with LM393 comparator, another termination
The one end on ground, capacitor C11 is connected with LM393 comparator, and other end ground connection, inductance L11 connects with capacitor C12, inductance L11's
The other end is connected with LM393 comparator, the other end ground connection of capacitor C12；Sample circuit is connected with filter circuit；Such as Fig. 6
It is shown；
Hall sensor and LM393 comparator, two electromagnetic coil phases of Hall sensor and three bridge arm main circuit of two-phase
Connection, output end are connected with LM393 comparator input terminal, and the output of LM393 comparator is connected with filter circuit, circuit master
The function of wanting is to detect the current feedback signal of electromagnetic coil in three bridge arm main circuit of two-phase, and it is anti-to improve electric current by pull-up resistor
The accuracy of feedback signal；
Endpoint for inputting output and electromagnetic coil with Hall sensor is connected, and output connects filter circuit, circuit
Main function is to detect the current feedback signal of electromagnetic coil in three bridge arm main circuit of two-phase, improves electric current by pull-up resistor
The accuracy of feedback signal；
The filter circuit includes voltage follower, sign-changing amplifier, second-order low-pass filter；The voltage follower with
The output end of sample circuit is connected by resistance, and the current signal of acquisition is switched to voltage signal by resistance, and voltage follower rises
To the effect of stabilization signal and reduction input impedance；The input terminal of the sign-changing amplifier is connected with voltage follower output end
It connects, for amplifying sampled signal；The input terminal of the second-order low-pass filter is connected with sign-changing amplifier output end, filters out letter
Noise in number obtains stable output signal；The output end of filter circuit is connected with the AD conversion interface of dsp controller.
VT1 and VT4 constitutes the first bridge arm in the three bridge arm main circuit of two-phase, and VT2 and VT5 constitute the second bridge arm (as
Public bridge arm), VT3 and VT6 constitute third bridge arm, and the electromagnetic coil of magnetic suspension motor connects in the first bridge arm and the second bridge arm, the
Between two bridge arms and third bridge arm.
The course of work of the switch power amplifier are as follows: converter believes the electric current of electromagnetic coil X and electromagnetic coil Y
Number and and motor bearings displacement sensor output bearing displacement signal sampled, by collected Displacement Feedback signal
Fixed position of bearings reference signal makes the difference to obtain bearing offset with motor, and solenoid current expectation is obtained by calculation
Value, then the current signal fed back by filter circuit make the difference with control current expected value, will obtain difference and are denoted as control electricity
True value is flowed, calculation formula is as follows:
ix=i-if
Wherein, k is linear rigidity coefficient, ksFor bearing negative stiffness, kiFor power-current coefficient, x is bearing offset, and d is
Damped coefficient,It is bearing offset to the inverse of time, i is control current expected value, ixTo control electric current true value, ifFor
Feedback current；
Output to n PWM module, each module exports the pwm signal of two-way complementation after current control value is stored,
It is denoted asIn conjunction with
Pulse modulation technology generates pwm signal by FPGA and is output to driving circuit, and the pwm signal of output is respectively by the PWM of two-way complementation
Signal composition, the grid of six switching tubes to three bridge arm main circuit of two-phase is exported by driving circuit.
Each PWM module circular is as follows:
The period of PWM waveform and the numerical value of clock counter are determined according to clock frequency, by the numerical value of clock counter
Numerical value is judged with the value for counting comparand register 1 and counting comparand register 2 respectively, changes PWM letter according to comparison result
Number duty ratio then export the pwm signal when the numerical value compared is equal, according to clock module and count comparison module output
Data, judge whether there is pumping signal and determine and movement limit the manner of execution of module (manner of execution includes setting high or drawing
It is low), PWM wave signal is changed according to manner of execution, movement limits module output two-way PWM waveform (PWMA, PWMB), generates dead zone
Time selects position OS by internal schema by the pwm signal of internal schema selection position IS (IN_SELECT) selection input
(OUT_SELECT) pwm signal of selection output, polarity selects the polarity of position P (POSEL) control output pwm signal, by matching
The value of each control bit is set, the pwm signal (PWM1, PWM2) of two-way complementation is exported；
The pwm signal of each PWM module output two-way complementation is exported to driving circuit, control three bridge arm master of two-phase is generated
The gate drive signal of circuit switch pipe (VT1, VT2, VT3, VT4, VT5, VT6) turn-on and turn-off, by three bridge arm of two-phase
The control of six switching tube turn-on and turn-off sequences on main circuit bridge arm, makes electromagnetic coil both ends load+Udc、0、-UdcThree kinds
Of-state voltage；To the electromagnetic force for generating electric current in electromagnetic coil and being positively correlated with the magnitude of current, electromagnetic force is for suspending
The rotor bearing of magnetic suspension motor；For the conducting and shutdown sequence for clearly introducing switching tube, insertion switch function S1, S2
And S3.When wherein half bridge arm is connected instantly, SF=1；When the conducting of upper half bridge arm, SF=0, F=1,2,3；Different voltages state
Under switching tube conducting situation it is as shown in table 1 below；
Situation is connected in switching tube under 1 different voltages state of table
The shutdown voltage that each power device is born in tri-level circuit, only the 50% of DC voltage, and dv/dt
Reduce 50%.In this way, requiring just to reduce 50% to the pressure voltage of power device, this is right in same DC voltage
Cost is reduced, output capacity is improved and all has important meaning.
Sample circuit acquires the current feedback signal of the electromagnetic coil X and electromagnetic coil Y of three bridge arm main circuit of two-phase, will
To electromagnetic coil current signal voltage, the noise in current feedback signal are filtered out by filter circuit after be transmitted to AD conversion
Device.
The main function of sample circuit is that the electric current of electromagnetic coil in detection three bridge arm main circuit of two-phase is anti-in the present embodiment
Feedback signal improves the accuracy of current feedback signal by pull-up resistor.When acquiring current signal, worn with DL-CT03C1.0
Wire type Hall sensor carries out current sample, and current amplitude is obtained by Hall sensor.To prevent short circuit accident,
Match the decoupling capacitance C13 of a 0.1uF in the power end of amplifier chip, to eliminate power supply noise interference, improves sampling reliability.
Phase sample uses universal LM393 twin voltage comparator integrated circuit.LM393 comparator is selected in current phase acquisition, by phase
4 pin of anode of bit comparator is grounded, then the current phase information of available Zero-cross comparator.To avoid the factors such as null offset
Interference, the input of the positive and negative terminal of current signal is raised the 1/ of chip power simultaneously using R11 and R12 when signal input is compared
2, to ensure the reliability of zero crossing.The output end of sample circuit is connected with filter circuit, by filter circuit filter out voltage,
Noise in current feedback signal provides accurately feedback signal for control circuit.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；And these are modified or replaceed, model defined by the claims in the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (3)
1. a kind of switch power amplifier for magnetic suspension motor, it is characterised in that: including control circuit, driving circuit, two
Three bridge arm main circuit of phase, sample circuit, filter circuit；
The control circuit includes DSP central processing module, FPGA module；The DSP central processing module include converter,
Control algolithm module；The converter is used to sample the current signal of electromagnetic coil and the displacement signal of bearing, and
Rotor displacement signal and current feedback signal are subjected to digital-to-analogue conversion and generate rotor displacement analog signal and current feedback simulation letter
Number, the output end of converter is connected with the input terminal of control algolithm module；The control algolithm module is used for by that will turn
Sub- displacement signal and reference position make the difference to obtain bearing offset, are obtained controlling current signal accordingly according to offset；Control
Algoritic module output end is connected with the input terminal of FPGA module；
The FPGA module includes data latch module and n PWM module, and the data latch module is for storing the center DSP
The control current signal that processing module transmits, output end are connected with the input terminal of n PWM module respectively；The PWM
The output end of module is connected with the input terminal of driving circuit；
The driving circuit includes integrated chip UC1, integrated chip UC2, resistance R1, resistance R2, resistance R3, capacitor C1, capacitor
C2, diode D1, switching tube VT, transformer T, one end of the resistance R1 are connected with integrated chip UC1, one end of capacitor C1
It is connected with integrated chip UC1, resistance R1 and capacitor C1 ground connection, transformer T input terminal are connected with integrated chip UC1, export
It is connected after end is in parallel with resistance R3 with integrated chip UC2；Integrated chip UC2 is connected with resistance R2, connects after D1 is in parallel with R2
It connects in switching tube VT grid；The output end of driving circuit is connected with three bridge arm main circuit of two-phase；
The three bridge arm main circuit of two-phase include 6 switching tube VT1-VT6,6 sustained diode 21-D26, electromagnetic coil X,
Electromagnetic coil Y；The switching tube VT1 is in parallel with D21, and VT2 is in parallel with D22, and VT3 is in parallel with D23, and VT4 is in parallel with D24, VT5 with
D25 is in parallel, and VT6 is in parallel with D26；One end of electromagnetic coil X is connected with the drain electrode of the source electrode of VT1 and VT4 respectively, the other end point
It is not connected with the drain electrode of the source electrode of VT2 and VT5, one end of electromagnetic coil Y is connected with the drain electrode of the source electrode of VT2 and VT5 respectively
It connects, the other end is connected with the drain electrode of the source electrode of VT3 and VT6 respectively；Electromagnetic coil X and electromagnetic coil Y respectively with sample circuit
It is connected；
The sample circuit includes Hall sensor, LM393 comparator, resistance R11, resistance R12, capacitor C11, capacitor C12, electricity
Hold C13, inductance L11；One end of Hall sensor respectively with the electromagnetic coil X and electromagnetic coil Y phase of three bridge arm main circuit of two-phase
Connection, in parallel with LM393 comparator after the other end is connected with LM393 comparator, resistance R11 connects with resistance R12, resistance
A termination electricity of R11, one end ground connection of resistance R12, one end of capacitor C13 are connected with LM393 comparator, other end ground connection,
One end of capacitor C11 is connected with LM393 comparator, and other end ground connection, inductance L11 connects with capacitor C12, and inductance L11's is another
One end is connected with LM393 comparator, the other end ground connection of capacitor C12；Sample circuit is connected with filter circuit；
The output end of the filter circuit is connected with the AD conversion interface of dsp controller.
2. a kind of switch power amplifier for magnetic suspension motor according to claim 1, it is characterised in that: described two
VT1 and VT4 constitute the first bridge arm S1, VT2 and VT5 and constitute the second bridge arm S2, VT3 and VT6 composition the in three bridge arm main circuit of phase
Three bridge arm S3, the electromagnetic coil of magnetic suspension motor connect between the first bridge arm and the second bridge arm, the second bridge arm and third bridge arm.
3. a kind of switch power amplifier for magnetic suspension motor according to claim 1, it is characterised in that: described to open
Close the course of work of power amplifier are as follows: current signal and and motor shaft of the converter to electromagnetic coil X and electromagnetic coil Y
The bearing displacement signal for the displacement sensor output held is sampled, by the axis that collected Displacement Feedback signal and motor are fixed
It holds position reference to make the difference to obtain bearing offset, solenoid current desired value is obtained by calculation, then pass through filtered electrical
The current signal that road is fed back makes the difference with control current expected value, will obtain difference and is denoted as control electric current true value, calculates public
Formula is as follows:
ix=i-if
Wherein, k is linear rigidity coefficient, ksFor bearing negative stiffness, kiFor power-current coefficient, x is bearing offset, and d is damping
Coefficient,It is bearing offset to the inverse of time, i is control current expected value, ixTo control electric current true value, ifFor feedback electricity
Flow valuve；
Output to n PWM module, the pwm signal of each module output two-way complementation is denoted as after current control value is stored
The pwm signal of each PWM module output two-way complementation is exported to driving circuit, control three bridge arm main circuit of two-phase is generated
The gate drive signal of switching tube turn-on and turn-off, by three bridge arm main circuit bridge arm of two-phase six switching tubes conducting and
The control of shutdown sequence makes electromagnetic coil both ends load+Udc、0、-UdcThree kinds of of-state voltages；To be generated in electromagnetic coil
Electric current and the electromagnetic force being positively correlated with the magnitude of current, rotor bearing of the electromagnetic force for the magnetic suspension motor that suspends；Different voltages
Switching tube conducting situation under state is as shown in table 1 below；
Situation is connected in switching tube under 1 different voltages state of table
When wherein half bridge arm is connected instantly, SF=1；When the conducting of upper half bridge arm, SF=0, F=1,2,3；
Sample circuit acquires the current feedback signal of the electromagnetic coil X and electromagnetic coil Y of three bridge arm main circuit of two-phase, by what is obtained
The current signal of electromagnetic coil is transmitted to converter after filtering out voltage, the noise in current feedback signal by filter circuit.
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| CN111894979A (en) * | 2020-07-29 | 2020-11-06 | 南京邮电大学 | Multi-bridge arm switch power amplifier circuit with fault-tolerant function |
| CN113014179A (en) * | 2021-02-22 | 2021-06-22 | 珠海格力电器股份有限公司 | Motor control method and device, motor, storage medium and processor |
| CN114754069A (en) * | 2022-03-15 | 2022-07-15 | 格瑞拓动力股份有限公司 | Radial magnetic suspension bearing self-adaptive dead zone control method and system |
| CN116771711A (en) * | 2023-08-17 | 2023-09-19 | 江苏海拓宾未来工业科技集团有限公司 | Magnetic suspension fan working efficiency optimization method |
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Application publication date: 20191129 Assignee: Dongneng (Shenyang) Energy Engineering Technology Co.,Ltd. Assignor: Northeastern University Contract record no.: X2023210000291 Denomination of invention: A Switching Power Amplifier for Magnetic Suspension Motors Granted publication date: 20230428 License type: Common License Record date: 20231207 |
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