CN110905921A - Annular topology four-bridge arm control device and method applied to magnetic suspension bearing - Google Patents

Annular topology four-bridge arm control device and method applied to magnetic suspension bearing Download PDF

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CN110905921A
CN110905921A CN201911200259.XA CN201911200259A CN110905921A CN 110905921 A CN110905921 A CN 110905921A CN 201911200259 A CN201911200259 A CN 201911200259A CN 110905921 A CN110905921 A CN 110905921A
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winding
controllable switch
power supply
current
insulated gate
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CN110905921B (en
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蒋栋
杨佶昌
胡载东
孙宏博
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • F16C32/0459—Details of the magnetic circuit
    • 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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

The invention discloses a ring topology four-bridge arm control device and method applied to a magnetic suspension bearing, belongs to the field of magnetic suspension bearing control, and comprises 4 one-way conduction devices, 4 controllable switches, 4 windings and a power supply. The current passing through each winding is controlled by changing the conduction time of each controllable switch in one switching period, and the control of the currents of the four windings for controlling two degrees of freedom in the magnetic suspension bearing is realized by dividing the 4 windings into two groups and controlling the common mode current and the differential mode current in the windings. The invention has the advantages that the 4 windings are annularly connected, only four bridge arms are needed for controlling the four windings of the single octupole radial magnetic bearing, and two bridge arms are needed for controlling a single coil in a common bridge circuit, so that the utilization rate of devices is effectively improved. Meanwhile, when the controller provided by the invention is used for controlling the differential current between the two windings, higher voltage utilization rate can be realized.

Description

Annular topology four-bridge arm control device and method applied to magnetic suspension bearing
Technical Field
The invention belongs to the field of magnetic suspension bearing control, and particularly relates to an annular four-bridge arm control device and method applied to a magnetic suspension bearing.
Background
The magnetic suspension bearing is a bearing device which uses electromagnetic force to suspend a rotor, thereby replacing the traditional mechanical bearing and realizing the non-contact operation of the rotor and a stator. Because there is no mechanical contact between the rotor and the stator, it has the features of no need of lubrication, no mechanical friction, no pollution, good stability and long service life. In the fields of energy storage flywheels, aviation equipment and the like, the magnetic suspension bearing is widely applied to the application occasions where the rotor needs to rotate at a high speed and a super high speed or the requirement on the working environment is high. In the last 40 th century, researchers have conducted intensive research on magnetic bearings abroad, and in the last 70 th century, magnetic bearings have entered the industrial application stage. The development in the field of aeronautics has greatly facilitated the development of magnetic bearings and, consequently, has led to a number of magnetic levitation devices of epoch-making significance. The development of related fields in China starts late, in recent years, many colleges and enterprises pay attention to the latest research progress in the field of magnetic suspension bearings, related products also begin to appear in existing companies at present, and the magnetic suspension bearings still have wide development prospects in decades of the future.
For an active magnetic suspension bearing system, the active magnetic suspension bearing system mainly comprises a rotor, a sensor, a controller, an electromagnetic actuator and the like, and the design of a control system of the active magnetic suspension bearing system has great influence on the performance of the whole device. The power amplifier converts the control signal into a current in the winding to control the electromagnetic force of the magnetic bearing, which is an important component in the magnetic bearing system. The traditional full-bridge topological structure needs two bridge arms to control one winding, the system structure becomes complicated in a magnetic suspension bearing system, and the device cost is increased. At present, researchers have proposed a method of using a common bridge arm to reduce the number of devices, thereby reducing the cost, but the number of the devices still has an optimization space, the voltage utilization rate is not high, and the control effect of the magnetic suspension bearing device is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a ring topology four-bridge arm control device and method applied to a magnetic suspension bearing, and aims to solve the problem that the number of devices cannot be reduced to the maximum extent in the existing active magnetic suspension bearing system.
To achieve the above object, in one aspect, the present invention provides a methodAnnular topology four-bridge arm control device applied to magnetic suspension bearing comprises: unidirectional conducting device D1And a unidirectional conducting device D2And a unidirectional conducting device D3And a unidirectional conducting device D4Controllable switch S1Controllable switch S2Controllable switch S3Controllable switch S4Winding A1Winding A2Winding A3Winding A4And a power source;
unidirectional conducting device D1First end of and winding A1Winding A2And a controllable switch S1The second end of the power supply is connected with the negative electrode of the power supply;
unidirectional conducting device D2Is connected with the positive pole of the power supply, and the second end of the first end is connected with the winding A2Winding A3And a controllable switch S2Is connected with the first end of the first connecting pipe;
unidirectional conducting device D3First end of and winding A3Winding A4And a controllable switch S3The second end of the power supply is connected with the negative electrode of the power supply;
unidirectional conducting device D4Is connected with the positive pole of the power supply, and the second end of the first end is connected with the winding A4Winding A1And a controllable switch S4Is connected with the first end of the first connecting pipe;
unidirectional conducting device D1And a unidirectional conducting device D2And a unidirectional conducting device D3And a unidirectional conducting device D4All are conducted from the corresponding second end to the first end in a single direction;
controllable switch S1The first end of the power supply is connected with the positive electrode of the power supply; controllable switch S2The second end of the power supply is connected with the negative electrode of the power supply; controllable switch S3The first end of the power supply is connected with the positive electrode of the power supply; controllable switch S4The second end of the power supply is connected with the negative electrode of the power supply;
unidirectional conducting device D1Is a winding A1And winding A2Providing a follow current loop; unidirectional conducting device D2Is a winding A2And winding A3Providing a follow current loop; unidirectional conducting device D3Is a winding A3And winding A4Providing a follow current loop; unidirectional conducting device D4Is a winding A4And winding A1Providing a follow current loop;
controllable switch S4And a controllable switch S1Controlled by winding A by varying its on-time1The current of (a); controllable switch S1And a controllable switch S2Controlled by winding A by varying its on-time2The current of (a); controllable switch S2And a controllable switch S3Controlled by winding A by varying its on-time3The current of (a); controllable switch S3And a controllable switch S4Controlled by winding A by varying its on-time4The current of (a);
winding A1Winding A2Winding A3And winding A4The electromagnetic force required by the magnetic suspension bearing is generated through the corresponding winding current.
Preferably, the controllable switch S1Controllable switch S2Controllable switch S3And a controllable switch S4Are all insulated gate bipolar transistors;
insulated gate bipolar transistor S1Is connected with the positive electrode of the power supply, and the emitter electrode of the collector electrode is connected with the winding A1Winding A2And a unidirectional conducting device D1Is connected with the first end of the first connecting pipe;
insulated gate bipolar transistor S2Collector and winding A2Winding A3And a unidirectional conducting device D2The emitter of the second end of the first end is connected with the negative electrode of the power supply;
insulated gate bipolar transistor S3Is connected with the positive electrode of the power supply, and the emitter electrode of the collector electrode is connected with the winding A3Winding A4And a unidirectional conducting device D4Is connected with the first end of the first connecting pipe;
insulated gate bipolar transistor S4Collector and winding A4Winding A1And a unidirectional conducting device D4The emitter of the second end of the first end is connected with the negative electrode of the power supply;
insulated gate bipolar transistor S1Insulated gate bipolar transistor S2Insulated gate bipolar transistorS3And an insulated gate bipolar transistor S4The on-time is controlled by changing the gate control signal.
Preferably, a unidirectional conducting device D1And a unidirectional conducting device D2And a unidirectional conducting device D3And a unidirectional conducting device D4Are all diodes;
diode D1Negative pole of (2) and winding (A)1Winding A2And a controllable switch S1The anode of the second end of the first end is connected with the cathode of the power supply;
diode D2Is connected with the positive pole of the power supply, and the positive pole of the power supply is connected with the winding A2Winding A3And a controllable switch S2Is connected with the first end of the first connecting pipe;
diode D3Negative pole of (2) and winding (A)3Winding A4And a controllable switch S3The anode of the second end of the first end is connected with the cathode of the power supply;
diode D4Is connected with the positive pole of the power supply, and the positive pole of the power supply is connected with the winding A4Winding A1And a controllable switch S4Is connected to the first end of the first housing.
Preferably, an insulated gate bipolar transistor S1Insulated gate bipolar transistor S2Insulated gate bipolar transistor S3And an insulated gate bipolar transistor S4The gate control signals are pulse modulation signals with adjustable duty ratio.
On the other hand, based on the ring topology four-leg control device applied to the magnetic suspension bearing, the invention provides a ring topology four-leg control method applied to the magnetic suspension bearing, which comprises the following steps:
(1) the working modes of the ring topology four-arm controller are switched by synchronously controlling the on and off of each controllable switch;
(2) the duration of each working mode of the ring topology four-arm controller is controlled by controlling the conduction time of each controllable switch, so that the control of each winding current is realized.
Preferably, each controllable switch is an insulated gate bipolar transistor, and the on time of each insulated gate bipolar transistor is the duty ratio of the pulse width modulation signal of the gate control signal of each insulated gate bipolar transistor;
preferably, the control of the winding currents comprises common mode current control and differential mode current control between the windings.
Preferably, the step (2) specifically comprises:
(2.1) controlling the duration of each working mode of the ring topology four-arm controller by controlling the conduction time of each controllable switch;
(2.2) acquiring voltages on adjacent winding nodes according to the duration of each working mode of the ring topology four-arm controller;
(2.3) calculating the current of each winding according to the voltage on the adjacent winding node;
and (2.4) calculating common mode current and differential mode current between the windings by using the current magnitude of the windings.
For a magnetic suspension bearing, two windings are respectively needed to control in the x direction and the y direction, and the winding A in the ring topology four-bridge arm control device provided by the invention1And winding A3One set, winding A2And winding A4One group for controlling the x direction and the y direction respectively;
when the ring topology four-bridge arm control device keeps stable, the controllable switch S is controlled1Controllable switch S2Controllable switch S3And a controllable switch S4The turn-on time of the controllable switch is 50% of the single period, and when the magnetic suspension bearing is controlled, the turn-on time of the corresponding controllable switch is increased or decreased on the basis of 50% of the single period.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
(1) compared with the traditional magnetic suspension controller, each winding needs two bridge arms to be controlled simultaneously, 4 windings used in the invention are connected in a ring shape, only 4 bridge arms are needed to control the 4 windings, and the current of each winding is controlled by the controllable switches and the one-way conduction devices on the two adjacent bridge arms, so that the utilization rate of the devices is greatly improved, and the cost and the volume of the controller are reduced.
(2) The invention utilizes the topological characteristic to control the common mode current and the differential mode current of the windings, each pair of windings respectively controls one direction in the magnetic suspension bearing, the common mode current is utilized to adjust the generalized rigidity of the rotor, and the two differential mode currents respectively control the forces in the two directions, thereby effectively meeting the control requirement in the magnetic suspension bearing and fully embodying the good practicability of the annular topological four-arm controller applying the magnetic suspension bearing provided by the invention.
(3) The invention adopts a control method of differential mode current in opposite windings, and can realize that when the voltage at two ends of one winding reaches the voltage of a positive direct current bus, the voltage at two ends of the opposite winding is negative direct current bus voltage, thereby realizing the rapid increase of the differential mode current, and at the moment, the control of the pair of windings realizes the complete utilization of the direct current bus voltage, and the voltage utilization rate is 1. When only the electromagnetic force in one direction needs to be controlled, the voltage utilization rate can reach 1, and the control effect of the magnetic suspension bearing device can be effectively improved.
Drawings
FIG. 1 is a schematic structural view of an octapole radial magnetic bearing provided by the present invention;
FIG. 2 is a topology diagram of a ring topology four-arm controller provided by the present invention;
FIG. 3(a) is a first modality of the ring topology four-arm controller provided by the present invention;
FIG. 3(b) is a second mode of the ring topology four-arm controller provided by the present invention;
fig. 3(c) is a third mode of the ring topology four-arm controller provided by the present invention;
FIG. 3(d) is a fourth mode of the ring topology four-arm controller provided by the present invention;
FIG. 4 is a schematic diagram of the present invention providing a simultaneous rise in current for four windings;
FIG. 5 shows a winding A provided by the present invention1Winding A3Current change, winding A2Winding A4A control schematic diagram with constant current;
FIG. 6 shows a winding A provided by the present invention2Winding A4Current change, winding A1Winding A3A control schematic diagram with constant current;
fig. 7 is a schematic diagram of the present invention providing four windings in steady state.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
FIG. 1 is a block diagram of a single radial magnetic bearing structure having two electromagnetic forces F in orthogonal directions xxAnd electromagnetic force F in the y directionyControl is required. Wherein, the electromagnetic force F in the x directionxThrough winding A1Generated electromagnetic force and winding A2The generated electromagnetic forces jointly determine the electromagnetic force F in the y directionyThrough winding A3Generated electromagnetic force and winding A4The electromagnetic forces generated are determined jointly. Electromagnetic force F generated by each windingmagAnd a winding exciting current isAnd the relative position s of the rotor satisfies Fmag＝Ki*is-KsS, wherein KiIs the electromagnetic force/current coefficient; ksIs the electromagnetic force/displacement coefficient; kiAnd KsAll related to radial bearing structure. The control usually adopts double-loop control, the outer loop is a position loop, a relative position signal of the rotor fed back by a position sensor is compared with a given position, an exciting current instruction signal of an inner loop winding is given by a ring topology four-bridge arm controller, and finally the effective control of electromagnetic force is realized by quickly tracking through a current loop.
Fig. 2 is a ring topology four-leg control device applied to a magnetic suspension bearing, which includes: 4 unidirectional one-way devices, 4 controllable switches, 4 windings and a power supply;
unidirectional conducting device D1First end of and winding A1Winding A2And a controllable switch S1A second terminal of which is connected with the negative pole of the power supply and is used for winding A1And winding A2Providing a follow current loop; unidirectional conducting device D2Is connected with the positive pole of the power supply, and the second end of the first end is connected with the winding A2Winding A3And a controllable switch S2For the winding A is connected2And winding A3Providing a follow current loop; unidirectional conducting device D3First end of and winding A3Winding A4And a controllable switch S3A second terminal of which is connected with the negative pole of the power supply and is used for winding A3And winding A4Providing a follow current loop; unidirectional conducting device D4Is connected with the positive pole of the power supply, and the second end of the first end is connected with the winding A4Winding A1And a controllable switch S4For the winding A is connected4And winding A1Providing a follow current loop; unidirectional conducting device D1And a unidirectional conducting device D2And a unidirectional conducting device D3And a unidirectional conducting device D4All are conducted from the corresponding second end to the first end in a single direction;
controllable switch S1The first end of the power supply is connected with the positive electrode of the power supply; controllable switch S2The second end of the power supply is connected with the negative electrode of the power supply; controllable switch S3The first end of the power supply is connected with the positive electrode of the power supply; controllable switch S4The second end of the power supply is connected with the negative electrode of the power supply; controllable switch S4And a controllable switch S1Controlled by winding A by varying its on-time1The current of (a); controllable switch S1And a controllable switch S2Controlled by winding A by varying its on-time2The current of (a); controllable switch S2And a controllable switch S3Controlled by winding A by varying its on-time3The current of (a); controllable switch S3And a controllable switch S4Controlled by winding A by varying its on-time4The current of (a);
the 4 windings generate the electromagnetic force required by the magnetic suspension bearing through corresponding winding current.
Preferably, the controllable switch S1The controllableSwitch S2The controllable switch S3And said controllable switch S4Are all insulated gate bipolar transistors;
insulated gate bipolar transistor S1Is connected with the positive electrode of the power supply, and the emitter electrode of the collector electrode is connected with the winding A1The winding A2And said unidirectional conducting device D1Is connected with the first end of the first connecting pipe; insulated gate bipolar transistor S2Collector electrode of (2) and said winding (A)2The winding A3And said unidirectional conducting device D2The emitter of the second end of the first end is connected with the negative electrode of the power supply; insulated gate bipolar transistor S3Is connected with the positive electrode of the power supply, and the emitter electrode of the collector electrode is connected with the winding A3The winding A4And said unidirectional conducting device D4Is connected with the first end of the first connecting pipe; insulated gate bipolar transistor S4Collector electrode of (2) and said winding (A)4The winding A1And said unidirectional conducting device D4The emitter of the second end of the first end of the;
insulated gate bipolar transistor S1The insulated gate bipolar transistor S2The insulated gate bipolar transistor S3And the insulated gate bipolar transistor S4The on-time is controlled by changing the gate control signal.
Preferably, a unidirectional conducting device D1And a unidirectional conducting device D2The one-way conduction device D3The one-way conduction device D4Are all diodes;
diode D1Negative pole of (2) and winding (A)1Winding A2And a controllable switch S1The anode of the second end of the first end is connected with the cathode of the power supply; diode D2Is connected with the positive pole of the power supply, and the positive pole of the power supply is connected with the winding A2Winding A3And a controllable switch S2Is connected with the first end of the first connecting pipe; diode D3Negative pole of (2) and winding (A)3Winding A4And a controllable switch S3The anode of the second end of the first end is connected with the cathode of the power supply; diode D4Is connected with the positive pole of the power supply, and the positive pole of the power supply is connected with the winding A4Winding A1And a controllable switch S4Is connected to the first end of the first housing.
Preferably, an insulated gate bipolar transistor S1Insulated gate bipolar transistor S2Insulated gate bipolar transistor S3And an insulated gate bipolar transistor S4The gate control signals are pulse modulation signals with adjustable duty ratio.
Based on the ring topology four-bridge arm control device, the invention provides a corresponding control method, which comprises the following steps:
(1) the working modes of the ring topology four-arm controller are switched by synchronously controlling the on and off of each controllable switch;
(2) the duration of each working mode of the ring topology four-arm controller is controlled by controlling the conduction time of each controllable switch, so that the control of each winding current is realized.
Preferably, the step (2) specifically comprises:
(2.1) controlling the duration of each working mode of the ring topology four-arm controller by controlling the conduction time of each controllable switch;
(2.2) acquiring voltages on adjacent winding nodes according to the duration of each working mode of the ring topology four-arm controller;
(2.3) calculating the current of each winding according to the voltage on the adjacent winding node;
and (2.4) calculating common mode current and differential mode current between the windings by using the current magnitude of the windings.
Preferably, each controllable switch is an insulated gate bipolar transistor, and the on-time of each insulated gate bipolar transistor is the duty cycle of the pulse width modulation signal of the gate control signal of each insulated gate bipolar transistor.
Preferably, the control of the winding currents comprises common mode current control and differential mode current control between the windings.
For the control method described above, winding A is defined1And winding A2The average voltage on the node is u1Winding A2And winding A3The average voltage on the node is u2Winding A3And winding A4The average voltage on the node is u3Winding A4And winding A1The average voltage on the node is u4By controlling the insulated gate bipolar transistor S1Insulated gate bipolar transistor S2Insulated gate bipolar transistor S3And an insulated gate bipolar transistor S4The duty cycle of the pulse width modulated signal of the gate control signal of (1) may be related to the average voltage u at the node1、u2、u3And u4Controlling;
defining winding A1Winding A2Winding A3And winding A4All impedances of (are Z)L；
Winding A1Wherein the current flowing through is i1The direction is controlled by a controllable switch S1To the controllable switch S4A first end of (a);
winding A2Wherein the current flowing through is i2The direction is controlled by a controllable switch S1To the controllable switch S2A first end of (a);
winding A3Wherein the current flowing through is i3The direction is controlled by a controllable switch S3To the controllable switch S2A first end of (a);
winding A4Wherein the current flowing through is i4The direction is controlled by a controllable switch S3To the controllable switch S4A first end of (a);
winding A1Winding A2Winding A3And winding A4The current magnitude in (a) can be expressed as:
Figure RE-GDA0002368391500000101
definition of icIs a winding A1And winding A3Is equal to the common mode current of winding A2And winding A4Of the common-mode current id1Is a winding A1And winding A3Differential mode current of (i)d2Is a winding A2And winding A4The differential mode current of (1). Common mode current icSum and difference mode current id1、id2Can be expressed as:
Figure RE-GDA0002368391500000102
the transformation matrix in the above formula is reversible and can be controlled by controlling the 3 voltage differences u1-u2、 u2-u3And u3-u4The control circuit generates a corresponding common-mode current icSum and difference mode current id1、id2。
For a magnetic suspension bearing, two windings are respectively needed for control in the x direction and the y direction, and the winding A in the controller1And winding A3One set, winding A2And winding A4And one group for controlling the x direction and the y direction respectively.
When the ring topology four-bridge arm control device keeps stable, the controllable switch S is controlled1Controllable switch S2Controllable switch S3And a controllable switch S4The turn-on time of the controllable switch is 50% of the single period, and when the magnetic suspension bearing is controlled, the turn-on time of the corresponding controllable switch is increased or decreased on the basis of 50% of the single period.
Fig. 3(a) -3 (d) are schematic diagrams showing four working modes of the electric power electronic controller applied to the magnetic suspension bearing, and the winding a is used for1For example, as shown in FIG. 3(a), a controllable switch S1And a controllable switch S4While closed, the first mode, in which the DC power is applied to the winding A in the forward direction1Above, winding A1The current of (2) rises rapidly; as shown in fig. 3(b), the controllable switch S1And a controllable switch S4The second mode is adopted when the device is disconnected at the same time, and the device D is in one-way conduction at the time1And a unidirectional conducting device D4Conducting, the DC power supply is reversely applied to the winding A1Above, winding A1The current of (2) rapidly decreases; as shown in fig. 3(c), the controllable switch S1Closed, controllable switch S4A third mode when the device is disconnected and a one-way device D4Conducting when working in freewheeling state, winding A1The current slowly decreases; as shown in fig. 3(d), the controllable switch S1Open, controllable switch S4A fourth mode when closed, and a one-way conduction device D1Conducting, and working in free-wheeling state1The current slowly decreases. Through the combination of the four working modes, the effective control of the winding current can be realized.
Fig. 4 shows the case of controlling the current of 4 windings to rise simultaneously. Initial 4 controllable switches S1Controllable switch S2Controllable switch S3And a controllable switch S4The conduction time of the controllable switches is 50% of the single period, the current of the 4 windings is 0A, the current of the 4 windings is controlled to rise simultaneously within 0.01 second, the common mode current of the 4 windings needs to be improved, the conduction time of the 4 controllable switches is changed according to the expression relation shown in the formula 2, and therefore the voltage of each node is adjusted, the current in the 4 windings is controlled, and the current rises.
FIG. 5 shows winding A1And winding A3Current change of, winding A2And winding A4And (3) a control schematic diagram with constant current. In magnetic bearing control, when a winding current rises and a winding current falls in one degree of freedom, i.e. when a differential mode current is generated, a corresponding electromagnetic force is generated in the degree of freedom. The current for starting each winding is 5A, and the winding A is at 0.02s1Current rises, winding A3The current drops and finally winding A1Current of 6A, winding A3Becomes 4A, winding A2And winding A4The current magnitude of (2) is unchanged. From winding A1And winding A3The electromagnetic force of the magnetic suspension bearing in the controlled direction is changed by the winding A2And winding A4The electromagnetic force of the magnetic bearing in the controlled direction does not change.
FIG. 6 shows winding A2And winding A4Current change, winding A1And winding A3And (3) a control schematic diagram with constant current. Starting winding A1Current of 6A, winding A3At a current of 4A inAt 0.03s, winding A2Current rises, winding A4The current drops and finally winding A2Current of 6A, winding A4Becomes 4A, winding A1And winding A3The current magnitude of (2) is unchanged. From winding A2And winding A4The electromagnetic force of the magnetic suspension bearing in the controlled direction is changed by the winding A1And winding A3The electromagnetic force of the magnetic bearing in the controlled direction does not change.
Winding A of the invention1And winding A3Is equal to winding A2And winding A4The magnitude of the sum of the currents is controlled by the magnitude of the common mode current, winding A1And winding A3Current difference and winding A2And winding A4The current difference is controlled by the magnitude of the differential mode current, the magnitude of the differential mode current of the two pairs of windings respectively controls the electromagnetic force of the magnetic suspension bearing in two directions, the control requirement of the magnetic suspension bearing is met, various current changes required in the control of the magnetic suspension bearing can be realized through the control method, and the expected control effect is achieved. The control of 4 winding currents can be realized by using 4 controllable switches and 4 one-way conduction devices, the utilization rate of the devices is improved, and the cost of the controller is saved.
It should be noted that, in the provided control method, the sum of the voltage utilization rates in two directions is 1, and when only one pair of windings needs to be subjected to current control and the other pair of windings has no change, the voltage utilization rate can reach 1, so that the winding current is rapidly changed.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. The utility model provides a four bridge arm controlling means of ring topology for magnetic suspension bearing which characterized in that includes: 4 unidirectional conducting devices, 4 controllable switches, 4 windings and a power supply;
unidirectional conducting device D1First end of and winding A1Winding A2And a controllable switch S1A second terminal of which is connected with the negative pole of the power supply and is used for winding A1And winding A2Providing a follow current loop; unidirectional conducting device D2Is connected with the positive pole of the power supply, and the second end of the first end is connected with the winding A2Winding A3And a controllable switch S2For the winding A is connected2And winding A3Providing a follow current loop; unidirectional conducting device D3First end of and winding A3Winding A4And a controllable switch S3A second terminal of which is connected with the negative pole of the power supply and is used for winding A3And winding A4Providing a follow current loop; unidirectional conducting device D4Is connected with the positive pole of the power supply, and the second end of the first end is connected with the winding A4Winding A1And a controllable switch S4For the winding A is connected4And winding A1Providing a follow current loop; unidirectional conducting device D1And a unidirectional conducting device D2And a unidirectional conducting device D3And a unidirectional conducting device D4All are conducted from the corresponding second end to the first end in a single direction;
controllable switch S1The first end of the power supply is connected with the positive electrode of the power supply; controllable switch S2The second end of the power supply is connected with the negative electrode of the power supply; controllable switch S3The first end of the power supply is connected with the positive electrode of the power supply; controllable switch S4The second end of the power supply is connected with the negative electrode of the power supply; controllable switch S4And a controllable switch S1Controlled by winding A by varying its on-time1The current of (a); controllable switch S1And a controllable switch S2Controlled by winding A by varying its on-time2The current of (a); controllable switch S2And a controllable switch S3Controlled by winding A by varying its on-time3The current of (a); controllable switch S3And a controllable switch S4Controlled by winding A by varying its on-time4The current of (a);
the 4 windings generate electromagnetic force required by the magnetic suspension bearing through corresponding winding current.
2. The ring topology four leg control device of claim 1, wherein the controllable switch S1The controllable switch S2The controllable switch S3And said controllable switch S4Are all insulated gate bipolar transistors;
insulated gate bipolar transistor S1Is connected with the positive electrode of the power supply, and the emitter electrode of the collector electrode is connected with the winding A1The winding A2And said unidirectional conducting device D1Is connected with the first end of the first connecting pipe; insulated gate bipolar transistor S2Collector electrode of (2) and said winding (A)2The winding A3And said unidirectional conducting device D2The emitter of the second end of the first end is connected with the negative electrode of the power supply; insulated gate bipolar transistor S3Is connected with the positive electrode of the power supply, and the emitter electrode of the collector electrode is connected with the winding A3The winding A4And said unidirectional conducting device D4Is connected with the first end of the first connecting pipe; insulated gate bipolar transistor S4Collector electrode of (2) and said winding (A)4The winding A1And said unidirectional conducting device D4The emitter of the second end of the first end of the;
the insulated gate bipolar transistor S1The insulated gate bipolar transistor S2The insulated gate bipolar transistor S3And the insulated gate bipolar transistor S4The on-time is controlled by changing the gate control signal.
3. The ring topology four leg control device of claim 1, wherein the one way conducting device D1The one-way conduction device D2The one-way conduction device D3The one-way conduction device D4Are all diodes;
diode D1And the negative pole of (A) and the winding (A)1The winding A2And said controllable switch S1Is connected to the second terminal of the positive electrode andthe negative electrode of the power supply is connected; diode D2Is connected with the positive pole of the power supply, and the positive pole of the power supply is connected with the winding A2The winding A3And said controllable switch S2Is connected with the first end of the first connecting pipe; diode D3And the negative pole of (A) and the winding (A)3The winding A4And said controllable switch S3The anode of the second end of the power supply is connected with the cathode of the power supply; diode D4Is connected with the positive pole of the power supply, and the positive pole of the power supply is connected with the winding A4The winding A1And said controllable switch S4Is connected to the first end of the first housing.
4. The ring topology four leg control device of claim 2, wherein the insulated gate bipolar transistor S1The insulated gate bipolar transistor S2The insulated gate bipolar transistor S3And the insulated gate bipolar transistor S4The gate control signals are pulse modulation signals with adjustable duty ratio.
5. The control method of the ring topology four-leg control device according to claim 1, comprising:
(1) the working modes of the ring topology four-arm controller are switched by synchronously controlling the on and off of each controllable switch;
(2) the duration of each working mode of the ring topology four-arm controller is controlled by controlling the conduction time of each controllable switch, so that the control of each winding current is realized.
6. The control method according to claim 5, wherein the step (2) specifically includes:
(2.1) controlling the duration of each working mode of the ring topology four-arm controller by controlling the conduction time of each controllable switch;
(2.2) acquiring voltages on adjacent winding nodes according to the duration of each working mode of the ring topology four-arm controller;
(2.3) calculating the current of each winding according to the voltage on the adjacent winding node;
and (2.4) calculating common mode current and differential mode current between the windings by using the current magnitude of the windings.
7. The control method according to claim 5 or 6, wherein each controllable switch is an insulated gate bipolar transistor, and the on-time of each insulated gate bipolar transistor is a duty cycle of a pulse width modulation signal of a gate control signal of each insulated gate bipolar transistor.
8. A control method according to claim 5 or 6, characterized in that the control of the winding currents comprises common mode current control and differential mode current control between the windings.
CN201911200259.XA 2019-11-29 2019-11-29 Annular topology four-bridge arm control device and method applied to magnetic suspension bearing Active CN110905921B (en)

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