CN113258847B - Fault-tolerant control system and method applied to magnetic suspension high-speed blower - Google Patents
Fault-tolerant control system and method applied to magnetic suspension high-speed blower Download PDFInfo
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- CN113258847B CN113258847B CN202110592257.0A CN202110592257A CN113258847B CN 113258847 B CN113258847 B CN 113258847B CN 202110592257 A CN202110592257 A CN 202110592257A CN 113258847 B CN113258847 B CN 113258847B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
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- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a fault-tolerant control system and method applied to a magnetic suspension high-speed blower. The system controls the magnetic suspension high-speed blower by using magnetic field directional control FOC, detects motor phase current, bus voltage and rotor position and speed by using a motor sensor circuit, and feeds back to a DSP control circuit for FOC control; the invention also adopts the random weighted square root volume Kalman filter to observe the position and the rotating speed of the motor rotor, when the motor sensor circuit has a fault and the position and the speed information of the rotor cannot be normally fed back to the FOC control algorithm, the system can use the observation result of the random weighted square root volume Kalman filter to replace, and the requirement of fault-tolerant control can be met.
Description
Technical Field
The invention relates to the field of electromechanics, in particular to a fault-tolerant control system and method applied to a magnetic suspension high-speed blower.
Background
The magnetic suspension high-speed blower as a mechanical device for conveying gas operates eccentrically by means of a rotor offset in a cylinder, and air is sucked, compressed and discharged by volume change between blades in a rotor groove, so that the magnetic suspension high-speed blower is widely applied to the fields of sewage treatment, smelting blast furnaces, coal washery, mine flotation, chemical gas production, vacuum and the like.
The motor of the magnetic suspension high-speed blower is generally a permanent magnet synchronous motor and is driven by using an FOC control algorithm. The control mode has the advantages of stable output torque, wide speed regulation range, good dynamic performance and high voltage utilization rate, but needs the position and speed information of the rotor as feedback, so an angular position sensor is needed to acquire the position information of the motor rotor. Because the air blower is applied to the fields with severe environments such as industrial material transportation, sewage treatment and the like, the performance of the angular position sensor can be influenced to a certain extent, and even can be damaged, so that the normal operation of the air blower is influenced. Therefore, a control system meeting the requirement of fault-tolerant control is needed to control the magnetic suspension high-speed blower.
Disclosure of Invention
The technical solution of the present invention is: the fault-tolerant control system and the fault-tolerant control method applied to the magnetic suspension high-speed blower solve the problem that the motor of the magnetic suspension high-speed blower is out of control when an angular position sensor fails in a severe environment. The system simultaneously uses an angular position sensor and a random weighted square root volume Kalman filter to observe the position and the speed of the motor rotor, when the angular position sensor breaks down and the position and the speed information of the rotor cannot be fed back to the FOC control system, the system uses the information observed by the random weighted square root volume Kalman filter as a substitute for feedback, and the requirement of fault-tolerant control is met. The control system is particularly suitable for the use environment of the magnetic suspension high-speed blower with relatively severe working environment, and can also be used for controlling other magnetic suspension high-speed motors.
The invention adopts the technical scheme that a fault-tolerant control system with strong robustness, which is applied to a magnetic suspension high-speed blower, comprises:
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.
Further, 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.
Further, the motor sensor circuit (3) comprises a current sensor circuit, a voltage sensor circuit and an angular position sensor circuit, wherein each circuit operates independently and respectively observes the bus voltage and the phase current of the motor and observes the position and the speed of the rotor.
Furthermore, the communication interface circuit (4) comprises an RS485 interface and a CAN interface which are parallel, each part of the 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 through configuration when in normal operation;
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.
Further, the input voltage of the power supply circuit is 48V, and 5V, 3.3V and 2.5V are obtained through conversion of HZD05B-48S05, AMS1117-3.3 and AMS1117-2.5 respectively and used for supplying power for other partial circuits.
According to another aspect of the invention, the fault-tolerant control system applied to the magnetic suspension high-speed blower is realized by the following 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.
(3) The motor sensor circuit (3) observes the bus voltage, the phase current, the rotor position and the rotating speed of the motor, transmits the voltage, the phase current and the rotor position and the rotating speed to the DSP control circuit through the motor information interface circuit (2), and uses the voltage, the phase current and the rotating speed 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) And a DSP controller in the DSP control circuit (1) operates a random weighted square root volume Kalman filter, observes the position of the rotor in real time through information output by the motor sensor circuit (2), and compares the position and the rotating speed of the rotor observed by the motor sensor circuit (3) with an observation result of the random weighted square root volume Kalman filter. If the angular position sensor cannot output the rotor position and speed information, or the difference between the transmitted degree information and the result observed by the random weighted square root volume Kalman filtering exceeds 10%, the current frequently fluctuates, and the working efficiency of the motor is abnormally reduced, the angular position sensor in the motor sensor circuit is judged to be incapable of normally outputting the current rotor position and speed information, and the result observed by the random weighted square root volume Kalman filter is used 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).
Compared with the prior art, the invention has the advantages that: the invention simultaneously adopts an angular position sensor and a random weighted square root cubature Kalman filter to observe the position and the speed of a rotor of the magnetic suspension high-speed blower.
(1) The invention adopts DSP as a control core, has a field bus based on CAN protocol, CAN communicate with an upper computer and a magnetic bearing control system, and CAN control the motor in real time according to the requirements of the control system.
(2) The invention simultaneously adopts an angular position sensor and a random weighted square root cubature Kalman filter to observe the position and the speed of the rotor. When the angular position sensor fails and accurate rotor position information cannot be fed back, the system feeds back an observation result of the random weighted square root volume Kalman filter to the FOC control system, so that the stability of the system is enhanced, and the requirement of fault-tolerant control is met.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a block flow diagram of a rotor position observation method of the present invention;
FIG. 3 is a block diagram of a random weighted square root volumetric Kalman filter algorithm in accordance with the present invention;
FIG. 4 shows a DSP control circuit according to the present invention;
FIG. 5 is a motor information interface circuit of the present invention;
FIG. 6 is a motor sensor circuit of the present invention;
FIG. 7 is a communication interface circuit of the present invention;
fig. 8 is a power supply circuit of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
As shown in fig. 1, the fault-tolerant control system of the present invention mainly comprises 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 a system core circuit and is connected with the motor information interface circuit (2) and the communication interface circuit (4).
In the running process of the FOC algorithm controlled by the magnetic field orientation, the DSP control circuit (1) is in real-time communication with an upper computer through the communication interface circuit (4), receives a control instruction of the upper computer and simultaneously sends the working state of the motor to the upper computer.
After the system starts to operate, firstly, the DSP control circuit (1) receives a control instruction of an upper computer through the communication interface circuit (4), operates an FOC control algorithm, and outputs an SVPWM signal to the inverter for generating a three-phase current for driving the motor to operate; meanwhile, the motor sensor circuit (3) transmits a motor bus voltage, a phase current and a rotor position and rotating speed signal to the DSP control circuit (1) through the motor information interface circuit (2) to be used as closed loop feedback information of an FOC control algorithm and input variables of a random weighted square root volume Kalman filter.
As shown in fig. 2, the DSP control circuit (1) simultaneously operates 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 compares the rotor position and the rotation speed observed by the motor sensor circuit (3) with the observation result of the random weighted square root volumetric kalman filter. If the angular position sensor cannot output the position and speed information of the rotor, or the difference between the transmitted degree information and the result observed by the random weighted square root cubature Kalman filter exceeds 10%, the current fluctuates frequently, and the working efficiency of the motor is abnormally reduced, the angular position sensor in the circuit of the motor sensor is judged to be incapable of normally outputting the position and speed information of the current rotor, and the result observed by the random weighted square root cubature Kalman filter is used 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).
As shown in FIG. 3, the observation method of the random weighted square root cubature Kalman filter of the present invention is as follows:
obtaining a state transition matrix of the system at the k-1 moment according to a discretization mathematical model of the three-phase permanent magnet synchronous motor in a static coordinate system:
wherein i α,k i β,k ω e,k θ e,k The current of the alpha shaft and the current of the beta shaft at the moment k, the rotating speed of the motor rotor and the position of the motor rotor are respectively; psi f Is the motor rotor flux, L is the stator inductance, Rs is the motor stator resistance, Ts represents the sampling period, u represents the sampling period α,k ,u β,k The control voltages for the α and β axes at time k. Defining the system's observation equation as
Input control variable is u k ＝[u α,k u β,k ] T The system noise covariance is
Respectively representing the current noise of an alpha shaft and a beta shaft, the rotating speed noise of a motor rotor and the position noise of the motor rotor, and the covariance of the measurement noise is R ═ R i R i ] T Let the covariance of the measured noise be "diag" (R) i ，R i ) Let the error covariance matrix be
The system output variable at the time k is y k ＝[i α,k i β,k ] T The dimension n of the motor state transition matrix is 4, and the number m of the volume points is 2n 8.
Designing a random weighting factor:
w j ＝||Δx j,k ||·||Δy j,k || (j＝1,2,...,2n)
wherein:
Δx j，k ，Δy j，k the residual vectors of the state quantity and the measured quantity at the moment k are respectively.
To w j The random weighting factors obtained by normalization are:
for error covariance matrix P k A Cholesky decomposition is performed, and the volume point of the first iteration of the time update is used for calculation:
firstly, time updating is carried out, and the steps are as follows:
first, calculating a volume point:
wherein
Is a set of volume points, and is,
is the state quantity estimated value at the k moment; s k The resulting lower triangular matrix is the Cholesky decomposition of the error covariance at time k.
Secondly, calculating a propagation volume point:
thirdly, calculating a state quantity predicted value and a predicted value error covariance:
step four, calculating the square root factor of the covariance of the error of the predicted value
For calculating volume points for the metrology update process. Where S ═ tria (a) denotes the matrix QR decomposition algorithm. S. the Q The square root factor representing Q:
Q＝S Q S Q T
then, the measurement is updated, and the specific steps are as follows:
first, calculating a volume point:
secondly, calculating a propagation volume point according to a system observation equation:
thirdly, calculating a measurement prediction value:
the fourth step, calculate the error covariance square root factor
Where S ═ tria (a) denotes the matrix QR decomposition algorithm. S R Factor of square root representing R:
R＝S R S R T
and step five, calculating the covariance of the measurement errors and the cross covariance:
and finally, calculating Kalman gain, updating state quantity and Cholesky decomposition of corresponding error covariance:
wherein the estimated state variable at time k +1
The estimated control currents of the α and β axes of the motor at the time k + 1, the estimated position of the rotor of the motor, and the estimated rotation speed, respectively, are indicated in (1).
As shown in fig. 4, the DSP control circuit (1) of the present invention selects the chip TMS320F28062 of the TI company as a core operation chip, which has a core of C2000 architecture, a running dominant frequency of which can reach 90MHz, a floating point co-processing unit, and can efficiently execute functions such as signal conversion, a magnetic field orientation control algorithm, and a rotor position and speed observation algorithm.
As shown in fig. 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, each part of the circuits operates independently, the current interface circuit and the voltage interface circuit construct a low pass filter based on GS8722 and GS8724 operational amplifier chips, respectively, low pass filters analog signals output by the current and voltage sensor circuits, and then transmits the analog signals to the DSP control circuit (1). The angular position sensor interface circuit adopts an AM26LV32E chip, converts the differential circuit signal into a single-ended 3.3V level signal and transmits the signal 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 circuit operates independently. The current sensor circuit adopts a Hall current sensor ACS724LLCTR to collect phase current information, and the voltage sensor circuit adopts an HVS-AS-10 Hall voltage sensor to collect phase current information; the angular position sensor circuit uses the ABZ encoder MA730 to observe the rotor position and then transmits a signal to the motor information 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. The RS485 interface circuit adopts an SN65HVD75 chip, and the CAN interface circuit adopts an SN65HVD320 chip. And the RS485 and CAN interface circuit is used for connecting the DSP control circuit (1), a corresponding bus system and a PC upper computer.
As shown in FIG. 8, the input voltage of the device used in the present invention is 48V, and 5V, 3.3V and 2.5V are obtained by converting HZD05B-48S05, AMS1117-3.3 and AMS1117-2.5 respectively, and are used for supplying power to other partial circuits.
The invention is applied to a control system of a magnetic suspension high-speed blower motor, but can also be used as a general control device and is suitable for a high-speed motor control system. The user can flexibly and conveniently realize the function of the system by modifying the hardware parameter of the system according to the special application field of the user.
The invention has not been described in detail and is within the skill of the art.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope 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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| CN201985799U (en) * | 2010-12-29 | 2011-09-21 | 北京奇峰聚能科技有限公司 | Integrated high-reliability magnetic suspension energy storage fly wheel digital controller |
| CN103427757A (en) * | 2013-08-21 | 2013-12-04 | 北京航空航天大学 | Magnetic bearing and motor integrated control system for magnetic suspension molecular pump |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
| CN112628159A (en) * | 2020-12-21 | 2021-04-09 | 北京航空航天大学 | Magnetic suspension molecular pump stator temperature monitoring system and method based on resistance identification |
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| US7276877B2 (en) * | 2003-07-10 | 2007-10-02 | Honeywell International Inc. | Sensorless control method and apparatus for a motor drive system |
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| CN103427757A (en) * | 2013-08-21 | 2013-12-04 | 北京航空航天大学 | Magnetic bearing and motor integrated control system for magnetic suspension molecular pump |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
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