CN1776550A - Magnetic suspension bearing monitoring-controlling integrating device - Google Patents
Magnetic suspension bearing monitoring-controlling integrating device Download PDFInfo
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- CN1776550A CN1776550A CN 200510042403 CN200510042403A CN1776550A CN 1776550 A CN1776550 A CN 1776550A CN 200510042403 CN200510042403 CN 200510042403 CN 200510042403 A CN200510042403 A CN 200510042403A CN 1776550 A CN1776550 A CN 1776550A
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- 239000000725 suspension Substances 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims description 18
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 5
- 238000012952 Resampling Methods 0.000 claims description 2
- 238000010977 unit operation Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000011217 control strategy Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009931 harmful effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Abstract
The installation includes sensor of signal acquisition, conversion circuit of signal input, hardware system including main control unit composed of microprocessor and accessory circuit, and signal output circuit. Main control unit runs control program. Characters are that through PCI interface, hardware system is connected to host computer. The host computer runs monitor routine on upper layer. Running lower detection program, the main control unit is in charge for passing monitored information to host computer; based on commands of host computer, the main control unit modifies control parameters. The host monitors, controls, displays running status of magnetic suspension bearing in real time. Advantages of the installation are: stable performance, easy of adjustment, flexible control strategy so as to reach purpose of flexible control.
Description
Technical field
The present invention relates to supervising device, relate in particular to the supervising device that is applied on the magnetic suspension bearing.
Background technology
Magnetic suspension bearing is to utilize electromagnetic force that rotor is suspended, has and do not have friction, and the long-life, need not lubricate, pollution-free, high rotating speed, high-precision advantage is basic components of developing high-grade numerical control machining equipment.Magnetic suspension bearing desired control device antijamming capability is strong, the bearing accuracy height, and dynamic response time is short, damping characteristic is good, but magnetic suspension bearing has two difficult points aspect control: the one, and essence is unstable, and the 2nd, strong nonlinearity is so that control problem becomes is very complicated.In addition, for indexs such as the high rotating speed of realizing magnetic suspension bearing, high precision, low-power consumption, controller must be able to realize that rigidity, damping, the isoparametric real-time monitoring of rotating speed show and online adjustment.
At present, magnetic suspension bearing adopts the commonplace of analog controller, but analog controller is difficult to realize the change of control algolithm, is difficult for realization on-line monitoring and controlled variable and adjusts function, and analog device parameter drift meeting simultaneously produces harmful effect to controller performance.The digitial controller main hardware of domestic research is formed by core and signal input and output circuit with CPU, adopt traditional PI D or intelligent control algorithm, though can realize basic control function, but do not possess monitoring and real-time Presentation Function, be not easy to the real-time adjustment that running status and on-the-spot needs according to magnetic suspension bearing carry out parameter, be difficult to demonstrate fully magnetic suspension bearing and have the initiatively advantage of supporting.
Summary of the invention
The objective of the invention is to overcome the deficiency of analog controller and general digitial controller, provide a kind of easy to adjust, control strategy is flexible, has the magnetic suspension bearing control device of control and monitoring function simultaneously.
The present invention is made up of hardware system and software systems two large divisions.
Hardware system comprises:
Various types of signal pick-up transducers part comprises displacement transducer, current sensor, speed probe, temperature sensor etc., is used for collection site information.
Signal input change-over circuit carries out processing and amplifying with the simulating signal that each road sensor is sent here, and the A/D conversion is sent to main control unit.’
Main control unit is made up of microprocessor and accessory circuit thereof, stores Control Software and lower floor and detects software, and the parameter modification instruction that host computer sends is handled and received to control signal and detection signal.
Signal output apparatus, the control signal that main control unit is handled outputs to the bearing power amplifier, and on-the-spot monitor signal is sent to host computer.
Hardware system of the present invention links to each other with host computer by pci interface, and host computer monitors and operating platform as the user.
Software systems comprise:
Control Software, run on main control unit, control forms according to user's needs is worked out with different control algolithms, as fuzzy control, PID control, adaptive control etc., it is according to the running status of magnetic suspension bearing, call suitable control algolithm, produce control corresponding output, the operation of control magnetic suspension bearing.
Lower floor's monitoring of software runs on main control unit, and it is responsible for transmitting tested metrical information to host computer, and simultaneously, it also is responsible for the modifying of order controlled variable according to host computer.
The upper strata monitoring of software runs on host computer.This software adopts the multiwindow design, and the user can observe the state (figure and numerical value) of each parameter easily, and these parameter states also can be preserved by spanned file; The user can set the bound of each parameter, can report to the police and emergency treatment if transfinite; More strong functions is that also it can revise controlled variable in real time according to system running state, optimizes running status.
Control procedure of the present invention is:
(1) starts host computer status monitoring program, the internal register of the initialization simultaneously and control deviation value is set;
(2) carry out the A/D data sampling;
(3) calling control program handles;
(4) deal with data is outputed to display system and magnetic suspension bearing power amplifier respectively;
(5) return step (2), resampling.
The present invention compares with existing digitial controller with analog controller and has the following advantages: 1) owing to adopted digital control technology can realize complicated control algolithm, be easy to carry out the test of various possibility control strategies, it is convenient to change controller parameter, can realize Flexible Control; 2) the present invention can realize online monitors load, displacement, shaft current and rotating speed etc. owing to adopted monitoring of software to cooperate with host computer, and can show at any time, record; 3) the present invention has realized control, monitoring integration, can better bring into play the characteristics that magnetic suspension bearing initiatively supports, stable performance in addition, the harmful effect that does not have the parameter drift of analog controller spare to bring.
Description of drawings
Fig. 1 is the schematic block circuit diagram of the embodiment of the invention.
Fig. 2 is the circuit diagram of the signal input of the embodiment of the invention.
Fig. 3 is the circuit diagram of the simulating signal output of the embodiment of the invention.
Fig. 4 is control, the monitoring facilities block diagram of the embodiment of the invention.
Embodiment
With a control device of monitoring the five degree of freedom of magnetic suspension bearing is example explanation embodiment.
The circuit theory of this supervising device as shown in Figure 1, it comprises that mainly main control unit, signal input and change-over circuit and simulating signal output circuit, pci interface circuit that dsp chip TMS320VC33 and accessory circuit thereof constitute form jointly.
Accessory circuit in the main control unit comprises RAM, FLASH, decoding scheme, power supply, clock or the like.Dsp chip is the control core of this invention, and the RAM chip is used for depositing program run data, sampled data etc. in the accessory circuit, and the FLASH chip is used for depositing control program and important parameter, and decoding scheme is used to coordinate each hardware operate as normal.
Dsp chip TMS320VC33 is 32 higher floating-point operation dsp chips of a ratio of performance to price that TI company releases recently.Improve its overall performance index in the inside of C3X series processors by integrated part hardware execution unit.And other processor is realized by the optimization of parallel instruction or software often.It has the instruction cycle of 13ns one, has the arithmetic capability of 150MFLOPS and 75MIPS, has the operation of 4 grades of external interrupt and 4 level production lines, can expand the RAM of 1M * 32, is fit to large batch of data processing.Therefore, the controller that constitutes with this dsp chip has very strong calculation process ability.
Signal input change-over circuit has shown wherein one the tunnel as shown in Figure 2 among the figure, other Lu Yuqi is similar, and being that those skilled in the art are known no longer draws.This circuit is made up of control signal level shifting circuit and A/D converter.The control signal level shifting circuit is mainly by operational amplifier U1 and U6, resistance R 1-R6, and adjustable potentiometer VR1-VR3, capacitor C I-C6 forms, and this is a two-stage amplifying circuit.By operational amplifier U1 and on every side element form the first order, to the input signal adjustment that gains; By operational amplifier U6 and on every side element form the second level, with the summation of first order signal and bias voltage, make the output signal amplitude at 0-5V.Enter A/D converter MAX125 through adjusted simulating signal, transformation result is sent to dsp chip by dsp bus, stores and handles.Every A/D converter has 8 analog channels, 14 conversion accuracies.The design has adopted 4 A/D converters, so can accept the input of 32 tunnel simulating signals at most, can satisfy the input requirement of multichannel feedback signal and monitor signal.The design's analog input signal comprises 5 road position feed back signals and signals such as load, shaft current and rotating speed, satisfies the requirement of control and monitoring function.
The simulating signal output circuit as shown in Figure 3, it comprises 4 D/A converter chip DAC7724, each chip comprises 4 tunnel simulation outputs, 12 precision are so this circuit can provide 16 road analog output signals.Present embodiment has used wherein five tunnel simulation outputs, and the control output as five degree of freedom of magnetic suspension bearing outputs to the magnetic suspension bearing power amplifier.The pci interface circuit of present embodiment belongs to known technology, returns monitoring information by pci interface to host computer, host computer with the magnetic suspension bearing operation information show, record, can carry out the isoparametric online adjustment of system damping according to these information.
Fig. 4 is the control program FB(flow block) that runs on main control unit.Wherein solid line partly adds the execution in step of PID controlling schemes for fuzzy control, and dotted portion is for adopting the execution in step of adaptive control or other controlling schemes.Its execution in step is as described in the summary of the invention, and key is that step (3) is to carry out according to selected control mode is different.
Fuzzy when adopting in the process flow diagram solid line part+during the PID control method, its principle of work is: when rotor was near the equilibrium position, controlling models can be approximately linear equation, adopted the control accuracy of PID control can effectively raising system this moment; When the rotor away from equilibrium location, need the nonlinear characteristic of taking into account system this moment, adopt fuzzy control can effectively improve the dynamic perfromance of system at nonlinear area.So not only keep conventional PID control system to control advantage simple, good stability, and brought into play the adaptability and the dirigibility of fuzzy control.Experiment showed, that this control algolithm is very effective.Its controlled step is: judge that whether sampling deviation is greater than the control deviation value of setting; If yes, calling fuzzy control program handles; If be not, call the PID control program and handle; When adopting auto-adaptive control scheme, then directly call the adaptive control program.Shown in the process flow diagram dotted portion, when adopting the adaptive control program, no longer judge the size of sampling deviation, and directly call the adaptive control program.
Claims (4)
1, a kind of magnetic suspension bearing monitoring, control integrated apparatus, it comprises signals collecting senser element, signal input change-over circuit.The hardware system that main control unit of being made up of microprocessor and accessory circuit and signal output apparatus constitute jointly; In the main control unit operation control program is arranged, its feature also comprises, hardware system links to each other with host computer by pci interface, operation has the upper strata monitoring facilities in the host computer, also moved lower floor's trace routine at main control unit, be responsible for transmitting monitored information, and, monitor, control, show the running status of magnetic suspension bearing in real time by host computer according to the modifying of order controlled variable of host computer to host computer; Carry out following steps during control:
(1) starts host computer status monitoring program, the internal register of initialization simultaneously and reference value is set;
(2) carry out the A/D data sampling;
(3) transferring control program handles;
(4) deal with data is outputed to display system and magnetic suspension bearing power amplifier respectively;
(5) return step (2), resampling.
2, magnetic suspension bearing monitoring as claimed in claim 1, control integrated apparatus, it is characterized in that, judge at first that in step (3) sampling deviation whether greater than the control deviation of setting, calls fuzzy program if yes and handles, do not call the PID program to handle if be not.
3, magnetic suspension bearing monitoring as claimed in claim 1, control integrated apparatus is characterized in that directly calling the adaptive control program in step (3) handles.
4,, it is characterized in that main control unit is made up of dsp chip and accessory circuit as claim 1 or 2 or 3 described magnetic suspension bearing monitorings, control integrated apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100424033A CN100444060C (en) | 2005-01-27 | 2005-01-27 | Magnetic suspension bearing monitoring-controlling integrating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100424033A CN100444060C (en) | 2005-01-27 | 2005-01-27 | Magnetic suspension bearing monitoring-controlling integrating device |
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| CN1776550A true CN1776550A (en) | 2006-05-24 |
| CN100444060C CN100444060C (en) | 2008-12-17 |
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| CNB2005100424033A Expired - Fee Related CN100444060C (en) | 2005-01-27 | 2005-01-27 | Magnetic suspension bearing monitoring-controlling integrating device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102829116A (en) * | 2012-08-28 | 2012-12-19 | 清华大学 | Method for diminishing vibration of base in magnetic bearing system |
| CN103122931A (en) * | 2011-11-21 | 2013-05-29 | 上海航天控制工程研究所 | Drive and control circuit used in magnetic levitation wind-driven generator |
| CN104516379A (en) * | 2013-09-30 | 2015-04-15 | 珠海格力节能环保制冷技术研究中心有限公司 | Bias voltage adjustment method and device of magnetic levitation system |
| CN105333008A (en) * | 2015-11-20 | 2016-02-17 | 珠海格力节能环保制冷技术研究中心有限公司 | Monitoring method, device and system for magnetic suspension bearing control system |
| CN108167330A (en) * | 2017-11-07 | 2018-06-15 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of magnetic suspension bearing electric power system and its control method |
| CN109343506A (en) * | 2018-10-15 | 2019-02-15 | 珠海格力电器股份有限公司 | A kind of magnetically suspended bearing detection method, system and application |
| WO2019037063A1 (en) * | 2017-08-25 | 2019-02-28 | 海门市品格工业设计有限公司 | Magnetic bearing detection system based on dsp control |
| CN110230606A (en) * | 2019-07-12 | 2019-09-13 | 天津市天鼓机械制造有限公司 | Magnetic suspension air blower control system based on Internet of Things |
| CN112211908A (en) * | 2020-10-10 | 2021-01-12 | 珠海格力电器股份有限公司 | Current control method, device and system for magnetic bearing |
| WO2021189834A1 (en) * | 2020-03-24 | 2021-09-30 | 珠海格力电器股份有限公司 | Detection method and apparatus for magnetic levitation system, storage medium, and processor |
| CN114962453A (en) * | 2022-05-27 | 2022-08-30 | 北京航空航天大学 | Magnetic suspension rotor displacement signal's feedback control circuit and magnetic suspension equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08278137A (en) * | 1995-04-07 | 1996-10-22 | Sony Corp | Bearing output device |
| JP2000145774A (en) * | 1998-11-17 | 2000-05-26 | Koyo Seiko Co Ltd | Control-type magnetic bearing device |
| CN2414249Y (en) * | 2000-01-24 | 2001-01-10 | 台达电子工业股份有限公司 | Magnetic suspension bearing device |
| CN2645340Y (en) * | 2002-08-30 | 2004-09-29 | 中国科学院长春光学精密机械与物理研究所 | Magnetic levitation bearing type ultra-precision micro feeding device |
-
2005
- 2005-01-27 CN CNB2005100424033A patent/CN100444060C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103122931A (en) * | 2011-11-21 | 2013-05-29 | 上海航天控制工程研究所 | Drive and control circuit used in magnetic levitation wind-driven generator |
| CN102829116A (en) * | 2012-08-28 | 2012-12-19 | 清华大学 | Method for diminishing vibration of base in magnetic bearing system |
| CN104516379A (en) * | 2013-09-30 | 2015-04-15 | 珠海格力节能环保制冷技术研究中心有限公司 | Bias voltage adjustment method and device of magnetic levitation system |
| CN105333008A (en) * | 2015-11-20 | 2016-02-17 | 珠海格力节能环保制冷技术研究中心有限公司 | Monitoring method, device and system for magnetic suspension bearing control system |
| WO2019037063A1 (en) * | 2017-08-25 | 2019-02-28 | 海门市品格工业设计有限公司 | Magnetic bearing detection system based on dsp control |
| CN108167330A (en) * | 2017-11-07 | 2018-06-15 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of magnetic suspension bearing electric power system and its control method |
| US11454278B2 (en) | 2017-11-07 | 2022-09-27 | Gree Green Refrigeration Technology Center Co., Ltd. Of Zhuhai | Power supply system for magnetic bearing and control method therefor |
| CN109343506A (en) * | 2018-10-15 | 2019-02-15 | 珠海格力电器股份有限公司 | A kind of magnetically suspended bearing detection method, system and application |
| CN109343506B (en) * | 2018-10-15 | 2020-10-02 | 珠海格力电器股份有限公司 | Magnetic suspension bearing controller detection method, system and application |
| CN110230606A (en) * | 2019-07-12 | 2019-09-13 | 天津市天鼓机械制造有限公司 | Magnetic suspension air blower control system based on Internet of Things |
| WO2021189834A1 (en) * | 2020-03-24 | 2021-09-30 | 珠海格力电器股份有限公司 | Detection method and apparatus for magnetic levitation system, storage medium, and processor |
| CN112211908A (en) * | 2020-10-10 | 2021-01-12 | 珠海格力电器股份有限公司 | Current control method, device and system for magnetic bearing |
| CN114962453A (en) * | 2022-05-27 | 2022-08-30 | 北京航空航天大学 | Magnetic suspension rotor displacement signal's feedback control circuit and magnetic suspension equipment |
| CN114962453B (en) * | 2022-05-27 | 2023-01-31 | 北京航空航天大学 | Magnetic suspension rotor displacement signal's feedback control circuit and magnetic suspension equipment |
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| CN100444060C (en) | 2008-12-17 |
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