CN110518888B - Switching power amplifier for magnetic levitation motor - Google Patents
Switching power amplifier for magnetic levitation motor Download PDFInfo
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- CN110518888B CN110518888B CN201910852931.7A CN201910852931A CN110518888B CN 110518888 B CN110518888 B CN 110518888B CN 201910852931 A CN201910852931 A CN 201910852931A CN 110518888 B CN110518888 B CN 110518888B
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- 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
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- 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
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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
- 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
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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
- 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
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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
- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
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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
- 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
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- 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
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a switching power amplifier for a magnetic levitation motor, and relates to the technical field of magnetic levitation motors. The invention comprises a control circuit, a driving circuit, a two-phase three-bridge arm main circuit, a sampling circuit and a filter circuit; the control circuit comprises a DSP central processing module and an FPGA module; the DSP central processing module comprises an AD converter and a control algorithm module; the AD converter is connected with the control algorithm module; the control algorithm module is connected with the FPGA module; the FPGA module comprises a data latch module and n PWM modules, and the data latch module is connected with the input ends of the n PWM modules; the output end of the PWM module is connected with the input end of the driving circuit; the driving circuit is connected with the two-phase three-bridge arm main circuit; the two-phase three-bridge arm main circuit is connected with the sampling circuit; the sampling circuit is connected with the filter circuit; the output end of the filter circuit is connected with the AD conversion interface of the DSP controller. The invention has higher integration level, small volume and light weight, and meets the requirement of low energy consumption.
Description
Technical Field
The invention relates to the technical field of magnetic suspension motors, in particular to a digital switching power amplifier for actively controlling control current of a magnetic bearing electromagnetic coil of a magnetic suspension motor.
Background
The magnetic suspension motor is a high-performance motor which utilizes magnetic field force to suspend the rotor in the air without mechanical friction, and has the advantages of no friction, no abrasion, no lubrication, less loss, long service life and the like, and has wide application prospect in both high-speed motion occasions and low-speed clean occasions. In a series of turbines, the friction-free ultrahigh rotation speed characteristic is greatly exerted. The high-precision active control performance of the motor rotor greatly improves the running performance of the motor rotor. It has been widely used in the industry of traditional blowers, compressors, molecular pumps and medical equipment. The switching power amplifier is an important component of the magnetic levitation motor, and the power amplifier is used for providing corresponding control current for the electromagnet coil to generate the required electromagnetic force, so that the energy consumption is high in the whole system. Moreover, when the magnetic levitation motor runs at a high speed, copper loss and iron loss can be generated in the electromagnetic bearing due to the fact that the traditional switching power amplifier outputs current ripples, and the motor rotor expands due to heat generated by the copper loss, so that equipment is damaged.
The power amplifier mainly adopts a linear power amplifier, however, the linear power amplifier has the advantages of poor dynamic performance, low efficiency and serious heating although the structure is simple and easy to realize, and the improvement of the power level of the magnetic levitation motor is limited to a certain extent. In order to improve the efficiency of the power amplifier, the main circuit current response speed of the switch power amplifier of the traditional magnetic levitation motor control system is slow, and the performance is poor; the existing switching power amplifier main circuit for the magnetic suspension motor control system adopts a single-arm switching power amplifier topology, the current of an electromagnetic coil of the topology structure can be increased rapidly, but the reducing process is slower, when the current is reduced, the voltage at two ends of the coil can only be 0, the reverse voltage can not occur, and the topology structure can only pass through unipolar current, and the defects of low current response speed and poor performance are overcome. In addition, the number of the electromagnetic coils of the magnetic bearing motor is large, and each group of coils needs an independent driving circuit in order to avoid the influence of mutual coupling and improve the control precision of the system. But this not only increases the number of driving circuits of the entire magnetic levitation motor control system, but also tends to increase the volume and weight of the entire circuit at the same time, thereby reducing the reliability of the control system. The rotor of a magnetic levitation motor needs to be suspended in the air during operation, so that a slight disturbance will cause a great shift in the position of the rotor. Most of the existing magnetic levitation motor control systems adopt an analog device or a DSP as a main control chip, and analog signals are always affected by noise (undesired random variation values in the signals). The effect of these random noise may become significant after the signal is replicated many times, or transmitted over long distances, and the noise effects may be detrimental to the signal.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the switching power amplifier for the magnetic suspension motor, which overcomes the defects of slow current response speed and poor performance of a main circuit of the switching power amplifier of the traditional magnetic suspension motor control system; the driving circuit of the magnetic suspension motor control system with small volume, few devices and high integration is designed, so that the reliability of the system is enhanced; the current feedback detection circuit with high precision is provided, and the efficiency and the stability of the switching power amplifier of the magnetic levitation motor are improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a switching power amplifier for a magnetic levitation motor, which comprises a control circuit, a driving circuit, a two-phase three-bridge arm main circuit, a sampling circuit and a filter circuit, wherein the control circuit is connected with the driving circuit;
the control circuit comprises a DSP central processing module and an FPGA module; the DSP central processing module comprises an AD converter and a control algorithm module; the AD converter is used for sampling a current signal of the electromagnetic coil and a displacement signal of the bearing, performing digital-to-analog conversion on the rotor displacement signal and the current feedback signal to generate a rotor displacement analog signal and a current feedback analog signal, and the output end of the AD converter is connected with the input end of the control algorithm module; the control algorithm module is used for obtaining a bearing offset by making a difference between the rotor displacement analog signal and a reference position, and obtaining a corresponding control current signal according to the offset; the output end of the control algorithm module is connected with the input end of the FPGA module;
the FPGA module comprises a data latch module and n PWM modules, wherein the data latch module is used for storing control current signals transmitted by the DSP central processing module, and the output ends of the data latch module are respectively connected with the input ends of the n PWM modules; the output end of the PWM module is connected with the input end of the driving circuit;
the driving circuit comprises an integrated chip UC1, an integrated chip UC2, a resistor R1, a resistor R2, a resistor R3, a capacitor C1, a capacitor C2, a diode D1, a switch tube VT and a transformer T, wherein one end of the resistor R1 is connected with the integrated chip UC1, one end of the capacitor C1 is connected with the integrated chip UC1, the other ends of the resistor R1 and the capacitor C1 are grounded, the input end of the transformer T is connected with the integrated chip UC1, and the output end of the transformer T is connected with the integrated chip UC2 after being connected with the resistor R3 in parallel; the integrated chip UC2 is connected with the resistor R2, and D1 and R2 are connected in parallel and then connected with the grid electrode of the switching tube VT; the output end of the driving circuit is connected with a two-phase three-bridge arm main circuit;
the two-phase three-bridge arm main circuit comprises 6 switching tubes VT1-VT6, 6 freewheel diodes D21-D26, an electromagnetic coil X and an electromagnetic coil Y; the switching tube VT1 is connected with the D21 in parallel, the VT2 is connected with the D22 in parallel, the VT3 is connected with the D23 in parallel, the VT4 is connected with the D24 in parallel, the VT5 is connected with the D25 in parallel, and the VT6 is connected with the D26 in parallel; one end of the electromagnetic coil X is respectively connected with a source electrode of the VT1 and a drain electrode of the VT4, the other end of the electromagnetic coil X is respectively connected with a source electrode of the VT2 and a drain electrode of the VT5, one end of the electromagnetic coil Y is respectively connected with a source electrode of the VT2 and a drain electrode of the VT5, and the other end of the electromagnetic coil Y is respectively connected with a source electrode of the VT3 and a drain electrode of the VT 6; the electromagnetic coil X and the electromagnetic coil Y are respectively connected with the sampling circuit;
the sampling circuit comprises a Hall sensor, an LM393 comparator, a resistor R11, a resistor R12, a capacitor C11, a capacitor C12, a capacitor C13 and an inductor L11; one end of the Hall sensor is respectively connected with an electromagnetic coil X and an electromagnetic coil Y of a two-phase three-bridge arm main circuit, the other end of the Hall sensor is connected with the input end of an LM393 comparator, a resistor R11 is connected in series with a resistor R12 and then connected with the LM393 comparator in parallel, the other end of the resistor R11 is connected with electricity, the other end of the resistor R12 is grounded, one end of a capacitor C13 is connected with the LM393 comparator, the other end of the capacitor C11 is grounded, an inductor L11 is connected with the capacitor C12 in series, the other end of the inductor L11 is connected with the LM393 comparator, and the other end of the capacitor C12 is grounded; the sampling circuit is connected with the filter circuit;
the output end of the filter circuit is connected with the AD conversion interface of the DSP controller.
VT1 and VT4 in the two-phase three-leg main circuit form a first leg S1, VT2 and VT5 form a second leg S2, VT3 and VT6 form a third leg S3, and an electromagnetic coil of the magnetic levitation motor is connected between the first leg and the second leg as well as between the second leg and the third leg.
The working process of the switching power amplifier is as follows: the AD converter samples current signals of the electromagnetic coil X and the electromagnetic coil Y and a bearing displacement signal output by a displacement sensor of a motor bearing, the acquired rotor displacement analog signal is differed from a reference position to obtain a bearing offset, an expected value of the electromagnetic coil current is obtained through calculation, the current signal fed back by the filter circuit is differed from the expected value of the control current, the obtained difference is recorded as a control current true value, and the calculation formula is as follows:
i x ＝i-i f
where k is the linear stiffness coefficient, k s For negative stiffness of the bearing, k i For the force-current coefficient, x is the bearing offset, d is the damping coefficient,
i is the expected value of control current, i is the reciprocal of bearing offset to time x To control the current true value, i f Is the feedback current value;
storing the current control value and outputting the current control value to n PWM modules, wherein each module outputs two complementary PWM signals which are recorded as
Outputting two complementary PWM signals output by each PWM module to a driving circuit to generate a grid driving signal for controlling the on and off of switching tubes of a two-phase three-leg main circuit, and loading +U at two ends of an electromagnetic coil by controlling the on and off sequence of six switching tubes on the two-phase three-leg main circuit leg dc 、0、-U dc Three state voltages; thereby generating current in the electromagnetic coil and electromagnetic force positively correlated to the current amount, the electromagnetic force being used to levitate a rotor bearing of the magnetic levitation motor; the switching on conditions of the switching tube under different voltage states are shown in the following table 1;
TABLE 1 switching on of switching tubes in different voltage states
When VT4, VT5 and VT6 are conducted, the switch state of the corresponding bridge arm is 1; when VT1, VT2 and VT3 are conducted, the switch state of the corresponding bridge arm is 0;
the sampling circuit collects current feedback signals of the electromagnetic coil X and the electromagnetic coil Y of the two-phase three-bridge arm main circuit, and the obtained current signals of the electromagnetic coil are filtered by the filter circuit to remove noise in the voltage and current feedback signals and then transmitted to the AD converter.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in: compared with the traditional digital switching power amplifier, the switching power amplifier for the magnetic suspension motor has the following advantages:
(1) The integrated level is higher, the volume is small, the weight is light, and the requirement of low energy consumption is met;
(2) Different from a digital switching power amplifier singly using a DSP, the invention adopts a method of combining the DSP and the FPGA, the DSP is used for realizing signal acquisition and AD conversion, the FPGA is used for realizing PWM signal generation and output, and besides, the FPGA can also be used for realizing the output of multiple paths of PWM signals, thereby greatly reducing the use quantity of chips, lowering the cost and improving the working stability of a system;
(3) The driving circuit with the integrated chip as a core is adopted, so that the driving delay is small, the heating condition of the device is well solved, and the anti-interference capability is strong;
(4) The main circuit adopts a two-phase three-bridge arm circuit, and compared with a single-arm circuit and a half-bridge circuit, the main circuit has the advantages of reduced volume, reduced quality and better performance;
(5) The sampling circuit provided by the invention not only can detect the amplitude of the current, but also can detect the phase of the current, and has the advantages of high speed, high precision and small current fluctuation.
Drawings
FIG. 1 is a diagram of the whole structure of a digital switching power amplifier of a magnetic levitation motor control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control circuit according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a PWM signal module according to an embodiment of the present invention;
fig. 4 is a circuit diagram of a driving circuit according to an embodiment of the present invention;
fig. 5 is a circuit diagram of a two-phase three-bridge arm main circuit provided by an embodiment of the present invention;
fig. 6 is a circuit diagram of a sampling circuit according to an embodiment of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1, the method of this embodiment is as follows.
The invention provides a switching power amplifier for a magnetic levitation motor, which comprises a control circuit, a driving circuit, a two-phase three-bridge arm main circuit, a sampling circuit and a filter circuit, wherein the control circuit is connected with the driving circuit;
the control circuit is shown in fig. 2 and comprises a DSP central processing module and an FPGA module; the DSP central processing module comprises an AD converter and a control algorithm module; the AD converter is used for sampling a current signal of the electromagnetic coil and a displacement signal of the bearing, performing digital-to-analog conversion on the rotor displacement signal and the current feedback signal to generate a rotor displacement analog signal and a current feedback analog signal, and the output end of the AD converter is respectively connected with the input end of the control algorithm module; the control algorithm module is used for obtaining a bearing offset by making a difference between the rotor displacement analog signal and a reference position, and obtaining a corresponding control current signal according to the offset; the output end of the control algorithm module is connected with the input end of the FPGA module;
in the embodiment, a DSP central processing module adopts TMS320F28335, and an FPGA module adopts Altera Cyclone IV EP CE10F17C8;
the FPGA module ((Field-Programmable Gate Array)) is shown in fig. 3, and comprises a data latch module and n PWM modules, wherein the data latch module is used for storing control current signals transmitted by the DSP central processing module, and the output ends of the data latch module are respectively connected with the input ends of the n PWM modules; each PWM module comprises a clock module, a counting comparison module, an action limiting module and a dead zone module, wherein the clock module is used for generating clock frequency, determining the period of PWM waveforms and generating the numerical value of a clock counter, and the output end of the clock module is respectively connected with the input end of the counting comparison module and the input end of the action limiting module; the counting comparison module comprises two mutually independent register counting comparison registers 1 and 2, and is used for comparing the numerical value of the clock counter with the numerical values in the counting comparison registers 1 and 2 respectively according to the control current signals output by the data latching module, outputting PWM waves when the two numerical values are equal, changing the duty ratio of the output PWM signals by changing the values of the two counting comparison registers, and transmitting the two paths of signals to the action limiting module by the counting comparison module, wherein the two paths of signals are mutually independent and do not interfere with each other; the output end of the counting comparison module is connected with the input end of the action limiting module; the action limiting module is used for receiving signals from the clock module and the counting comparison module, determining an action mode of the action limiting module according to whether an excitation signal exists or not (the action mode comprises setting high or pulling low), changing PWM wave signals according to the action mode, and outputting two paths of PWM waveforms (PWMA and PWMB) by the action limiting module, wherein the output end of the action limiting module is connected with the input end of the dead zone module; the dead zone module IS used for generating dead zone time, selecting an input PWM signal through an internal mode selection bit IS (IN_SELECT), selecting an output PWM signal through an internal mode selection bit OS (OUT_SELECT), controlling the polarity of the output PWM signal through a polarity selection bit P (POSEL), and outputting two paths of complementary PWM signals (PWM 1 and PWM 2) through setting the value of each control bit, wherein the output end of the dead zone module IS connected with the input end of the driving circuit;
each PWM signal module is provided with an independent clock module, and each clock module can generate different clock frequencies, so that different time sequences are set to realize more functions; each PWM signal generating module can realize synchronous triggering through the respective clock module so as to achieve the output synchronization of PWM signals; the clock counter of the invention can realize three counting modes: a count-up mode, a count-down mode, and a count-up/down mode; the symmetrical PWM signals can be output through software programming, and the asymmetrical PWM signals can also be output;
the driving circuit is shown in fig. 4, and is configured to receive the PWM signal output by the control circuit and generate a driving signal, and includes an integrated chip UC1, an integrated chip UC2, a resistor R1, a resistor R2, a resistor R3, a capacitor C1, a capacitor C2, a diode D1, a switching tube VT, and a transformer T, where one end of the resistor R1 is connected to a pin 8 of the integrated chip UC1, one end of the capacitor C1 is connected to a pin 1 of the integrated chip UC1, the other ends of the resistor R1 and the capacitor C1 are grounded, the transformer T is used as electromagnetic isolation, an input end is connected to a pin 4 and a pin 6 of the integrated chip UC1, and an output end is connected to a pin 7 and a pin 8 of the integrated chip UC2 after being connected in parallel with the resistor R3; pin 2 of integrated chip UC2 is connected with resistor R2 and diode D1, D1 and R2 are connected in parallel and then connected with the grid electrode of switching tube VT; the drive circuit is provided with two integrated chips, can generate switching frequency signals of up to 100KHZ, the input end of the circuit is connected with the PWM signal output end generated by the FPGA module of the control circuit, and the output end of the drive circuit is connected with the grid electrode of the switching tube of the two-phase three-bridge arm main circuit;
in this embodiment, two integrated chips adopt UC3724 and UC3725, wherein UC3724 is used to generate a high-frequency carrier signal, the magnitude of carrier frequency is determined by selecting the values of capacitor C1 and resistor R1, high-frequency modulation waves are generated through pins 4 and 6, the modulation waves are isolated by a transformer, and then signals are output to pins 7 and 8 of the UC3725 chip, and then driving signals are generated after modulation by UC 3725. Meanwhile, the internal Schottky rectifier bridge of the UC3725 rectifies the high-frequency modulation waves with pins 7 and 8 into direct-current voltage to supply power for the chip. The magnetizing inductance of the isolation transformer is large, so that magnetizing current can be reduced, and heating of UC3724 is reduced. The driving circuit can work only by a single power supply, realizes the isolation of a control signal and a driving signal, has small volume and is suitable for a magnetic suspension motor.
The two-phase three-bridge arm main circuit comprises 6 switching tubes VT1-VT6, 6 freewheel diodes D21-D26, an electromagnetic coil X and an electromagnetic coil Y; the switching tube VT1 is connected with the D21 in parallel, the VT2 is connected with the D22 in parallel, the VT3 is connected with the D23 in parallel, the VT4 is connected with the D24 in parallel, the VT5 is connected with the D25 in parallel, and the VT6 is connected with the D26 in parallel; one end of the electromagnetic coil X is respectively connected with a source electrode of the VT1 and a drain electrode of the VT4, the other end of the electromagnetic coil X is respectively connected with a source electrode of the VT2 and a drain electrode of the VT5, one end of the electromagnetic coil Y is respectively connected with a source electrode of the VT2 and a drain electrode of the VT5, and the other end of the electromagnetic coil Y is respectively connected with a source electrode of the VT3 and a drain electrode of the VT 6; in order to prevent the generation of through, VT1 and VT4 cannot be conducted simultaneously, VT2 and VT5 cannot be conducted simultaneously, and VT3 and VT6 cannot be conducted simultaneously; the second bridge arm formed by VT2 and VT5 is a common bridge arm. The grid driving signal generated by the driving circuit controls the on and off of the switching tube, so that electromagnetic force required by rotor suspension is generated in the electromagnetic coil, and the electromagnetic coil of the magnetic suspension motor is connected between the first bridge arm and the public bridge arm as well as between the public bridge arm and the third bridge arm; the electromagnetic coil X and the electromagnetic coil Y are respectively connected with the sampling circuit; as shown in fig. 5, wherein the resistor R21 and the inductor L1 are equivalent to the electromagnetic coil X, and the resistor R22 and the inductor L2 are equivalent to the electromagnetic coil Y;
in the embodiment, the switching tube adopts IRF4868;
the sampling circuit comprises a Hall sensor, an LM393 comparator, a resistor R11, a resistor R12, a capacitor C11, a capacitor C12, a capacitor C13 and an inductor L11; one end of the Hall sensor is respectively connected with an electromagnetic coil X and an electromagnetic coil Y of a two-phase three-bridge arm main circuit, the other end of the Hall sensor is connected with the input end of an LM393 comparator, one section of a resistor R11 is connected with the LM393 comparator in series and then connected with the LM393 comparator in parallel, the other end of the resistor R11 is connected with electricity, the other end of the resistor R12 is grounded, one end of a capacitor C13 is connected with the LM393 comparator, the other end of the capacitor C11 is grounded, an inductor L11 is connected with the capacitor C12 in series, the other end of the inductor L11 is connected with the LM393 comparator, and the other end of the capacitor C12 is grounded; the sampling circuit is connected with the filter circuit; as shown in fig. 6;
the circuit mainly comprises a Hall sensor and an LM393 comparator, wherein the Hall sensor is connected with two electromagnetic coils of a two-phase three-bridge arm main circuit, the output end of the Hall sensor is connected with the input end of the LM393 comparator, the output end of the LM393 comparator is connected with a filter circuit, and the circuit has the main functions of detecting current feedback signals of the electromagnetic coils in the two-phase three-bridge arm main circuit and improving the accuracy of the current feedback signals through a pull-up resistor;
the circuit mainly has the functions of detecting a current feedback signal of the electromagnetic coil in the two-phase three-bridge arm main circuit and improving the accuracy of the current feedback signal through a pull-up resistor;
the filter circuit comprises a voltage follower, an inverting amplifier and a second-order low-pass filter; the voltage follower is connected with the output end of the sampling circuit through a resistor, the resistor converts the collected current signal into a voltage signal, and the voltage follower plays roles of stabilizing the signal and reducing input impedance; the input end of the inverting amplifier is connected with the output end of the voltage follower and is used for amplifying the sampling signal; the input end of the second-order low-pass filter is connected with the output end of the inverting amplifier, and noise in the signal is filtered to obtain a stable output signal; the output end of the filter circuit is connected with the AD conversion interface of the DSP controller.
VT1 and VT4 in the two-phase three-leg main circuit form a first leg, VT2 and VT5 form a second leg (namely a public leg), VT3 and VT6 form a third leg, and an electromagnetic coil of the magnetic levitation motor is connected between the first leg and the second leg as well as between the second leg and the third leg.
The working process of the switching power amplifier is as follows: the AD converter samples current signals of the electromagnetic coil X and the electromagnetic coil Y and a bearing displacement signal output by a displacement sensor of a motor bearing, the acquired rotor displacement analog signal is differed from a reference position to obtain a bearing offset, an expected value of the electromagnetic coil current is obtained through calculation, the current signal fed back by the filter circuit is differed from the expected value of the control current, the obtained difference is recorded as a control current true value, and the calculation formula is as follows:
i x ＝i-i f
where k is the linear stiffness coefficient, k s For negative stiffness of the bearing, k i For the force-current coefficient, x is the bearing offset, d is the damping coefficient,
i is the expected value of control current, i is the reciprocal of bearing offset to time x To control the current true value, i f Is the feedback current value;
storing the current control value and outputting the current control value to n PWM modules, wherein each module outputs two complementary PWM signals which are recorded as
Generating PWM signals from an FPGA in combination with pulse width modulation techniquesThe number is output to the driving circuit, the output PWM signals are respectively composed of two paths of complementary PWM signals, and the two complementary PWM signals are output to the grid electrodes of six switching tubes of the two-phase three-bridge arm main circuit through the driving circuit.
The specific calculation method of each PWM module is as follows:
determining the period of the PWM waveform and the numerical value of a clock counter according to the clock frequency, judging the numerical value of the clock counter with the numerical values of a counting comparison register 1 and a counting comparison register 2 respectively, changing the duty ratio of PWM signals according to the comparison result, outputting the PWM signals when the compared numerical values are equal, judging whether an excitation signal IS present or not according to the data output by a clock module and the counting comparison module, determining the action mode (the action mode comprises setting high or pulling low), changing the PWM wave signals according to the action mode, outputting two paths of PWM waveforms (PWMA and PWMB) by the action limiting module, generating dead time, selecting the input PWM signals through an internal mode selection bit IS (IN_SELECT), controlling the polarity of the output PWM signals through an internal mode selection bit OS (OUT_SELECT), and outputting two paths of complementary PWM signals (PWM 1 and PWM 2) by configuring the values of each control bit;
outputting two paths of complementary PWM signals to a driving circuit by each PWM module to generate grid driving signals for controlling the on and off of switching tubes (VT 1, VT2, VT3, VT4, VT5 and VT 6) of a two-phase three-bridge-arm main circuit, and loading +U at two ends of an electromagnetic coil by controlling the on and off sequence of six switching tubes on the two-phase three-bridge-arm main circuit bridge arm dc 、0、-U dc Three state voltages; thereby generating current in the electromagnetic coil and electromagnetic force positively correlated to the current amount, the electromagnetic force being used to levitate a rotor bearing of the magnetic levitation motor; to more clearly describe the switching on and off sequence of the switching tubes, switching functions S1, S2 and S3 are introduced. When VT4, VT5 and VT6 are conducted, the switch state of the corresponding bridge arm is 1; when VT1, VT2 and VT3 are conducted, the switch state of the corresponding bridge arm is 0; the switching on conditions of the switching tube under different voltage states are shown in the following table 1;
TABLE 1 switching on of switching tubes in different voltage states
The turn-off voltage born by each power device in the three-level circuit is only 50% of the direct-current side voltage, and dv/dt is reduced by 50%. Therefore, under the condition of the same direct-current voltage, the voltage withstand value requirement of the power device is reduced by 50%, and the method has great significance in reducing the cost and improving the output capacity.
The sampling circuit collects current feedback signals of the electromagnetic coil X and the electromagnetic coil Y of the two-phase three-bridge arm main circuit, and the obtained current signals of the electromagnetic coil are filtered by the filter circuit to remove noise in the voltage and current feedback signals and then transmitted to the AD converter.
The main function of the sampling circuit in the embodiment is to detect the current feedback signal of the electromagnetic coil in the two-phase three-bridge arm main circuit, and the accuracy of the current feedback signal is improved through the pull-up resistor. When the current signal is collected, the DL-CT03C1.0 threading type Hall sensor is used for current sampling, and the current amplitude is obtained through the Hall sensor. In order to prevent short circuit accidents, a decoupling capacitor C13 of 0.1uF is arranged at the power end of the operational amplifier chip to eliminate power noise interference and improve sampling reliability. The phase sampling uses a generic LM393 dual voltage comparator integrated circuit. And the LM393 comparator is selected for current phase acquisition, and the positive end 4 pin of the phase comparator is grounded, so that the current phase information of zero-crossing comparison can be obtained. In order to avoid interference of factors such as zero drift, R11 and R12 are adopted to input positive and negative ends of current signals and raise 1/2 of a chip power supply at the same time when the signals are input and compared, so that the reliability of zero crossing points is ensured. The output end of the sampling circuit is connected with the filter circuit, noise in the voltage and current feedback signals is filtered by the filter circuit, and an accurate feedback signal is provided for the control circuit.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions, which are defined by the scope of the appended claims.
Claims (3)
1. A switching power amplifier for a magnetic levitation motor, characterized by: the circuit comprises a control circuit, a driving circuit, a two-phase three-bridge arm main circuit, a sampling circuit and a filter circuit;
the control circuit comprises a DSP central processing module and an FPGA module; the DSP central processing module comprises an AD converter and a control algorithm module; the AD converter is used for sampling a current signal of the electromagnetic coil and a displacement signal of the bearing, performing digital-to-analog conversion on the rotor displacement signal and the current feedback signal to generate a rotor displacement analog signal and a current feedback analog signal, and the output end of the AD converter is connected with the input end of the control algorithm module; the control algorithm module is used for obtaining a bearing offset by making a difference between the rotor displacement analog signal and a reference position, and obtaining a corresponding control current signal according to the offset; the output end of the control algorithm module is connected with the input end of the FPGA module;
the FPGA module comprises a data latch module and n PWM modules, wherein the data latch module is used for storing control current signals transmitted by the DSP central processing module, and the output ends of the data latch module are respectively connected with the input ends of the n PWM modules; the output end of the PWM module is connected with the input end of the driving circuit;
the driving circuit comprises an integrated chip UC1, an integrated chip UC2, a resistor R1, a resistor R2, a resistor R3, a capacitor C1, a capacitor C2, a diode D1, a switch tube VT and a transformer T, wherein one end of the resistor R1 is connected with the integrated chip UC1, one end of the capacitor C1 is connected with the integrated chip UC1, the other ends of the resistor R1 and the capacitor C1 are grounded, one end of the capacitor C2 is connected with the integrated chip UC2, the other end of the capacitor C2 is connected with a source electrode of the switch tube VT, an input end of the transformer T is connected with the integrated chip UC1, and an output end of the transformer T is connected with the integrated chip UC2 after being connected with the resistor R3 in parallel; the integrated chip UC2 is connected with the resistor R2, and D1 and R2 are connected in parallel and then connected with the grid electrode of the switching tube VT; the output end of the driving circuit is connected with a two-phase three-bridge arm main circuit;
the two-phase three-bridge arm main circuit comprises 6 switching tubes VT1-VT6, 6 freewheel diodes D21-D26, an electromagnetic coil X and an electromagnetic coil Y; the switching tube VT1 is connected with the D21 in parallel, the VT2 is connected with the D22 in parallel, the VT3 is connected with the D23 in parallel, the VT4 is connected with the D24 in parallel, the VT5 is connected with the D25 in parallel, and the VT6 is connected with the D26 in parallel; one end of the electromagnetic coil X is respectively connected with a source electrode of the VT1 and a drain electrode of the VT4, the other end of the electromagnetic coil X is respectively connected with a source electrode of the VT2 and a drain electrode of the VT5, one end of the electromagnetic coil Y is respectively connected with a source electrode of the VT2 and a drain electrode of the VT5, and the other end of the electromagnetic coil Y is respectively connected with a source electrode of the VT3 and a drain electrode of the VT 6; the electromagnetic coil X and the electromagnetic coil Y are respectively connected with the sampling circuit;
the sampling circuit comprises a Hall sensor, an LM393 comparator, a resistor R11, a resistor R12, a capacitor C11, a capacitor C12, a capacitor C13 and an inductor L11; one end of the Hall sensor is respectively connected with an electromagnetic coil X and an electromagnetic coil Y of a two-phase three-bridge arm main circuit, the other end of the Hall sensor is connected with the input end of the LM393 comparator, one end of a resistor R11 is connected with the resistor R12 in series and then connected with the LM393 comparator in parallel, the other end of the resistor R11 is electrically connected, the other end of the resistor R12 is grounded, one end of a capacitor C13 is connected with the LM393 comparator, the other end of the capacitor C11 is grounded, one end of the capacitor C11 is connected with the output end of the LM393 comparator, the other end of the inductor L11 is connected with the output end of the LM393 comparator in series, and the other end of the capacitor C12 is grounded; the sampling circuit is connected with the filter circuit;
the output end of the filter circuit is connected with the AD conversion interface of the DSP controller.
2. A switching power amplifier for a magnetic levitation motor of claim 1, wherein: VT1 and VT4 in the two-phase three-leg main circuit form a first leg S1, VT2 and VT5 form a second leg S2, VT3 and VT6 form a third leg S3, and an electromagnetic coil of the magnetic levitation motor is connected between the first leg and the second leg as well as between the second leg and the third leg.
3. A switching power amplifier for a magnetic levitation motor of claim 1, wherein: the working process of the switching power amplifier is as follows: the AD converter samples current signals of the electromagnetic coil X and the electromagnetic coil Y and a bearing displacement signal output by a displacement sensor of a motor bearing, the acquired rotor displacement analog signal is differed from a reference position to obtain a bearing offset, an expected value of the electromagnetic coil current is obtained through calculation, the current signal fed back by the filter circuit is differed from the expected value of the control current, the obtained difference is recorded as a control current true value, and the calculation formula is as follows:
i x ＝i-i f
where k is the linear stiffness coefficient, k s For negative stiffness of the bearing, k i For the force-current coefficient, x is the bearing offset, d is the damping coefficient,
i is the expected value of control current, i is the reciprocal of bearing offset to time x To control the current true value, i f Is the feedback current value;
storing the current control value and outputting the current control value to n PWM modules, wherein each module outputs two complementary PWM signals which are recorded as
Outputting two complementary PWM signals output by each PWM module to a driving circuit to generate a grid driving signal for controlling the on and off of switching tubes of a two-phase three-leg main circuit, and loading +U at two ends of an electromagnetic coil by controlling the on and off sequence of six switching tubes on the two-phase three-leg main circuit leg dc 、0、-U dc Three state voltages; thereby in electromagnetic wireGenerating current in the ring and electromagnetic force positively correlated to the current amount, wherein the electromagnetic force is used for suspending a rotor bearing of the magnetic levitation motor; the switching on conditions of the switching tube under different voltage states are shown in the following table 1;
TABLE 1 switching on of switching tubes in different voltage states
When VT4, VT5 and VT6 are conducted, the switch state of the corresponding bridge arm is 1; when VT1, VT2 and VT3 are conducted, the switch state of the corresponding bridge arm is 0;
the sampling circuit collects current feedback signals of the electromagnetic coil X and the electromagnetic coil Y of the two-phase three-bridge arm main circuit, and the obtained current signals of the electromagnetic coil are filtered by the filter circuit to remove noise in the voltage and current feedback signals and then transmitted to the AD converter.
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| CN111894979B (en) * | 2020-07-29 | 2022-07-26 | 南京邮电大学 | Multi-bridge arm switch power amplifier circuit with fault-tolerant function |
| CN113014179B (en) * | 2021-02-22 | 2023-03-21 | 珠海格力电器股份有限公司 | Motor control method and device, motor, storage medium and processor |
| CN114754069B (en) * | 2022-03-15 | 2023-12-12 | 格瑞拓动力股份有限公司 | Self-adaptive dead zone control method and system for radial magnetic suspension bearing |
| CN116771711B (en) * | 2023-08-17 | 2023-10-24 | 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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