CN113236670A - Magnetic bearing control system and control method thereof and magnetic suspension system - Google Patents

Magnetic bearing control system and control method thereof and magnetic suspension system Download PDF

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Publication number
CN113236670A
CN113236670A CN202110584957.5A CN202110584957A CN113236670A CN 113236670 A CN113236670 A CN 113236670A CN 202110584957 A CN202110584957 A CN 202110584957A CN 113236670 A CN113236670 A CN 113236670A
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China
Prior art keywords
tsmc
magnetic bearing
stage
bearing
control system
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Pending
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CN202110584957.5A
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Chinese (zh)
Inventor
林润方
贺永玲
孙建东
郑安琪
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202110584957.5A priority Critical patent/CN113236670A/en
Publication of CN113236670A publication Critical patent/CN113236670A/en
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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
    • 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
    • F16C32/0459—Details of the magnetic circuit
    • F16C32/0468—Details of the magnetic circuit of moving parts of the magnetic circuit, e.g. of the rotor
    • 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
    • F16C32/0474—Active magnetic bearings for rotary movement
    • F16C32/0489—Active magnetic bearings for rotary movement with active support of five degrees of freedom, e.g. two radial magnetic bearings combined with an axial bearing
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

The invention discloses a magnetic bearing control system and a control method thereof and a magnetic suspension system, wherein the device comprises: the magnetic bearing control device comprises an acquisition unit, a main circuit and a magnetic bearing controller; in the main circuit, TSMC is adopted; the acquisition unit is configured to acquire a power grid voltage signal of an alternating current power supply, a rotor displacement signal of a motor rotor of the magnetic bearing, and current signals of electromagnetic coils of the radial bearing and the axial bearing; a magnetic bearing controller configured to determine a control command of the main circuit from the grid voltage signal, the rotor displacement signal, and the current signal of the electromagnetic coil; a main circuit configured to operate according to a control command to adjust current signals of electromagnetic coils of the radial bearing and the axial bearing. In this embodiment, the space occupied by the magnetic bearing control system can be reduced by using the TSMC as the main circuit of the power amplifier in the magnetic bearing control system.

Description

Magnetic bearing control system and control method thereof and magnetic suspension system
Technical Field
The invention belongs to the technical field of motors, particularly relates to a magnetic bearing control system, a control method thereof and a magnetic suspension system, and particularly relates to a control method applied to a three-pole magnetic bearing control system, a magnetic suspension system and a control method applied to the three-pole magnetic bearing control system.
Background
In a magnetic suspension system, direct current required by a magnetic bearing control system is converted by a power grid through a rectifying device, and a direct current bus capacitor on a direct current bus at the output side of the rectifying device is large in size, so that the system is not compact in structure and large in occupied space.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention aims to provide a magnetic bearing control system, a control method thereof and a magnetic suspension system, which aim to solve the problem that direct current required by the magnetic bearing control system is converted by a power grid through a rectifying device, and the occupied space of the magnetic bearing control system is huge because the volume of a direct current bus capacitor on the output side of the conversion device is huge, thereby achieving the effect of reducing the occupied space of the magnetic bearing control system by taking TSMC as a main circuit of a power amplifier in the magnetic bearing control system.
The present invention provides a magnetic bearing control system, wherein the magnetic bearing comprises: radial bearings and axial bearings; the magnetic bearing control system, comprising: the magnetic bearing control device comprises an acquisition unit, a main circuit and a magnetic bearing controller; in the main circuit, TSMC is adopted; wherein the acquisition unit is configured to acquire a grid voltage signal of an alternating current power source, a rotor displacement signal of a motor rotor of the magnetic bearing, and current signals of electromagnetic coils of the radial bearing and the axial bearing; the magnetic bearing controller is configured to determine a control command of the main circuit according to the grid voltage signal, the rotor displacement signal and the current signal of the electromagnetic coil; the main circuit is configured to operate according to the control command to adjust current signals of electromagnetic coils of the radial bearing and the axial bearing.
In some embodiments, the primary circuit comprises: the device comprises a rectification stage, an inverter stage and an axial power amplification unit; the rectification stage adopts a TSMC rectification stage, and/or the inverter stage adopts a TSMC inverter stage; the rectifying stage or the TSMC rectifying stage is configured to receive first alternating current input by an alternating current power supply and convert the first alternating current into direct current according to the control instruction; the TSMC inverter stage or the inverter stage is configured to invert the direct current according to the control instruction to obtain a second alternating current to supply power to an electromagnetic coil of the radial bearing; the axial power amplification unit is configured to use the direct current as a power supply source and supply power to an electromagnetic coil of the axial bearing according to the control instruction.
In some embodiments, the primary circuit further comprises: a filtering unit; the filtering unit is arranged between the output end of the alternating current power supply and the rectifying stage or the TSMC rectifying stage and is configured to filter the alternating current output by the alternating current power supply to obtain a first alternating current.
In some embodiments, the magnetic bearing control system further comprises: a clamping unit; the clamping unit is arranged between a rectifying end and an inverting end of the magnetic bearing control system, and is configured to clamp the direct current output by the rectifying end and then output the direct current to the inverting end and the axial power amplifying unit; the rectifying end is the rectifying stage or the TSMC rectifying stage; the inversion end is the inversion stage or the TSMC inversion stage.
In some embodiments, the TSMC rectification stage includes: first to sixth rectifying switch modules; each of the first through sixth commutating switch modules comprises: bidirectional power switches and unidirectional power switches.
In some embodiments, the axial power amplification unit comprises: an axial power amplifier; the axial power amplifier comprises: first to fourth amplification switch modules; the first amplification switch module to the fourth amplification switch module form two bridge arms; and the electromagnetic coil of the axial bearing of the magnetic bearing is arranged between the two bridge arms.
In some embodiments, the radial bearing comprises: a first radial bearing and a second radial bearing; the TSMC inverter stage adopts the TSMC five-bridge arm inverter stage; in the TSMC five-leg inverter stage, the first radial bearing and the second radial bearing share a common leg.
In some embodiments, the TSMC five leg inverter stage comprises: the first inversion switch module to the tenth inversion switch module; the first inversion switch module to the tenth inversion switch module form 5 bridge arms, wherein one common bridge arm is formed; and the electromagnetic coil of the first radial bearing and the electromagnetic coil of the second radial bearing are respectively connected to 2 bridge arms and 1 common bridge arm in the 5 bridge arms.
In accordance with the above apparatus, a magnetic levitation system is provided in another aspect of the present invention, including: the magnetic bearing control system described above.
In accordance with the magnetic levitation system, a control method of a magnetic bearing control system according to another aspect of the present invention includes: collecting a power grid voltage signal of an alternating current power supply, a rotor displacement signal of a motor rotor of the magnetic bearing and current signals of electromagnetic coils of the radial bearing and the axial bearing through a collecting unit; determining a control instruction of the main circuit according to the power grid voltage signal, the rotor displacement signal and the current signal of the electromagnetic coil through a magnetic bearing controller; through the main circuit, working according to the control instruction to adjust current signals of electromagnetic wires of the radial bearing and the axial bearing; wherein, the magnetic bearing includes: radial bearings and axial bearings; the magnetic bearing control system, comprising: the magnetic bearing control device comprises an acquisition unit, a main circuit and a magnetic bearing controller; in the main circuit, TSMC is adopted.
In some embodiments, the primary circuit comprises: the rectifying stage, the inverter stage and the axial power amplification unit adopt TSMC rectifying stages, and/or the inverter stage adopts TSMC inverting stages; wherein, determining the control instruction of the main circuit according to the power grid voltage signal, the rotor displacement signal and the current signal of the electromagnetic coil by the magnetic bearing controller comprises: when the control instruction of the TSMC rectification stage is determined, dividing three-phase alternating current input by an alternating current power supply into a set number of intervals; in each interval, the voltage of one phase has the maximum absolute value, and the voltage polarity of the other two phases is opposite to the voltage with the maximum absolute value; in any interval, the TSMC rectification stage outputs two line voltages with the maximum amplitude in one switching period; and when the TSMC inverter stage is determined, distributing the duty ratio signals of the common bridge arm in the TSMC inverter stage according to the average voltage signal and the given voltage signal output by the TSMC rectifier stage.
Therefore, according to the scheme of the invention, the TSMC rectification stage in the TSMC is utilized to replace the rectification stage in the magnetic bearing control system, so that a huge direct current bus capacitor is omitted, and the occupied space of the magnetic bearing control system can be reduced. In addition, the TSMC inverter stage in the TSMC can be used for replacing the inverter stage in the magnetic bearing control system, the six coils are driven by the five bridge arm inverter stages, the number of switching devices is reduced, the occupied space of the magnetic bearing control system is further reduced, and the cost can be saved. Therefore, the space occupied by the magnetic bearing control system can be reduced by using the TSMC as the main circuit of the power amplifier in the magnetic bearing control system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a magnetic bearing control system of the present invention;
FIG. 2 is a schematic diagram of the construction of an embodiment of a magnetic bearing control system;
FIG. 3 is a schematic diagram of the configuration of one embodiment of the main circuit of the magnetic bearing control system;
FIG. 4 is a schematic diagram of power switch drive signals in a coordinated configuration for an embodiment of a magnetic bearing control system;
FIG. 5 is a flow diagram of an embodiment of a method of controlling a magnetic bearing control system;
FIG. 6 is a flow chart illustrating a method of controlling a magnetic bearing control system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a magnetic suspension system, a magnetic suspension bearing enables a rotor to be suspended at a desired position of a control system of the magnetic suspension bearing by controlling the magnitude of electromagnetic force, has the advantages of no lubricating oil, no mechanical friction, long service life and the like, and has relevant application in occasions such as a centrifugal compressor, a molecular pump, flywheel energy storage and the like.
In a related scheme, in a five-degree-of-freedom three-pole radial magnetic bearing motor, two radial three-pole magnetic bearings are driven by two identical three-bridge-arm inverters, direct current required by a magnetic bearing control system is converted by a power grid through a rectifying device, and a direct current bus capacitor on a direct current bus on the output side of the rectifying device is large in size and short in service life, so that a magnetic suspension system is not compact in structure and low in reliability.
The two-stage matrix converter (TSMC) can input sinusoidal current, has the advantages of adjustable power factor, high power density and the like, and can be structurally divided into an AC-DC stage (alternating current-direct current, namely a rectification stage) and a DC-AC stage (direct current-alternating current, namely an inversion stage). Different from an AC-DC-AC (alternating current-direct current-alternating current) frequency converter in a related scheme, a direct current link of the TSMC has no energy storage element, so that the circuit structure is more compact and the power density is high. In addition, the intermediate direct current link can be connected with a plurality of inverter stages, so that independent control of the inverter stages is realized. The input current is sinusoidal, so that the harmonic pollution to a power grid is small; for example, in the related scheme, the input current of the diode rectifying circuit is non-sinusoidal, the input power factor is low, and harmonic pollution is brought to a power grid.
In addition, in some schemes, two direct matrix converters are used for controlling six coils with two radial degrees of freedom, the number of required power switches is excessive, and a direct-current power supply needs to be additionally added for controlling the axial bearing, so that the control system is high in cost and large in size.
The direct matrix converter, namely the matrix converter, is a novel AC-AC power converter, can realize the conversion of various parameters (phase number, phase, amplitude and frequency) of AC, does not need an intermediate DC energy storage link, can operate in four quadrants, has excellent input current waveform and output voltage waveform, and can freely control power factors.
In accordance with an embodiment of the present invention, a magnetic bearing control system is provided. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The magnetic bearing, comprising: radial bearings and axial bearings. The magnetic bearing control system, comprising: the device comprises an acquisition unit, a main circuit and a magnetic bearing controller. The main circuit is connected with the magnetic bearing controller. In the main circuit, TSMC is adopted.
Wherein the acquisition unit is configured to acquire a grid voltage signal of an alternating current power source, a rotor displacement signal of a motor rotor of the magnetic bearing, and current signals of electromagnetic coils of the radial bearing and the axial bearing.
The magnetic bearing controller is configured to determine a control instruction of the main circuit according to the power grid voltage signal, the rotor displacement signal and the current signal of the electromagnetic coil so as to control the main circuit to work according to the control instruction.
The main circuit is configured to operate according to the control command to adjust current signals of electromagnetic coils of the radial bearing and the axial bearing.
The invention provides a magnetic bearing control system, for example a control scheme applied to a three-pole magnetic bearing, and the TSMC is used as a main circuit of a power amplifier in the three-pole radial magnetic bearing control system, so that a six-coil is driven by a five-bridge-arm inverter stage, and the number of switching devices is reduced. Therefore, the two three-pole radial magnetic bearings are driven by the five-bridge-arm DC-AC level, the number of power switches is reduced, and the cost is saved. In addition, an intermediate direct-current energy storage element is not needed, the system volume is reduced, and the reliability of the magnetic suspension bearing control system is improved.
In some embodiments, the primary circuit comprises: a rectification stage, an inverter stage and an axial power amplification unit, such as an axial power amplifier. The rectification stage and the inverter stage are sequentially arranged between the output end of the alternating current power supply and the magnetic bearing controller. An axial power converter, which takes power from the output of the rectifier stage and is connected to the magnetic bearing controller. The rectification stage adopts a TSMC rectification stage, and/or the inverter stage adopts a TSMC inverter stage. Of course, when in use, a TSMC stage may be adopted for at least one of the rectification stage and the inverter stage according to the use requirement.
The rectifying stage or the TSMC rectifying stage is arranged at the output end of the alternating current power supply, is configured to receive a first alternating current input by the alternating current power supply and converts the first alternating current into a direct current according to the control instruction.
The TSMC inverter stage or the inverter stage is arranged at the output end of the TSMC rectification stage and is configured to invert the direct current according to the control command to obtain a second alternating current to supply power to an electromagnetic coil of the radial bearing.
The axial power amplification unit is arranged at the output end of the rectifying stage or the output end of the TSMC rectifying stage, and is configured to supply power to the electromagnetic coil of the axial bearing by taking the direct current as a power supply according to the control command.
Thus, the scheme of the invention divides the two-stage matrix converter into a rectification stage and an inversion stage, wherein the rectification stage converts alternating current into direct current, and the inversion stage converts the direct current into electric energy required by the magnetic bearing. The five-bridge arm inverter stage structure and the control method are applicable to structures capable of providing direct current for the inverter stage.
In some embodiments, the primary circuit further comprises: a filtering unit, such as an LC filter.
The filtering unit is arranged between the output end of the alternating current power supply and the rectifying stage or the TSMC rectifying stage and is configured to filter the alternating current output by the alternating current power supply to obtain a first alternating current.
For example: FIG. 2 is a schematic diagram of an embodiment of a magnetic bearing control system. As shown in fig. 2, the magnetic bearing control system comprises a three-phase power grid, a filter circuit, a rectifier stage, a bearing controller, a five-leg inverter stage, a motor rotor and an axial power converter. And the three-phase power grid can provide an alternating current voltage source. And the filter circuit selects a filter. And the rectifying stage adopts a TSMC rectifying stage. And a five-bridge arm inverter stage, namely a TSMC five-bridge arm inverter stage.
In the example shown in fig. 2, the ac voltage source is connected to the TSMC rectifier stage after passing through the filter. And the output end of the TSMC rectification stage is connected with the first input end of the TSMC five-bridge arm inverter stage and the first input end of the axial power converter. And the bearing controller is connected with the TSMC rectification stage. And the bearing controller is also connected with an alternating-current voltage source, a TSMC five-bridge arm inverter stage, a motor rotor and a bearing power converter. The TSMC five-bridge arm inverter stage drives 6 radial electromagnetic coils of two radial three-pole bearings, and the axial power amplifier drives the axial electromagnetic coils of the axial bearing. The bearing controller is powered by an alternating current voltage source, and power switch driving signals of the TSMC and the axial power amplifier are obtained through a certain algorithm by acquiring voltage signals of a three-phase power grid, rotor displacement signals of the motor and electromagnetic coil current signals of the axial bearing and the radial bearing, so that output is controlled, and current required for maintaining stable suspension of the rotor is obtained.
The algorithm may include: firstly, acquiring a rotor displacement signal, and obtaining a reference current of a coil through a displacement loop control algorithm (such as PID + filter control, LQG control, robust control and the like); then, the coil current reference current and the current signal collected from the coil are processed by a current loop algorithm (generally PID control) to obtain the output voltage reference of the TSMC; and finally, obtaining a power switch driving signal by the three-phase power grid voltage signal and the TSMC output voltage reference signal through a space vector modulation algorithm.
In the related scheme, a three-phase inverter is adopted to control the three-pole bearing, and the radial bearing is powered by 2 inverters, so that 12 power switches are needed. According to the scheme of the invention, 2 radial coils in the TSMC five-bridge arm inverter stage share one phase of a shared bridge arm, and 10 power switches are provided in total, so that 2 power switches can be reduced. In addition, the scheme of the invention has no direct current side large capacitance energy storage link, and improves the reliability of the magnetic suspension bearing control system.
Compared with the scheme that a matrix converter is a main circuit in the related scheme, the scheme of the invention has the advantages that the axial power amplifier is directly connected to a direct current link after the TSMC rectification stage, and a direct current power supply does not need to be additionally provided. In the related art, a technique in which a matrix converter is a main circuit includes 18 bidirectional switches, and 36 switch drive control signals are required. The scheme of the invention consists of 6 bidirectional switches and 10 unidirectional switches, and the required switch driving control signal is 22 paths.
In some embodiments, the magnetic bearing control system further comprises: a clamping unit, such as a clamping circuit.
The clamping unit is arranged between a rectifying end and an inverting end of the magnetic bearing control system, and is configured to clamp the direct current output by the rectifying end and then output the direct current to the inverting end and the axial power amplifying unit.
The rectifying end is the rectifying stage or the TSMC rectifying stage. The inversion end is the inversion stage or the TSMC inversion stage.
Fig. 3 is a schematic structural diagram of an embodiment of a main circuit of a magnetic bearing control system, specifically a main circuit topology of a five-degree-of-freedom magnetic bearing control system according to the present invention. As shown in fig. 3, the main circuit of the magnetic bearing control system comprises: the three-phase power amplifier comprises a three-phase power grid, an LC filter, a rectification stage (preferably a TSMC rectification stage), a clamping circuit, a five-leg inverter stage (preferably a TSMC five-leg inverter stage) and an axial power amplifier.
In the example shown in fig. 3, the three-phase network is fed with three-phase ac power, for example with three-phase ac voltage ua、ubAnd uc. The LC filter includes an inductor and a capacitor connected to a three-phase line of a three-phase AC voltage.
In the example shown in fig. 3, the clamping circuit is located in the intermediate dc link and is composed of a diode, a small-capacity electrolytic capacitor, and a bleed resistor for protecting the main circuit.
In some embodiments, the TSMC rectification stage includes: the first to sixth rectifying switch modules (e.g., 6 power switches). Each of the first through sixth commutating switch modules comprises: bidirectional power switches and unidirectional power switches.
In the example shown in fig. 3, the TSMC rectification stage is composed of 6 power switches, and converts the input three-phase ac power into dc power. In the TSMC rectification stage, when bidirectional flow of energy is required, the 6 power switches are bidirectional switches. If no energy is needed to flow from the inverter stage to the rectifier stage, the 6 power switches are unidirectional switches. 6 power switches comprising: switch SapSwitch SbpSwitch ScpSwitch SanSwitch SbnSwitch Scn. 6 power switches form a rectifier bridge, switch SapAnd switch SanForm a bridge arm, switch SbpAnd switch SbnForm a bridge arm, switch ScpAnd switch ScnForming a bridge arm. First phase voltage uaThe output terminal of which is connected to a switch S via an inductorapAnd switch SanSecond phase voltage ubThe output terminal of which is connected to a switch S via an inductorbpAnd switch SbnThe common terminal of (d), the third phase voltage ucThe output terminal of which is connected to a switch S via an inductorcpAnd switch ScnTo the public terminal.
In some embodiments, the axial power amplification unit comprises: an axial power amplifier. The axial power amplifier comprises: the first to fourth amplifying switch modules (such as 4 power switch tubes with anti-parallel diodes). The first amplification switch module to the fourth amplification switch module form two bridge arms. And the electromagnetic coil of the axial bearing of the magnetic bearing is arranged between the two bridge arms.
In the example shown in fig. 3, the axial power amplifier, which consists of 4 power switching tubes with anti-parallel diodes, is used to convert the dc power to the ac power needed to control the axial coil. 4 power switching tubes with antiparallel diodes, e.g. power switching tube S1Power switch tube S2Power switch tube S3And a power switch tube S4. Power switch tube S1And a power switch tube S2Forming a bridge arm, a power switch tube S3And a power switch tube S4Forming a bridge arm. The electromagnetic coil of the axial bearing is connected between the middle points of the two bridge arms.
In some embodiments, the radial bearing comprises: a first radial bearing and a second radial bearing. For example: the first radial bearing is a radial bearing 1 and the second radial bearing is a radial bearing 2.
And the TSMC inverter stage adopts the TSMC five-bridge arm inverter stage. In the TSMC five-leg inverter stage, the first radial bearing and the second radial bearing share a common leg.
Therefore, the scheme of the invention provides a magnetic bearing control system, such as a three-pole radial magnetic bearing control system based on a two-stage matrix converter, two radial three-pole bearings are driven by five-phase inversion stages, the number of switching tubes is reduced, the control cost is reduced, a large intermediate energy storage capacitor is omitted, the compactness and the reliability of the system are improved, the number of power switches is reduced, and the magnetic bearing control system has the advantages of no intermediate energy storage link, compact structure and the like. In addition to omitting the middle energy storage large capacitor, 2 radial coils share one-phase shared bridge arm, so that 2 power switches can be reduced, and in the example shown in fig. 3, the bridge arm C is a shared bridge arm. On the basis, the scheme of the invention provides a control method for improving the voltage utilization rate and obtaining better dynamic performance.
In some embodiments, the TSMC five leg inverter stage comprises: the first to tenth inverter switch modules (e.g., 10 power switch tubes with antiparallel diodes). The first to tenth inversion switch modules form 5 bridge arms, one of which is a common bridge arm. And the electromagnetic coil of the first radial bearing and the electromagnetic coil of the second radial bearing are respectively connected to 2 bridge arms and 1 common bridge arm in the 5 bridge arms.
In the example shown in fig. 3, a five-leg inverter stage, i.e., a TSMC five-leg inverter stage, is composed of 10 power switching tubes with antiparallel diodes for converting direct current to alternating current required to control the radial coil. 10 power switching tubes with antiparallel diodes, e.g. power switching tube SApPower switch tube SBpPower switch tube SCpPower switch tube SDpPower switch tube SEpPower switch tube SAnPower switch tube SBnPower switch tube SCnPower switch tube SDnPower switch tube SEn. Power switch tube SApAnd a power switch tube SAnForm an A bridge arm and a power switch tube SBpAnd a power switch tube SBnForm a B bridge arm and a power switch tube SCpAnd a power switch tube SCnForm a C-arm and a power switch tube SDpAnd a power switch tube SDnForm a D bridge arm and a power switch tube SEpAnd a power switch tube SEnForming an E bridge arm. The radial bearing 1 and the radial bearing 2 are a front radial bearing and a rear radial bearing, respectively. In order to reduce the number of power devices, one bridge arm (C bridge arm) is used as a common bridge arm to simultaneously drive two electromagnetic coils of the radial bearing 1 and the radial bearing 2, i.e., five bridge arms (i.e., a bridge arm a, a bridge arm B, a bridge arm C, a bridge arm D and a bridge arm E) are adopted to simultaneously control the two radial bearings. 3 electromagnetic coils of the radial bearing 1 are respectively connected to AThe middle points of the bridge arm, the bridge arm B and the bridge arm C. And 3 electromagnetic coils of the radial bearing 2 are respectively connected to the middle points of the C bridge arm, the D bridge arm and the E bridge arm.
Through a large number of tests, the technical scheme of the invention replaces the rectifier stage in the magnetic bearing control system by utilizing the TSMC rectifier stage in the TSMC, thereby saving a huge direct current bus capacitor and reducing the occupied space of the magnetic bearing control system. In addition, the TSMC inverter stage in the TSMC can be used for replacing the inverter stage in the magnetic bearing control system, the six coils are driven by the five bridge arm inverter stages, the number of switching devices is reduced, the occupied space of the magnetic bearing control system is further reduced, and the cost can be saved. Therefore, the space occupied by the magnetic bearing control system can be reduced by using the TSMC as the main circuit of the power amplifier in the magnetic bearing control system.
There is also provided, in accordance with an embodiment of the present invention, a magnetic levitation system corresponding to the magnetic bearing control system. The magnetic levitation system may include: the magnetic bearing control system described above.
Since the processing and functions of the magnetic levitation system of the present embodiment substantially correspond to the embodiments, principles, and examples of the apparatus, reference may be made to the related descriptions in the embodiments without being detailed in the description of the present embodiment, which is not described herein again.
Through a large number of tests, the technical scheme of the invention is adopted, and the TSMC is used as the main circuit of the power amplifier in the three-pole radial magnetic bearing control system, so that a middle direct-current energy storage element is not needed, the system volume is reduced, and the reliability of the magnetic suspension bearing control system is improved.
There is also provided, in accordance with an embodiment of the present invention, a method of controlling a magnetic bearing control system corresponding to a magnetic levitation system, as illustrated in figure 6, which is a flow chart of an embodiment of the method of the present invention. The control method of the magnetic bearing control system may include: step S110 to step S130.
At step S110, a grid voltage signal of an alternating current power source, a rotor displacement signal of a motor rotor of the magnetic bearing, and current signals of electromagnetic coils of the radial bearing and the axial bearing are collected by a collecting unit.
At step S120, determining, by a magnetic bearing controller, a control instruction of the main circuit according to the grid voltage signal, the rotor displacement signal, and the current signal of the electromagnetic coil, so as to control the main circuit to operate according to the control instruction.
At step S130, the main circuit operates according to the control command to adjust the current signals of the electromagnetic coils of the radial bearing and the axial bearing.
Wherein, the magnetic bearing includes: radial bearings and axial bearings. The magnetic bearing control system, comprising: the device comprises an acquisition unit, a main circuit and a magnetic bearing controller. The main circuit is connected with the magnetic bearing controller. In the main circuit, TSMC is adopted.
FIG. 4 is a flow diagram of an embodiment of a method of controlling a magnetic bearing control system. As shown in fig. 4, the control method of a magnetic bearing control system according to the present invention mainly includes the following steps:
the first step is as follows: the displacement sensor collects displacement signals of the rotor in the radial direction and the axial direction, the displacement signals are sent to the bearing controller after being processed by a relevant circuit, and current given signals of all paths of coils are obtained after being processed by a relevant algorithm of the displacement ring.
A correlation circuit process comprising: the signals collected by the displacement sensor are output as voltage signals, wherein the voltage signals comprise interference signals, and the interference signals are generally sent to the bearing controller for calculation after being processed by an amplitude limiting and filtering circuit.
And (3) relevant algorithm processing, comprising: the reference current of the coil is obtained by the collected rotor displacement signal through a displacement loop control algorithm (such as PID + filter control, or LQG control, or robust control).
The second step is that: the current sensor collects current signals of the radial bearing 1, the radial bearing 2 and the electromagnetic coil of the axial bearing, the current signals are sent to the bearing controller after being processed by a relevant circuit, the current signals are compared with the current given signals obtained by the first step of calculation, and output voltage given signals of the TSMC five-bridge arm inverter and the axial power amplifier are obtained through a relevant algorithm of a current loop.
The third step: and voltage signals of a voltage source are collected, processed by a relevant circuit and then sent to a bearing controller for calculating to obtain switching signals of a TSMC rectification stage, and the switching signals for controlling the TSMC five-bridge arm inverter (namely the TSMC five-bridge arm inverter stage) and the axial power amplifier are calculated by combining with given signals of output voltage in the second step.
The fourth step: the switching signal is sent to each power switch through a driving circuit to achieve the control of the electromagnetic force of each coil, so that the rotor is suspended stably.
The invention provides a magnetic bearing control system, for example a control scheme applied to a three-pole magnetic bearing, and the TSMC is used as a main circuit of a power amplifier in the three-pole radial magnetic bearing control system, so that a six-coil is driven by a five-bridge-arm inverter stage, and the number of switching devices is reduced. Therefore, the two three-pole radial magnetic bearings are driven by the five-bridge-arm DC-AC level, the number of power switches is reduced, and the cost is saved. In addition, an intermediate direct-current energy storage element is not needed, the system volume is reduced, and the reliability of the magnetic suspension bearing control system is improved.
In some embodiments, the primary circuit comprises: a rectification stage, an inverter stage and an axial power amplification unit, such as an axial power amplifier. The rectification stage and the inverter stage are sequentially arranged between the output end of the alternating current power supply and the magnetic bearing controller. An axial power converter, which takes power from the output of the rectifier stage and is connected to the magnetic bearing controller. The rectification stage adopts a TSMC rectification stage, and/or the inverter stage adopts a TSMC inverter stage. Of course, when in use, a TSMC stage may be adopted for at least one of the rectification stage and the inverter stage according to the use requirement. Thus, the scheme of the invention divides the two-stage matrix converter into a rectification stage and an inversion stage, wherein the rectification stage converts alternating current into direct current, and the inversion stage converts the direct current into electric energy required by the magnetic bearing. The five-bridge arm inverter stage structure and the control method are applicable to structures capable of providing direct current for the inverter stage.
In step S130, determining a control command of the main circuit according to the grid voltage signal, the rotor displacement signal, and the current signal of the electromagnetic coil by using a magnetic bearing controller includes:
and when the control command of the TSMC rectification stage is determined, dividing the three-phase alternating current input by the alternating current power supply into a set number of intervals. In each interval, the voltage of one phase has the maximum absolute value, and the voltage polarity of the other two phases is opposite to the voltage with the maximum absolute value. In any interval, the TSMC rectification stage outputs two line voltages with the maximum amplitude in one switching period.
And when the TSMC inverter stage is determined, distributing the duty ratio signals of the common bridge arm in the TSMC inverter stage according to the average voltage signal and the given voltage signal output by the TSMC rectifier stage.
In the example shown in fig. 4, in the third step, the method for calculating the switching signals of the TSMC rectifier stage and the TSMC five-leg inverter stage specifically includes:
a rectification stage: the input three-phase power is divided into 6 intervals according to the principle that each interval has the maximum voltage absolute value of one phase, and the polarities of the voltages of the other two phases are opposite to the maximum voltage absolute value. In any interval, the TSMC rectification stage outputs two line voltages with the maximum amplitude in one switching period. FIG. 5 is a schematic diagram of power switch drive signals in a coordinated configuration of an embodiment of a magnetic bearing control system. As shown in fig. 5, the two output line voltages are ubcAnd ubaFor example, the corresponding vectors are X10 and 01X (where "X" represents that the upper and lower power switches of the bridge arm are turned off at the same time, "0" represents that the upper power switch of the bridge arm is turned off, and the lower power switch is turned on. "1" represents that the upper power switch of the bridge arm is turned on and the lower power switch is turned off), and then the duty ratio of the line voltage is dbc＝-uc/ub，dba＝-ua/ubThe average voltage of the output of the rectifier stage is u during a switching periodpn＝dbcubc+dbauba. The duty cycle signal of each power switch of the rectifier stage can be obtained by the line voltage duty cycle.
TSMC five-bridge arm inverter stage: because of the fact thatThe phase C is a public bridge arm, and in order to obtain the maximum voltage utilization rate, duty ratio signals of the phase C need to be reasonably distributed during control. Duty ratio signals of each power switch are calculated according to average voltage of a rectifier stage and given signals of output voltage according to SVPWM control, and the duty ratios of the conducted power switches on the upper layer of the C bridge arm are assumed to be dCp1And dCp2The duty ratio of the lower layer power switch is dCn1And dCn2Wherein d isCp1+dCn1≤1，dCp2+dCn2Less than or equal to 1. Get dCp＝max{dCp1，dCp2}，dCn＝max{dCn1，dCn2}. If d isCp+dCnAnd (3) less than or equal to 1, which indicates that the bridge arm C can simultaneously realize the control of the two coils without mutual influence. If d isCp+dCn>1, indicating that the bridge arm C cannot simultaneously meet the control requirements of the two coils, and compromising the duty ratio signal in order to enable the system to work normally.
Let eta equal to 1/(d)Cp+dCn)，dCpAnd dCnThe duty ratios of 6 power switches corresponding to the coils are reduced by eta times at the same time, so that the duty ratio signals of each power switch of the inverter stage after compromise processing are obtained. And finally, performing coordination control on the rectification stage and the inverter stage to obtain the final switching action sequence of the inverter stage.
To further illustrate the proposed modulation strategy, as shown in fig. 5, it is assumed that in a switching period, after SVPWM calculation, vectors corresponding to the radial bearing 1 are 100 and 101 (where "0" represents that the upper layer power switch of the bridge arm is turned off, the lower layer power switch is turned on, and "1" represents that the upper layer power switch of the bridge arm is turned on, and the lower layer power switch of the bridge arm is turned off), and a duty ratio is d1，d2. The radial bearing 2 corresponds to vectors 100 and 110 with a duty cycle d3，d4Then dCp1＝d2，dCp2＝d3+d4，dCn1＝d1，dCn20. FIG. 5 shows the output line voltage u of the rectifier stagebcAnd uba，d2>d3，dCp1<dCp2And d isCp2+dCn1>And 1, switching action sequence and duty ratio after coordination.
Therefore, according to the scheme of the invention, the main circuit topology of the magnetic bearing control system based on the TSMC is provided, and the topology does not need an intermediate energy storage link, so that the volume can be reduced, and the reliability can be improved. The electromagnetic coils of two radial bearings of the TSMC five-bridge arm inverter stage are provided with a common bridge arm, and 2 power switches can be reduced compared with a driving structure adopting 2 three-phase inverters in a related scheme. On the basis of the main circuit topology of the magnetic bearing control system based on the TSMC, a control method is provided, and the maximum voltage utilization rate is achieved by controlling the duty ratio of a common bridge arm C.
Since the processes and functions implemented by the method of the present embodiment substantially correspond to the embodiments, principles and examples of the magnetic bearing control system, reference may be made to the related descriptions in the foregoing embodiments without being given in detail in the description of the present embodiment, which is not repeated herein.
Through a large number of tests, the technical scheme of the embodiment is adopted, TSMC is used as a main circuit of a power amplifier in a three-pole radial magnetic bearing control system, two three-pole radial magnetic bearings are driven by five bridge arms DC-AC levels, and six coils are driven by five bridge arms inverter levels, so that the number of switching devices is reduced, and the cost is saved.
In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (11)

1. A magnetic bearing control system, the magnetic bearing comprising: radial bearings and axial bearings; the magnetic bearing control system, comprising: the magnetic bearing control device comprises an acquisition unit, a main circuit and a magnetic bearing controller; in the main circuit, TSMC is adopted; wherein,
the acquisition unit is configured to acquire a grid voltage signal of an alternating current power supply, a rotor displacement signal of a motor rotor of the magnetic bearing, and current signals of electromagnetic coils of the radial bearing and the axial bearing;
the magnetic bearing controller is configured to determine a control command of the main circuit according to the grid voltage signal, the rotor displacement signal and the current signal of the electromagnetic coil;
the main circuit is configured to operate according to the control command to adjust current signals of electromagnetic coils of the radial bearing and the axial bearing.
2. The magnetic bearing control system of claim 1 wherein the primary circuit comprises: the device comprises a rectification stage, an inverter stage and an axial power amplification unit; the rectification stage adopts a TSMC rectification stage, and/or the inverter stage adopts a TSMC inverter stage; wherein,
the rectifying stage or the TSMC rectifying stage is configured to receive first alternating current input by an alternating current power supply and convert the first alternating current into direct current according to the control instruction;
the TSMC inverter stage or the inverter stage is configured to invert the direct current according to the control instruction to obtain a second alternating current to supply power to an electromagnetic coil of the radial bearing;
the axial power amplification unit is configured to use the direct current as a power supply source and supply power to an electromagnetic coil of the axial bearing according to the control instruction.
3. The magnetic bearing control system of claim 2 wherein the primary circuit further comprises: a filtering unit;
the filtering unit is arranged between the output end of the alternating current power supply and the rectifying stage or the TSMC rectifying stage and is configured to filter the alternating current output by the alternating current power supply to obtain a first alternating current.
4. A magnetic bearing control system as claimed in claim 2 or 3, further comprising: a clamping unit;
the clamping unit is arranged between a rectifying end and an inverting end of the magnetic bearing control system, and is configured to clamp the direct current output by the rectifying end and then output the direct current to the inverting end and the axial power amplifying unit;
the rectifying end is the rectifying stage or the TSMC rectifying stage; the inversion end is the inversion stage or the TSMC inversion stage.
5. The magnetic bearing control system of claims 2 or 3, wherein the TSMC rectification stage comprises: first to sixth rectifying switch modules; each of the first through sixth commutating switch modules comprises: bidirectional power switches and unidirectional power switches.
6. The magnetic bearing control system of claim 2 or 3, wherein the axial power amplification unit comprises: an axial power amplifier; the axial power amplifier comprises: first to fourth amplification switch modules; the first amplification switch module to the fourth amplification switch module form two bridge arms; and the electromagnetic coil of the axial bearing of the magnetic bearing is arranged between the two bridge arms.
7. The magnetic bearing control system of claim 2 or 3, wherein the radial bearing comprises: a first radial bearing and a second radial bearing;
the TSMC inverter stage adopts the TSMC five-bridge arm inverter stage; in the TSMC five-leg inverter stage, the first radial bearing and the second radial bearing share a common leg.
8. The magnetic bearing control system of claim 7 wherein the TSMC five leg inverter stage comprises: the first inversion switch module to the tenth inversion switch module; the first inversion switch module to the tenth inversion switch module form 5 bridge arms, wherein one common bridge arm is formed; and the electromagnetic coil of the first radial bearing and the electromagnetic coil of the second radial bearing are respectively connected to 2 bridge arms and 1 common bridge arm in the 5 bridge arms.
9. A magnetic levitation system, comprising: the magnetic bearing control system of any one of claims 1 to 8.
10. A method of controlling a magnetic bearing control system as claimed in any one of claims 1 to 8, comprising:
collecting a power grid voltage signal of an alternating current power supply, a rotor displacement signal of a motor rotor of the magnetic bearing and current signals of electromagnetic coils of the radial bearing and the axial bearing through a collecting unit;
determining a control instruction of the main circuit according to the power grid voltage signal, the rotor displacement signal and the current signal of the electromagnetic coil through a magnetic bearing controller;
through a main circuit, working according to the control command to adjust current signals of electromagnetic coils of the radial bearing and the axial bearing;
wherein, the magnetic bearing includes: radial bearings and axial bearings; the magnetic bearing control system, comprising: the magnetic bearing control device comprises an acquisition unit, a main circuit and a magnetic bearing controller; in the main circuit, TSMC is adopted.
11. The method of controlling a magnetic bearing control system of claim 10 wherein the primary circuit comprises: the rectifying stage, the inverter stage and the axial power amplification unit adopt TSMC rectifying stages, and/or the inverter stage adopts TSMC inverting stages;
wherein,
determining, by a magnetic bearing controller, a control command for the main circuit based on the grid voltage signal, the rotor displacement signal, and the current signal of the electromagnetic coil, comprising:
when the control instruction of the TSMC rectification stage is determined, dividing three-phase alternating current input by an alternating current power supply into a set number of intervals; in each interval, the voltage of one phase has the maximum absolute value, and the voltage polarity of the other two phases is opposite to the voltage with the maximum absolute value; in any interval, the TSMC rectification stage outputs two line voltages with the maximum amplitude in one switching period;
and when the TSMC inverter stage is determined, distributing the duty ratio signals of the common bridge arm in the TSMC inverter stage according to the average voltage signal and the given voltage signal output by the TSMC rectifier stage.
CN202110584957.5A 2021-05-27 2021-05-27 Magnetic bearing control system and control method thereof and magnetic suspension system Pending CN113236670A (en)

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