CN113258847B - Fault-tolerant control system and method applied to maglev high-speed blower - Google Patents

Abstract

The invention relates to a fault-tolerant control system and method applied to a maglev high-speed blower. The system includes a DSP control circuit, a motor information interface circuit, a motor sensor circuit, a communication interface circuit and a power supply circuit. The system uses the magnetic field oriented control FOC to control the high-speed blower of magnetic levitation, uses the motor sensor circuit to detect the motor phase current, bus voltage and rotor position and speed, and feeds it back to the DSP control circuit for FOC control; the invention also applies random weighted square root volume. The Kalman filter observes the rotor position and speed of the motor. When the motor sensor circuit fails and the rotor position and speed information cannot be fed back to the FOC control algorithm normally, the system can use the random weighted square root volumetric Kalman filter observation results instead , which can meet the needs of fault-tolerant control.

Description

Fault-tolerant control system and method applied to maglev high-speed blower

technical field

The invention relates to the electromechanical field, in particular to a fault-tolerant control system and method applied to a maglev high-speed blower.

Background technique

Maglev high-speed blower, as a kind of mechanical equipment for conveying gas, relies on the eccentric operation of the biased rotor in the cylinder, and makes the volume change between the blades in the rotor slot to inhale, compress and spit out the air. It is widely used in sewage treatment and smelting blast furnaces. , coal washing plants, mine flotation, chemical gas production, vacuum and other fields.

The motor of the maglev high-speed blower generally adopts a permanent magnet synchronous motor and is driven by the FOC control algorithm. This control method has stable output torque, wide speed regulation range, good dynamic performance, and high voltage utilization rate, but requires rotor position and speed information as feedback, so an angular position sensor is required to collect motor rotor position information. Because blowers are mostly used in harsh environments such as industrial material transportation and sewage treatment, the performance of the angular position sensor may be affected to a certain extent, and may even be damaged, affecting the normal operation of the blower. Therefore, there is a need for a control system that meets the needs of fault-tolerant control to control the maglev high-speed blower.

SUMMARY OF THE INVENTION

The technical solution of the present invention is to overcome the problem that the motor of the maglev high-speed blower will be out of control when the angular position sensor fails in a harsh environment, and proposes a fault-tolerant control system and method applied to the maglev high-speed blower. The random weighted square root volume Karl As a fault-tolerant control system for the backup observation method of rotor position and speed, the Mann filter can perform FOC control on the permanent magnet synchronous motor used in the maglev high-speed blower. The system uses both the angular position sensor and the random weighted square root volume Kalman filter to observe the rotor position and speed of the motor. When the angular position sensor fails and the rotor position and speed information cannot be fed back to the FOC control system, the system will use The information observed by the randomly weighted square root volumetric Kalman filter is fed back as a substitute to meet the needs of fault-tolerant control. This control system is especially suitable for the use environment of the maglev high-speed blower with relatively harsh working environment, and can also be used for the control of other maglev high-speed motors.

The technical solution of the present invention is a strong robust fault-tolerant control system applied to a magnetic levitation high-speed blower, comprising:

The DSP control circuit (1) is connected to the motor information interface circuit (2), the communication interface circuit (4) and the power supply circuit (5); the DSP control circuit (1) communicates with the host through the communication interface circuit (4) during operation. The DSP control circuit (1) can receive the phase current, bus voltage and rotor position and speed information of the magnetic levitation high-speed blower through the motor signal interface circuit (2). This information executes the corresponding FOC control algorithm, and outputs the SVPWM control signal to the inverter to drive the motor of the maglev high-speed blower; the DSP control circuit also uses the phase current and bus voltage information obtained from the motor signal interface circuit (2), The rotor position and speed of the motor are observed through a random weighted square root volume Kalman filter, and compared with the rotor position and speed information obtained from the motor signal interface circuit (2). When it is judged that the motor sensor circuit cannot output the correct rotor position and speed When the velocity information is obtained, the observation result of the random weighted square root volume Kalman filter will be used as a substitute to meet the needs of fault-tolerant control;

Motor information interface circuit (2): including parallel current interface circuit, voltage interface circuit, angular position sensor interface circuit, each part of the circuit operates independently, and is connected with the DSP control circuit (1);

The motor sensor circuit (3): transmits the observed motor information to the DSP control circuit (1) for processing through the motor information interface circuit (2);

Communication interface circuit (4): connected with the DSP controller of the DSP control circuit (1);

Power circuit (5): supply power to each part of the circuit.

Further, when the fault-tolerant control system is running, the motor information interface circuit (2) inputs the motor bus voltage signal, the phase current signal and the rotor position and speed signals output by the motor sensor circuit to the DSP controller in the DSP control circuit (1) for processing. deal with.

Further, the motor sensor circuit (3) includes a current sensor circuit, a voltage sensor circuit and an angular position sensor circuit, each part of the circuit operates independently, and observes the motor busbar voltage, phase current and rotor position and speed respectively.

Further, the communication interface circuit (4) includes a parallel RS485 interface and a CAN interface, and each part of the circuit operates independently and is connected with the DSP controller of the DSP control circuit (1). When the motor control system is running normally, the RS485 interface is used by configuration. Or the CAN interface is connected to the PC host computer;

Alternatively, the RS485 interface and the CAN interface are connected to other hosts as a bus system, and the instructions of the host computer or the host station are transmitted to the DSP controller of the DSP control circuit (1) in real time, and the motor status information is uploaded in real time.

Further, the input voltage of the power supply circuit is 48V, and the voltages of 5V, 3.3V and 2.5V are obtained through HZD05B-48S05, AMS1117-3.3 and AMS1117-2.5 conversion respectively, which are used to power other parts of the circuit.

According to another aspect of the present invention, the implementation process of the fault-tolerant control system applied to the magnetic levitation high-speed blower when controlling the magnetic levitation high-speed blower is as follows:

(1) After the system is powered on, the power supply circuit (5) works to supply power to the DSP control circuit (1), the motor information interface circuit (2), the motor sensor circuit (3), and the communication interface circuit (4).

(2) The communication interface circuit (4) receives the control parameter information such as the rated speed transmitted by the upper computer, and transmits it to the DSP control circuit (1). The DSP control circuit (1) runs the FOC control algorithm, and outputs the SVPWM signal to control the inverter to output the three-phase drive current of the control motor.

(3) The motor sensor circuit (3) observes the motor bus voltage, phase current, rotor position and speed, and transmits it to the DSP control circuit through the motor information interface circuit (2), as the feedback information of the closed-loop control of the FOC control algorithm, and random weighting Input variables for the square root volumetric Kalman filter.

(4) The DSP controller in the DSP control circuit (1) runs a random weighted square root volume Kalman filter, and observes the rotor position in real time through the information output by the motor sensor circuit (2), and at the same time the motor sensor circuit (3) ) The observed rotor position and rotational speed are compared with the observations of the randomly weighted square root volumetric Kalman filter. If the angular position sensor cannot output the rotor position and speed information, or the transmitted degree information differs by more than 10% from the observation result of the random weighted square root volume Kalman filter, the current fluctuates frequently, and the working efficiency of the motor is abnormally reduced, the motor sensor circuit is judged. The angular position sensor in the model cannot output the current rotor position and speed information normally, and the observation result of the random weighted square root volume Kalman filter is used instead as the feedback of the FOC control algorithm. At the same time, the DSP control circuit (1) transmits fault information to the upper computer through the communication interface circuit (4).

Compared with the prior art, the present invention has the advantages that the present invention simultaneously adopts the angular position sensor and the random weighted square root volume Kalman filter to observe the rotor position and speed of the magnetic levitation high-speed blower.

(1) The present invention uses DSP as the control core, and has a field bus based on the CAN protocol, which can communicate with the host computer and the magnetic bearing control system, and can control the motor in real time according to the requirements of the control system.

(2) The present invention simultaneously uses the angular position sensor and the random weighted square root volume Kalman filter to observe the rotor position and speed. When the angular position sensor fails and cannot feed back accurate rotor position information, the system will feed back the observation results of the random weighted square root volume Kalman filter to the FOC control system, which enhances the stability of the system and meets the needs of fault-tolerant control.

Description of drawings

Fig. 1 is the system structure composition block diagram of the present invention;

Fig. 2 is the flow chart of the rotor position observation method of the present invention;

3 is a block diagram of a random weighted square root volume Kalman filter algorithm involved in the present invention;

Fig. 4 is the DSP control circuit of the present invention;

Fig. 5 is the motor information interface circuit of the present invention;

Fig. 6 is the motor sensor circuit of the present invention;

Fig. 7 is the communication interface circuit of the present invention;

FIG. 8 is a power supply circuit of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in Figure 1, the fault-tolerant control system of the present invention mainly includes a DSP control circuit (1), a motor information interface circuit (2), a motor sensor circuit (3), a communication interface circuit (4) and a power supply circuit (5). The DSP control circuit (1) is the core circuit of the system, and is connected with the motor information interface circuit (2) and the communication interface circuit (4).

During the operation of the field-oriented control FOC algorithm, the DSP control circuit (1) communicates with the host computer in real time through the communication interface circuit (4), receives the control instructions of the host computer, and sends the working state of the motor to the host computer at the same time.

After the system starts to run, firstly, the DSP control circuit (1) receives the control command from the host computer through the communication interface circuit (4), runs the FOC control algorithm, and outputs the SVPWM signal to the inverter, which is used to generate the three-phase driving motor to run. At the same time, the motor sensor circuit (3) transmits the motor bus voltage, phase current and rotor position speed signals to the DSP control circuit (1) through the motor information interface circuit (2), as the closed-loop feedback information of the FOC control algorithm and the random weighted square root volume. Input variables for the Kalman filter.

As shown in Figure 2, the DSP control circuit (1) simultaneously runs the random weighted square root volumetric Kalman filter algorithm and observes the rotor position in real time according to the information output by the motor sensor circuit (3), and the motor sensor circuit (3) The observed rotor position and rotational speed are compared with observations from a randomly weighted square root volumetric Kalman filter. If the angular position sensor cannot output rotor position and speed information, or the transmitted degree information differs by more than 10% from the result observed by the random weighted square root volumetric Kalman filter, the current fluctuates frequently, and the working efficiency of the motor is abnormally reduced, the motor sensor is judged. The angular position sensor in the circuit cannot output the current rotor position and speed information normally, and the observation result of the random weighted square root volume Kalman filter is used instead as the feedback of the FOC control algorithm. At the same time, the DSP control circuit (1) transmits fault information to the upper computer through the communication interface circuit (4).

As shown in Figure 3, the observation method of the random weighted square root volume Kalman filter shown in the present invention is as follows:

According to the discrete mathematical model of the three-phase permanent magnet synchronous motor in the static coordinate system, the state transition matrix of the system at time k-1 is obtained:

输入控制变量为u_k＝[u_α,ku_β,k]^T，系统噪声协方差为

分别代表α轴、β轴电流噪声，电机转子转速噪声以及电机转子位置噪声，量测噪声协方差为R＝[R_i R_i]^T，设量测噪声协方差为R＝diag(R_i，R_i)，设误差协方差阵为

k时刻系统输出变量为y_k＝[i_α,k i_β,k]^T，电机状态转移矩阵维数n＝4，容积点个数m＝2n＝8。where i _{α, k} i _{β, k} ω _{e, k} θ _{e, k} are the α and β-axis currents at time k, the motor rotor speed and the motor rotor position, respectively; ψ _f is the motor rotor magnetic flux, L is the stator inductance, Rs is the motor stator resistance, Ts represents the sampling period, u _α,k , u _β,k are the control voltages of the α and β axes at time k. The observation equation that defines the system is

The input control variable is u _k =[u _α,k u _β,k ] ^T , and the system noise covariance is

Represent the α-axis, β-axis current noise, motor rotor speed noise and motor rotor position noise, respectively, the measurement noise covariance is R=[R _i R _i ] ^T , and the measurement noise covariance is R=diag(R _i , R _i ), let the error covariance matrix be

The system output variable at time k is y _k =[i _{α,ki β,k} ] ^T , the dimension of the motor state transition matrix is n=4, and the number of volume points is m=2n=8.

Design random weighting factors:

w _j =||Δx _j,k ||·||Δy _j,k || (j=1,2,...,2n)

in:

Δx _{j, k} , Δy _{j, k} are the residual vector of state quantity and quantity measurement at time k, respectively.

By normalizing w _j , the random weighting factor can be obtained as:

Cholesky decomposition of the error covariance matrix _Pk , calculated with the volume points of the first iteration of the time update:

First update the time, the steps are as follows:

The first step is to calculate the volume point:

为容积点集，

为k时刻的状态量估计值；S_k为k时刻误差协方差的Cholesky分解所得的下三角阵。in

is the volume point set,

is the estimated value of the state quantity at time k; S _k is the lower triangular matrix obtained by the Cholesky decomposition of the error covariance at time k.

The second step is to calculate the propagation volume point:

The third step is to calculate the predicted value of the state quantity and the covariance of the predicted value error:

用于计算量测更新过程的容积点。其中S＝Tria(A)表示矩阵QR分解算法。S_Q表示Q的平方根因子：The fourth step is to calculate the square root factor of the predicted value error covariance

Volume points used to calculate the measurement update process. where S=Tria(A) represents the matrix QR decomposition algorithm. S _Q represents the square root factor of Q:

Q=S _Q S _Q ^T

Then perform measurement update, the specific steps are as follows:

The first step is to calculate the volume point:

The second step is to calculate the propagation volume point according to the system observation equation:

The third step is to calculate the predicted value of the measurement:

其中S＝Tria(A)表示矩阵QR分解算法。S_R表示R的平方根因子：The fourth step is to calculate the square root factor of the error covariance

where S=Tria(A) represents the matrix QR decomposition algorithm. S _R represents the square root factor of R:

R=S _R S _R ^T

The fifth step is to calculate the measurement error covariance and cross-covariance:

Finally, calculate the Kalman gain, update the state quantity and the Cholesky decomposition of the corresponding error covariance:

中所表示的分别为k+1时刻的电机α、β轴估计控制电流，电机转子的估计位置和估计转速。where the estimated state variable at time k+1

Represented in are the estimated control currents of the α and β axes of the motor at time k+1, the estimated position and estimated rotational speed of the motor rotor.

As shown in Figure 4, the DSP control circuit (1) of the present invention selects the chip TMS320F28062 of TI as the core computing chip. The chip has the core of the C2000 architecture, the operating frequency can reach 90MHz, and has a floating-point co-processing unit, which can efficiently execute Signal conversion, field-oriented control algorithm and rotor position and speed observation algorithm and other functions.

As shown in Figure 5, the motor information interface circuit (2) of the present invention is composed of a current interface circuit, a voltage interface circuit and an angular position sensor interface circuit in parallel, and each part of the circuit operates independently. The current interface circuit and the voltage interface circuit are based on GS8722 and The GS8724 op amp chip constructs a low-pass filter, which performs low-pass filtering on the analog signals output by the current and voltage sensor circuits, and then transmits them to the DSP control circuit (1). The angular position sensor interface circuit adopts the AM26LV32E chip, which converts the differential circuit signal into a single-ended 3.3V level signal and transmits it to the DSP (1) control circuit.

As shown in FIG. 6 , the motor sensor circuit (3) of the present invention is composed of a current sensor circuit, a voltage sensor circuit and an angular position sensor circuit, and each part of the circuit operates independently. The current sensor circuit uses the Hall current sensor ACS724LLCTR to collect the phase current information, the voltage sensor circuit uses the HVS-AS-10 Hall voltage sensor to collect; the angular position sensor circuit uses the ABZ encoder MA730 to observe the rotor position, and then transmits the signal to the motor information in the interface circuit (2).

As shown in FIG. 7 , the communication interface circuit (4) of the present invention includes an RS485 interface and a CAN interface, and each part of the circuit operates independently. Among them, the RS485 interface circuit adopts the SN65HVD75 chip, and the CAN interface circuit adopts the SN65HVD320 chip. The RS485 and CAN interface circuits are used to connect the DSP control circuit (1) and the corresponding bus system, as well as the PC host computer.

As shown in Figure 8, the input voltage of the device used in the present invention is 48V, and the voltages of 5V, 3.3V and 2.5V are obtained through HZD05B-48S05, AMS1117-3.3 and AMS1117-2.5 conversion respectively, which are used to supply power to other circuits.

Although the present invention is applied to a control system of a magnetic levitation high-speed blower motor, it can also be used as a general control device and is suitable for a high-speed motor control system. The user can realize its function flexibly and conveniently by modifying the system hardware parameters according to its special application field.

The parts of the present invention that are not described in detail belong to the well-known technology in the art.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Any person familiar with the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. Included within the scope of protection of the present invention.

Claims (6)

1. A fault tolerant control system for a magnetically levitated high speed blower comprising:

DSP control circuit (1): is connected with the motor information interface circuit (2), the communication interface circuit (4) and the power circuit (5); the DSP control circuit (1) is communicated with an upper computer through a communication interface circuit (4) in the operation process, receives a control instruction and transmits the current motor operation state of the magnetic suspension high-speed blower; the DSP control circuit (1) can receive phase current, bus voltage and rotor position and speed information of the magnetic suspension high-speed blower through the motor signal interface circuit (2), execute a corresponding FOC control algorithm according to the information, and output an SVPWM control signal to the inverter so as to drive a motor of the magnetic suspension high-speed blower; the DSP control circuit can also observe the position and the speed of the motor rotor through a random weighted square root volume Kalman filter by using phase current and bus voltage information obtained from the motor signal interface circuit (2) and compare the position and the speed information with rotor position and rotating speed information obtained from the motor signal interface circuit (2), and when the motor sensor circuit is judged not to output correct rotor position and speed information, the observation result of the random weighted square root volume Kalman filter is used for replacing so as to meet the requirement of fault-tolerant control;

motor information interface circuit (2): the device comprises a parallel current interface circuit, a voltage interface circuit and an angular position sensor interface circuit, wherein each circuit operates independently and is connected with a DSP control circuit (1);

motor sensor circuit (3): transmitting the observed motor information to a DSP control circuit (1) through a motor information interface circuit (2) for processing;

communication interface circuit (4): is connected with a DSP controller of the DSP control circuit (1);

power supply circuit (5): power is supplied to each part of the circuit.

2. A fault tolerant control system for a magnetically levitated high speed blower according to claim 1, characterized in that:

when the fault-tolerant control system operates, the motor information interface circuit (2) inputs a motor bus voltage signal, a phase current signal and a rotor position and rotating speed signal which are output by the motor sensor circuit to a DSP controller in the DSP control circuit (1) for processing.

3. A fault tolerant control system for a magnetically levitated high speed blower according to claim 1, characterized in that:

the motor sensor circuit (3) comprises a current sensor circuit, a voltage sensor circuit and an angular position sensor circuit, and all the circuits operate independently and respectively observe the bus voltage, the phase current and the position and the speed of a rotor of the motor.

4. A fault tolerant control system for a magnetically levitated high speed blower according to claim 1, characterized in that:

the communication interface circuit (4) comprises an RS485 interface and a CAN interface which are parallel, each part of circuit operates independently and is connected with a DSP controller of the DSP control circuit (1), and the motor control system is connected with a PC upper computer by using the RS485 interface or the CAN interface in a configuration way when operating normally;

or the RS485 interface and the CAN interface are used as bus systems to be connected with other hosts, the instructions of the upper computer or the master station are transmitted to the DSP controller of the DSP control circuit (1) in real time, and the motor state information is uploaded in real time.

5. A fault tolerant control system for a magnetically levitated high speed blower according to claim 1, characterized in that:

power supply circuit (5): the input voltage is 48V, and 5V, 3.3V and 2.5V voltages are obtained through conversion of the converter chip respectively and used for supplying power to each part of circuit.

6. The method for the fault-tolerant control of the magnetic suspension high-speed blower according to the system of one of claims 1 to 5, wherein the fault-tolerant control of the magnetic suspension high-speed blower comprises the following specific steps:

(1) after the system is powered on, the power supply circuit (5) works and supplies power to the DSP control circuit (1), the motor information interface circuit (2), the motor sensor circuit (3) and the communication interface circuit (4);

(2) the communication interface circuit (4) receives control parameter information such as rated rotating speed and the like transmitted by the upper computer and transmits the control parameter information to the DSP control circuit (1); the DSP control circuit (1) runs an FOC control algorithm and outputs an SVPWM signal to control an inverter to output three-phase driving current for controlling a motor; the selection of the inverter needs to be adjusted according to the requirement of the driven magnetic suspension high-speed blower;

(3) the motor sensor circuit (3) starts to observe the bus voltage, the phase current, the rotor position and the rotating speed of the motor, and transmits the voltage, the phase current, the rotor position and the rotating speed to the DSP control circuit through the motor information interface circuit (2) to be used as feedback information of closed-loop control of an FOC control algorithm and input variables of a random weighted square root volume Kalman filter;

(4) the DSP controller in the DSP control circuit (1) runs a random weighted square root cubature Kalman filter and outputs information through the motor sensor circuit (3), the rotor position is observed in real time, the rotor position and the rotating speed which are observed by the motor sensor circuit (3) are compared with the observation result of the random weighted square root cubature Kalman filter, if the angular position sensor can not output the rotor position and speed information, or when the difference between the transmitted degree information and the result observed by the random weighted square root cubature Kalman filter exceeds 10 percent, the current fluctuates frequently, and the working efficiency of the motor is reduced abnormally, judging that an angular position sensor in the motor sensor circuit cannot normally output the current rotor position and speed information, and using the observation result of the random weighted square root volume Kalman filter as the feedback of the FOC control algorithm instead; meanwhile, the DSP control circuit (1) transmits fault information to an upper computer through the communication interface circuit (4).

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