CN110905920A - Magnetic bearing control device suitable for different offset combinations of each degree of freedom of magnetic bearing - Google Patents
Magnetic bearing control device suitable for different offset combinations of each degree of freedom of magnetic bearing Download PDFInfo
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- CN110905920A CN110905920A CN201811083439.XA CN201811083439A CN110905920A CN 110905920 A CN110905920 A CN 110905920A CN 201811083439 A CN201811083439 A CN 201811083439A CN 110905920 A CN110905920 A CN 110905920A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 238000011217 control strategy Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000003750 conditioning effect Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000003321 amplification Effects 0.000 abstract description 2
- 238000003199 nucleic acid amplification method Methods 0.000 abstract description 2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2380/00—Electrical apparatus
- F16C2380/26—Dynamo-electric machines or combinations therewith, e.g. electro-motors and generators
Abstract
A magnetic bearing control device suitable for different offset combinations of each degree of freedom of a magnetic bearing, which is used for actively controlling a magnetic suspension-rotor system, mainly comprises: control panel, keysets and power amplifier board. The device obtains displacement signals, coil current and rotating speed signal data of the magnetic bearing rotor through an interface circuit on a control board, a DSP chip generates control quantity according to the acquired data, sends the control quantity to an FPGA (field programmable gate array) for PWM (pulse width modulation) generation, and then outputs the control quantity to a power amplification link of a drive board to generate current required by the magnetic bearing coil, thereby realizing the active control of a magnetic bearing-rotor system. The invention is suitable for the condition that each degree of freedom of the magnetic bearing is different in bias combination, 5 degrees of freedom of the magnetic bearing adopt the quantity of permanent magnetic bias and electromagnetic bias to distribute at will, no matter electromagnetic bias or permanent magnetic bias can realize the three-level control strategy to reduce the current ripple, and the quantity of PWM pins used is as small as possible, overcome the existing magnetic bearing controller to each degree of freedom electromagnetic bias and permanent magnetic bias combination not flexible enough, the current ripple is bigger, the drive circuit adopts the independent power supply to cause the problem of high cost, etc.
Description
Technical Field
The invention relates to a magnetic bearing control device suitable for different bias combinations of various degrees of freedom of a magnetic bearing, which is used for controlling a magnetic bearing system and is suitable for application occasions of different bias combinations of various degrees of freedom of the magnetic bearing.
Background
Magnetic bearings can be classified into three categories according to the different ways of providing magnetic force: active magnetic bearings (electromagnetic biased magnetic bearings), passive magnetic bearings, and hybrid magnetic bearings (permanent magnet biased magnetic bearings). The most discussed at present are electromagnetic and permanent magnet biased magnetic bearings.
In a magnetic bearing support structure of a rotary system, it is usually necessary to control 5 degrees of freedom (4 radial degrees of freedom and 1 axial degree of freedom) of the rotor body to achieve levitation of the rotor body. The designer may have different designs and different combinations of the offset structures with radial and axial degrees of freedom according to different application occasions, and the magnetic bearing control device capable of adapting to the offset combinations with different degrees of freedom is needed to realize the control.
Theoretically, the magnetic bearing system with different bias combinations has stronger applicability. The control device can control magnetic bearings with different bias combinations to jointly support a rotor body.
Disclosure of Invention
The technical problem of the invention is solved: the method solves the problems that the existing magnetic bearing controller is not flexible enough in combination of electromagnetic bias and permanent magnet bias of each degree of freedom, large in current ripple, high in cost caused by the fact that a driving circuit adopts an independent power supply, and the like, and provides the method for reducing the current ripple by adopting the permanent magnet bias and the electromagnetic bias with 5 degrees of freedom of the magnetic bearing in any number, realizing a three-level control strategy no matter the electromagnetic bias or the permanent magnet bias, and reducing the number of PWM pins as few as possible.
The technical scheme adopted by the invention is as follows: the magnetic bearing control device consists of a magnetic bearing control plate (100), an adapter plate (101) and drive plates (102) and (103), wherein the control plate (100) is connected with the drive plates (102) and (103) through the adapter plate (101). The control board (100) mainly comprises an FPGA (field programmable gate array) (105), a DSP (digital signal processor) (104), a magnetic bearing displacement detection circuit (106), a magnetic bearing current conditioning circuit (107) and the like, and realizes detection processing of magnetic bearing displacement and current, core algorithm operation and control signal output; the circuit structures of the driving plates (102) and (103) are the same, each driving plate comprises 5 PWM (pulse width modulation) jumper selection circuits (108), 5 current jumper selection circuits (109), 5 high-speed optical coupler bootstrap driving circuits (110), 5 current detection circuits (111) and 5 single-phase full-bridge circuits (112), and power amplification of control signals is achieved.
Further, the control board (100) comprises 30 paths of PWM signals PWM1-PWM30 and 10 paths of current signals I1-I10, and multiple paths of PWM and current signal terminals provided by the control board (100) are selected through jumpers so as to meet the control requirements of different bias combination magnetic bearings.
Furthermore, the invention can be used for controlling the magnetic bearing with 5 degrees of freedom of permanent magnet offset. The specific implementation mode is shown by adopting 1 driving board, 5 single-phase full-bridge circuits (112) and a PWM (pulse-width modulation) jumper wire selection mode.
The invention can also be used for controlling the magnetic bearing with 5 degrees of freedom of electromagnetic offset. The specific implementation mode of the PWM jumper selection mode is shown in the specification by adopting 2 driving plates and 10 single-phase full-bridge circuits (112).
The invention can be used for controlling the 4-freedom degree permanent magnet bias + 1-freedom degree electromagnetic bias type magnetic bearing. The PWM jumper wire selection mode adopts 2 driving plates and 6 single-phase full-bridge circuits (112), and is shown in the specific implementation mode.
The invention can be used for controlling the 4-freedom-degree electromagnetic bias + 1-freedom-degree permanent magnet biased magnetic bearing. The PWM jumper wire selection mode is shown in the specific implementation mode by adopting 2 driving plates and 9 single-phase full-bridge circuits (112).
Compared with the magnetic bearing control device with other structural forms, the invention has the following advantages:
the method has strong adaptability for the condition of bias combination with different degrees of freedom of the magnetic bearing.
The structure is simple, the three-level control strategy can be realized by any bias control mode, and the current ripple is small.
The upper and lower power tubes of each bridge arm of the main driving circuit with each degree of freedom are driven in a bootstrap mode, and can share a power supply, so that the circuit is simplified, and the cost is reduced.
Drawings
FIG. 1 is a block diagram of a magnetic bearing controller;
the respective reference numerals in fig. 1: 100. the device comprises a control board, 101, an adapter board, 102, a driving board, 103, a driving board, 104, a DSP, 105, an FPGA, 106, a magnetic bearing displacement detection circuit, 107, a magnetic bearing current conditioning circuit, 108, a PWM jumper selection circuit, 109, a current jumper selection circuit, 110, a high-speed optical coupling bootstrap driving circuit, 111, a current detection circuit, 112 and a single-phase full-bridge circuit.
FIG. 2 is a single-phase full bridge circuit diagram;
FIG. 3 is a diagram showing the connection of driving signals of 4 power transistors in each single-phase full-bridge circuit of the driving board;
FIG. 4 is a diagram of a conventional driving signal connection;
FIG. 5 is a diagram of the connection of permanent magnet drive signals for 5 degrees of freedom of the magnetic bearing;
FIG. 6 is a diagram of the connection of electromagnetic driving signals for 5 degrees of freedom of the magnetic bearing;
FIG. 7 is a diagram of the connection of drive signals for a magnetic bearing with 4 degrees of freedom in permanent magnet offset and 1 degree of freedom in electromagnetic offset;
FIG. 8 is a diagram of the connection of drive signals for a magnetic bearing with 4 degrees of freedom electromagnetically offset and 1 degree of freedom permanently offset;
Detailed Description
A magnetic bearing control device suitable for different offset combinations of each degree of freedom of a magnetic bearing comprises a control plate (100), an adapter plate (101) and drive plates (102) and (103).
The connection mode of each part is shown in fig. 1, and the specific connection mode is as follows: the control board (100) is connected with the driving boards (102) and (103) through the adapter board (101). The control board (100) is mainly composed of an FPGA (105), a DSP (104), a magnetic bearing displacement detection circuit (106), a magnetic bearing current conditioning circuit (107) and the like; the circuit structures of the driving plates (102) and (103) are the same, and each driving plate comprises 5 PWM (pulse width modulation) jumper selection circuits (108), 5 current jumper selection circuits (109), 5 high-speed optical coupler bootstrap driving circuits (110), 5 current detection circuits (111) and 5 single-phase full-bridge circuits (112).
The control board (100) comprises 30 paths of PWM signals PWM1-PWM30 and 10 paths of current signals I1-I10, and the multiple paths of PWM and current signal terminals provided by the control board (100) are selected through jumpers so as to meet the requirements of different bias combination magnetic bearing control.
The number of drive plates (102) depends on the offset combination of the magnetic bearings in each degree of freedom: the magnetic bearing with 5 degrees of freedom in permanent magnet offset needs 5 single-phase full-bridge circuits (112), namely 1 driving plate; the magnetic bearing with 5 degrees of freedom both in electromagnetic bias needs 10 single-phase full bridge circuits (112), namely 2 driving plates; the 4-degree-of-freedom permanent magnet bias plus 1-degree-of-freedom electromagnetic bias type magnetic bearing needs 6 single-phase full bridge circuits (112), namely 2 driving plates; a 4-degree-of-freedom electromagnetic bias plus a 1-degree-of-freedom permanent magnet biased magnetic bearing requires 9 single-phase full bridge circuits (112), i.e., 2 drive plates.
30 paths of PWM output by the control board (100) are divided into 5 groups, and are marked as PWMi1, PWMi2, PWMi3, PWMi4, PWM1i5 and PWM2i5, (i is 1, 2, 3, 4 and 5); the 10 currents are also divided into 5 groups, labeled as I1I, I2I, (I ═ 1, 2, 3, 4, 5); the selection mode of the driving signals of 4 power tubes in each single-phase full bridge circuit (112) on the driving board (102) depends on a PWM jumper selection circuit (108), PWMGi1 selects PWMi1 or PWMi2 through a jumper, PWMGi2 selects PWMi2 or DGND through a jumper, PWMGi3 selects PWMi3 or PWMi5 through a jumper, PWMi5 selects PWM1i5 or PWM2i5 through a double-row jumper, PWMGi4 selects PWMi4 or PWMi3 through a jumper, 10-bit pins are needed in total, if a 7-to-1 mode of the traditional thinking is adopted, such as FIG. 4, a double-row pin of 28 bits is needed, the connection selection mode of FIG. 3 saves the layout space of hardware, and reduces the possibility of interference caused by lengthening of the routing length.
The first embodiment is as follows: if 5 degrees of freedom of the magnetic bearing are all permanent magnets, 5 single-phase full-bridge circuits (112) are needed, 1 drive board is needed, the drive signal jumper selection mode is shown in fig. 5, and 4 drive signals of each single-phase full-bridge circuit (112) respectively select PWMi1, PWMi2, PWMi3 and PWMi4, (i is 1, 2, 3, 4 and 5).
Example two: if 5 degrees of freedom of the magnetic bearings are all electromagnetic, 10 single-phase full-bridge circuits (112) are needed, 2 drive plates (102) (103) are needed, the drive signal jumper selection mode is shown in fig. 6, 4 drive signals of each single-phase full-bridge circuit (112) of the drive plates (102) respectively select PWMi1, DGND, PWM1i5 and PWMi4, (i is 1, 2, 3, 4 and 5), and 4 drive signals of each single-phase full-bridge circuit (112) of the drive plates (103) respectively select PWMi2, DGND, PWM2i5 and PWMi3, (i is 1, 2, 3, 4 and 5).
Example three: if the magnetic bearing has 4 radial degrees of freedom which are both permanent magnet offset type and 1 axial degree of freedom which is electromagnetic offset type, 6 single-phase full-bridge circuits (112) are needed, 2 drive plates (102) (103) are needed, the drive signal jumper selection mode is as shown in fig. 7, 4 drive signals of the first 4 single-phase full-bridge circuits (112) of the drive plates (102) respectively select PWMi1, PWMi2, PWMi3 and PWMi4, (i is 1, 2, 3 and 4), and 4 drive signals of the 5 th single-phase full-bridge circuit (112) of the drive plates (102) respectively select mipw 1, DGND, PWM1i5 and PWMi4, (i is 5); the 4 driving signals of the 5 th single-phase full-bridge circuit (112) of the driving board (103) respectively select PWMi2, DGND, PWM2i5 and PWMi3, (i equals 5), and the first 4 single-phase full-bridge circuits (112) of the driving board (103) are not used.
Example four: if the magnetic bearing has 4 radial degrees of freedom which are both electromagnetically biased and 1 axial degree of freedom which is permanently magnetically biased, 9 single-phase full-bridge circuits (112) are needed, namely 2 drive plates (102) (103), the drive signals are selected in a jumper selection mode as shown in fig. 8, 4 drive signals of the first 4 single-phase full-bridge circuits (112) of the drive plates (102) respectively select PWMi1, DGND, PWM1i5 and PWMi4, (i is 1, 2, 3 and 4), and 4 drive signals of the 5 th single-phase full-bridge circuit (112) of the drive plates (102) respectively select PWMi1, PWMi2, PWMi3 and PWMi4, (i is 5); the 4 driving signals of the first 4 single-phase full-bridge circuits (112) of the driving board (103) respectively select PWMi2, DGND, PWM2i5 and PWMi3, (i is 1, 2, 3 and 4), and the 5 th single-phase full-bridge circuit (112) of the driving board (103) is not used.
Claims (9)
1. A magnetic bearing control device suitable for different bias combinations of each degree of freedom of a magnetic bearing is characterized by comprising a control plate (100), an adapter plate (101) and drive plates (102) and (103); the control board (100) is connected with the driving boards (102) and (103) through the adapter board (101); the control board (100) is mainly composed of an FPGA (105), a DSP (104), a magnetic bearing displacement detection circuit (106), a magnetic bearing current conditioning circuit (107) and the like; the control board comprises 30 paths of PWM signals PWM1-PWM30 and 10 paths of current signals I1-I10; the circuit structures of the driving plates (102) and (103) are the same, and each driving plate comprises 5 PWM (pulse-width modulation) jumper selection circuits (108), 5 current jumper selection circuits (109), 5 high-speed optical coupler bootstrap driving circuits (110), 5 current detection circuits (111) and 5 single-phase full-bridge circuits (112); the number of the drive plates depends on the bias combination mode of each degree of freedom of the magnetic bearing, 5H-bridge drives are needed for the magnetic bearing with 5 degrees of freedom all in permanent magnet bias type, namely 1 drive plate, 10H-bridge drives are needed for the magnetic bearing with 5 degrees of freedom all in electromagnetic bias type, namely 2 drive plates, 6H-bridge drives are needed for the magnetic bearing with 4 degrees of freedom permanent magnet bias +1 degrees of freedom electromagnetic bias type, namely 2 drive plates, and 9H-bridge drives are needed for the magnetic bearing with 4 degrees of freedom electromagnetic bias +1 degrees of freedom permanent magnet bias type, namely 2 drive plates; the multipath PWM and current signal terminals provided by the control board are selected through jumper wires so as to meet the requirements of different bias combination magnetic bearing control.
2. A magnetic bearing control device adapted for different bias combinations of magnetic bearing degrees of freedom according to claim 1, characterized in that the main loop of the magnetic bearing unit in the drive plate (102) (103) adopts a single-phase full-bridge circuit (112) topology, and is composed of 4N-channel MOSFET single tubes (with anti-parallel diodes) (113); the 4 switching tubes (113) of each single-phase full-bridge circuit (112) are respectively controlled by 4 driving signals Gi1, Gi2, Gi3 and Gi4 (i is 1, 2, 3, 4 and 5), and the driving signals on the corresponding optical coupling input sides are respectively PWMGi1, PWMGi2, PWMGi3 and PWMGi4 (i is 1, 2, 3, 4 and 5).
3. The magnetic bearing control device for different bias combinations of magnetic bearings according to claim 1, wherein the upper tube of each bridge arm of the single-phase full bridge circuit (112) in the drive board (102) (103) adopts a bootstrap drive mode, so that the cost of 10 isolated power supply modules can be saved for each drive board; the PWM control strategy is as follows: the upper and lower switching tubes are conducted complementarily, and the diagonal switching tubes have the same duty ratio and have the phase difference of 180 degrees (three-level mode); compare in diagonal switch tube same phase with duty cycle's control mode, the advantage lies in: in each PWM period, the moment that 4 switching tubes are turned off simultaneously does not exist, the di/dt in the load inductor follow current period is small, and the current ripple is small.
4. The magnetic bearing control apparatus adapted for different bias combinations of respective degrees of freedom of a magnetic bearing of claim 1, wherein the 30-way PWMs outputted by the control board (100) are divided into 5 groups, labeled PWMi1, PWMi2, PWMi3, PWMi4, PWM1i5, PWM2i5, (i ═ 1, 2, 3, 4, 5); the 10 currents are also divided into 5 groups, labeled as I1I, I2I, (I ═ 1, 2, 3, 4, 5); the selection mode of the driving signals of 4 power tubes in each single-phase full-bridge circuit (112) on the driving board (102) depends on a PWM jumper selection circuit (108), PWMGi1 selects PWMi1 or PWMi2 through a jumper, PWMGi2 selects PWMi2 or DGND through a jumper, PWMGi3 selects PWMi3 or PWMi5 through a jumper, PWMi5 selects PWM1i5 or PWM2i5 through a jumper, and PWMGi4 selects PWMi4 or PWMi3 through a jumper.
5. A magnetic bearing control apparatus adapted for different bias combinations of magnetic bearings having different degrees of freedom according to claim 1, wherein 5 degrees of freedom of the magnetic bearing are permanent magnets, 5 single-phase full bridge circuits (112) are required, 1 drive board (102) is provided in total, and the PWM jumper selection circuit (108) is connected in a jumper manner of PWMGi1 connected to PWMi1, PWMGi2 connected to PWMi2, PWMGi3 connected to PWMi3, and PWMGi4 connected to PWMi4, (i ═ 1, 2, 3, 4, 5).
6. A magnetic bearing control apparatus suitable for different offset combinations of magnetic bearings with different degrees of freedom according to claim 1, wherein 5 degrees of freedom of the magnetic bearing are all electromagnetic, and 10 single-phase full bridge circuits (112) are required, and 2 drive boards (102) (103) are provided, and the PWM jumper selection circuit (108) of the drive board (102) is connected in a manner of PWMGi1 connected to PWMi1, PWMGi2 connected to DGND, PWMGi3 connected to PWM1i5, PWMGi4 connected to PWMi4, (i ═ 1, 2, 3, 4, 5), and the PWM jumper selection circuit (108) of the drive board (103) is connected in a manner of PWMGi1 connected to PWMi2, PWMGi2 connected to DGND, PWMGi3 connected to PWM2i5, PWMGi4 connected to PWMi3, (i ═ 1, 2, 3, 4, 5).
7. A magnetic bearing control apparatus suitable for different bias combinations of magnetic bearings with different degrees of freedom according to claim 1, wherein the magnetic bearing has 4 degrees of freedom in radial direction all permanently magnetic biased and 1 degree of freedom in axial direction all electromagnetically biased, 6 single-phase full bridge circuits (112) are required, 2 drive boards (102) (103) are required, the PWM jumper selection circuit (108) of the drive boards (102) has jumper connection modes of PWMGi1 connecting PWMi1, PWMGi2 connecting PWMi2, PWMGi3 connecting PWMi3, PWMGi4 connecting PWMi4, (i ═ 1, 2, 3, 4), PWMG51 connecting PWM51, PWMG52 connecting DGND, PWMG53 connecting 155, PWMG54 connecting PWM 54; the PWM jumper selection circuit (108) of the drive board (103) adopts a jumper connection mode that PWMGi1 is connected with PWMi2, PWMGi2 is connected with DGND, PWMGi3 is connected with PWM2i5, PWMGi4 is connected with PWMi3 (i is 5).
8. The magnetic bearing control apparatus suitable for different offset combinations of magnetic bearing degrees of freedom according to claim 1, wherein the magnetic bearing is electromagnetically biased in all 4 radial degrees of freedom and permanently magnetically biased in all 1 axial degree of freedom, and requires 9 single-phase full bridge circuits (112), i.e. 2 drive boards (102) (103), and the PWM jumper selection circuits (108) of the drive boards (102) are connected in a way that PWMGi1 is connected with PWMi1, PWMGi2 is connected with DGND, PWMGi3 is connected with PWM1i5, PWMGi4 is connected with PWMi4, (i ═ 1, 2, 3, 4), PWMG51 is connected with PWM51, PWMG52 is connected with PWM52, PWMG53 is connected with PWM53, PWMG54 is connected with PWM 54; the PWM jumper selection circuit (108) of the drive board (103) adopts a jumper connection mode that PWMGi1 is connected with PWMi2, PWMGi2 is connected with DGND, PWMGi3 is connected with PWM2i5, PWMGi4 is connected with PWMi3, (i is 1, 2, 3 and 4).
9. A magnetic bearing control apparatus adapted for different bias combinations for each degree of freedom of a magnetic bearing as claimed in claim 1 wherein said drive plate (102) (103) includes a magnetic bearing stator coil current sensing circuit (111), wherein I1I (I1, 2, 3, 4, 5) is selected for a current signal jumper of the drive plate (102), and I2I (I1, 2, 3, 4, 5) is selected for a current signal jumper of the drive plate (103).
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| CN201811083439.XA CN110905920A (en) | 2018-09-18 | 2018-09-18 | Magnetic bearing control device suitable for different offset combinations of each degree of freedom of magnetic bearing |
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| CN201811083439.XA CN110905920A (en) | 2018-09-18 | 2018-09-18 | Magnetic bearing control device suitable for different offset combinations of each degree of freedom of magnetic bearing |
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| CN112815006A (en) * | 2021-01-20 | 2021-05-18 | 华中科技大学 | Magnetic suspension bearing series winding control device and method for optimizing bridge arm current stress |
| CN115978088A (en) * | 2023-03-20 | 2023-04-18 | 南昌航空大学 | Magnetic suspension rotor vibration control method based on self-adaptive bias and speed observer |
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