CN100414831C - DPS based intellectual high speed magnetic suspension control and digital power amplifying device - Google Patents
DPS based intellectual high speed magnetic suspension control and digital power amplifying device Download PDFInfo
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- CN100414831C CN100414831C CNB2004100132755A CN200410013275A CN100414831C CN 100414831 C CN100414831 C CN 100414831C CN B2004100132755 A CNB2004100132755 A CN B2004100132755A CN 200410013275 A CN200410013275 A CN 200410013275A CN 100414831 C CN100414831 C CN 100414831C
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Abstract
The present invention relates to a DPS based intellectual high speed magnetic suspension control and digital power amplifying device, which is composed of DSP and a peripheral circuit, wherein the DSP receives a signal of a current vortex position sensor through an input data line; the output signal of the DSP is connected with a constant current type switch digital power amplifying device; a control signal output by the constant current type switch digital power amplifying device is connected with a magnetic suspension hard disk system; a CAN (control local area network) bus is adopt between the DSP and the constant current type switch digital power amplifying device for communication. The constant current type switch digital power amplifying device is composed of DSP and a periphery circuit, the output signal of the DSP is connected with a multi-way semi-bridge type switch driver through a high speed optical coupling drive circuit; the output end of the multi-way semi-bridge type switch driver is connected with the magnetic suspension hard disk system. The present invention adopts the DSP as a main control device. Therefore, the present invention has the characteristics of rapid reaction, high control accuracy, high stability, etc.
Description
Technical field
The invention belongs to a kind of high-speed magnetic levitation control device, is a kind of intelligent high-speed magnetic suspension control and digital power amplifier device based on DSP specifically.
Background technology
What adopt substantially based on the high-speed magnetic levitation control device at present is the scheme of " voltage acquisition card+industrial computer ", promptly with in the ready-made voltage acquisition integrated circuit board insertion industrial computer.This mode has good stability, advantages such as highly versatile.But since in high speed acquisition along with the increasing of gathering and handle flow, this scheme is because what adopt is 16 isa bus, so can't meet the demands.Along with control technology and control precision improve constantly and perfect, need carry out dynamic real-time control and monitoring to magnetic suspension system, and present scheme can't satisfy the complicated control of high speed very high degree of precision, the overall cost of voltage acquisition card and industrial computer is too high in addition, volume is bigger, and whole resource utilization is relatively low, so be difficult for realizing industrialized development.
The magnetic bearing switch power amplifier mainly contains following four kinds of forms at present: pulse-width modulation (PWM) type, sampling keep (Sample/Hold) type, ring (Hysteresis) type, minimum pulse width (Minimum PulseWidth) type stagnate.The power amplifier performance of various working forms respectively has pluses and minuses, and pulsewidth produces, the current detecting form is also not necessarily identical with control mode.Good and respond the specific requirement of characteristic such as fast for the stability of a system of magnetic suspension control system, general being pulse-width modulation (PWM) type power amplifier and having obtained and controlled effect preferably of adopting.
Summary of the invention
The objective of the invention is to propose a kind of intelligent high-speed magnetic suspension control and digital power amplifier device based on DSP, what adopt is the parallel processing plan of " DSP+DSP ", DSP carries out high-speed signal acquisition, analysis and control, by CAN bus or SPI mode Control Parameter is sent to another DSP control system, another DSP gives power amplifying device at last by these Control Parameter generations PWM (or I/O) signal and carries out control task, to overcome above-mentioned deficiency.
To achieve these goals, the present invention is made of a DSP (digital signal processor) and peripheral circuit, be characterized in: a DSP receives the signal of current vortex position transducer by input data line, the one DSP output signal is connected with constant-current type switch numbers power amplifier device, the control signal of constant-current type switch numbers power amplifier device output is connected with the magnetically floating hard disk system, constant-current type switch numbers power amplifier device is made of the 2nd DSP and peripheral circuit, the output signal of the 2nd DSP is connected with a multichannel semibridge system switch driver by the high speed photo coupling drive circuit, the output of multichannel semibridge system switch driver is connected with the magnetically floating hard disk system, adopts CAN (control area net) bus to carry out communication between a DSP and the constant-current type switch numbers power amplifier device.
DSP output in the above-mentioned constant-current type switch numbers power amplifier device also is connected with a CPLD (programmable logic device);
The input of DSP in the above-mentioned constant-current type switch numbers power amplifier device also is connected with current sensor output signal on the magnetic coil in the magnetically floating hard disk system.
The present invention is the scheme of " DSP+DSP " owing to what adopt, makes the present invention have:
The mode that pulse-width modulation PWM (Pulse Width Modulate): PWM produces is a lot, can carry out hardware by analogue device and realize also can producing by the dedicated PWM interface software mode of single-chip microcomputer.Because magnetic suspension power supply power amplifier number is more, the working stability of realizing by analog hardware is good but failure rate is higher and comparatively difficult at hardware debug; So in design, we have adopted the TMS320F2XX series DSP of American TI Company to finish 10 tunnel independence pwm pulses and have produced task.The TMS320F2XX series DSP has 12 tunnel independence PWM passages, also can be used as independent I/O and uses.In addition because the accuracy of the high speed of its computing and 16 road AD sampling is the ideal process device of digital motor control and digital power design always.
CAN control area net network (Control Area Network): CAN is former to be that the monitoring and the control aspect of automobile designs by German Bosch company before this, and existing oneself progressively develops into and is used for other industrial department, and its bus specification is formulated by ISO and is international standard.In the bus, be unique fieldbus that is approved for international standard at present at the scene.
DSP digital signal application specific processor (Digital Signal Processor): magnetic suspension control system has fast, the characteristics such as control precision is high, good stability of reaction.And magnetic suspension control system can briefly be a dicyclo control system, and the control outer shroud is by the real-time control of DSP microprocessor to suspension spatiality position.We adopt is that the TMS320F2XX series application specific processor of American TI Company is finished various control algolithms.
Description of drawings
Fig. 1 is the structural principle block diagram of the embodiment of the invention.
Fig. 2 is an embodiment of the invention constant-current type switch power amplifying device theory diagram.
Fig. 3 is the theory diagram of whole magnetic levitation system.
Embodiment
The invention will be further described below in conjunction with drawings and Examples, but this embodiment should not be construed as limitation of the present invention.
Hardware module of the present invention (Fig. 1) is mainly by 9 tunnel high speed position voltage transformation modules, DSP signal sampling and processing module, and system protection and Voltage stabilizing module, the CAN bus communication module, several parts such as Upper machine communication module are formed.The DSP process chip that we adopt is the TMS320F2812 or the TMS320C2407 special signal processing module of U.S. Ti company.At first, 9 road current vortex position transducers transmit dsp system by 9 tunnel high speed position voltage transformation modules with magnetic suspension position size.(with transducer 5v conversion of signals is that 3.3vDSP can adopt voltage, and voltage signal is carried out analog filtering).Then DSP signals collecting and processing module with the voltage signal that collects sample, weight quantization, smoothing denoising etc., advance with the control corresponding algorithm process according to given position voltage, the Control Parameter with 10 road power supply power amplifiers is sent to digital power amplifier DSP by CAN bus/SPI mode at last.Control system protection and Voltage stabilizing module provide the burning voltage of each functional module of system and anti-interference, and are under the abnormal work states such as over-voltage and over-current or transducer outrange in system, provide photoelectricity insulation blocking of voltage stabilizing current limliting and alarm signal to control system.
Magnetic suspension control system can briefly be a dicyclo control system, and the control outer shroud is by the real-time control of DSP microprocessor to suspension spatiality position.Ring then is that the power supply power amplifier carries out dynamic corresponding according to given control voltage signal to the magnetic suspension coil in the control.Be important link at the The whole control system intermediate power amplifier in the process of dynamic corresponding, the quality of power amplifier response directly has influence on the realization of control algolithm.In the power amplifier course of work,, control thereby must carry out constant current/constant voltage to this Switching Power Supply by the sampling of wire loop current/voltage in order to guarantee control precision and control effect.The interior ring control of Here it is magnetic suspension control system actuator.The designing requirement of power amplifier is to improve the execution speed of system as far as possible and have good numeral to follow under the prerequisite of high efficiency.
Power amplifier itself has just constituted a little current closed-loop system, to guarantee that Control Parameter can very accurate control output current.Consider the hysteresis output that magnetic coil electric current (controlling object of this closed-loop system) is very big owing to the perception effect of inductance exists simultaneously, must try every possible means to accelerate its response speed.When the design of power amplifier, we have adopted the method for pulse-width modulation like this.Do like this and utilize switching characteristic that electric current output response is accelerated on the one hand, improved the operating efficiency of power amplifier on the other hand, reduced power consumption.
Power amplifier of the present invention (Fig. 2) hardware using American TI Company dsp processor is finished functions such as the reception of bit DSP Control Parameter, power amplifier current sample, constant current control algorithm realization and 10 tunnel independence PWM outputs.General Switching Power Supply only need be carried out current switch control to single MOS power tube, but because the magnetic suspension coil is a strong inductive load, in the unipolarity switching process, can produce big electric current induction reactance and have a strong impact on the Current Control effect, so must adopt switch afterflow mode to improve control performance.The forceful electric power output of current power amplifier can adopt H type bipolarity full-bridge type or H type unipolarity half-bridge circuit, H type full bridge circuit have preferably current switch and recovery characteristics but design than the semibridge system complexity.Full bridge circuit is made up of four metal-oxide-semiconductors and corresponding four fly-wheel diodes.Its drive control part adopts bipolarity pulse-width modulation method.The bipolarity pulse-width modulation circuit at output voltage average value hour, the gate pole control impuls broad of each metal-oxide-semiconductor can guarantee the reliable conducting of transistor.And common unipolarity duty is at output voltage average value hour, and the gate pole control impuls is narrower, when being too narrow to a certain degree, just can not guarantee the reliable conducting of switching tube, thus the effect when influencing low current and controlling.Owing to taked the high-frequency impulse modulation, therefore the current waveform response speed of output is very fast.
Mainly be based on the digital collection card system of industrial computer in the market, but cost is higher, limited and the common industrial computer of performance does not reach rate request by bus mode at all, thus the price of external this product is more expensive and also with the also very not compatible embedded development scheme that can only adopt DSP of home products interface.Use the embedded development scheme, have the little execution efficient of source code advantages of higher.This scheme is based on existing Vxworks and CCStudio (Code Composer Studio, spectrum sign indicating number operating room) embedded Integrated Development Environment, emphasis is realized compatibilityization and the visual work for the different model signal source, it comprises: global function debugger (selecting different sample frequency and upper communication interface according to the operating mode that transducer is different), the controlling of sampling algorithmic function is analyzed the storehouse and (is selected different functions control algorithms according to the operating mode that transducer is different, for example PID control, fuzzy control, expert's control etc.), the dynamic and visual window of sampling output, system peripheral and control driving interface or the like.
Because 10 road DSP switch controlling signals pass to the switch power operating part by bus mode, so need carry out sheet choosing, driving and logical process to data, the present invention adopts and finishes this task based on the CPLD programming in logic technology of MAX-PLUS, and CPLD also is responsible for resources such as the I/O of DSP, outside exented memory are carried out unified logic manage and distribution in addition.It is good to have versatility based on the MAX+PLUS programming in logic, advantages such as programming is flexible, good reliability.
The software program of DSP of the present invention is mainly realized following function: data sampling and filtering, data prediction and analysis, based on the transmitting-receiving of CAN bus data and processing, based on various magnetic suspension control algorithm realization etc.Data sampling and filtration module adopt the timer mode, in 12 bit data point of 500kHz sample rate 10 tunnel.Again data are weighted filtering.Can adopt different data processing algorithm (interpolation, prediction, match) etc. according to different working condition requirements and performance index.At last Control Parameter is exported by bus mode.If the several system concurrent working, they can be sent to upper monitoring machine or following bit DSP by the CAN bus mode with the data of handling well.TMS320F2407 supports CAN2.0B standard CAN bus interface and agreement, has good versatility.Be responsible for giving DSP in the constant-current type switch numbers power amplifier device based on the upper machine communication of SPI with data.
The software program of DSP mainly realizes receiving by CAN bus mode/SPI mode 10 road power amplifier Control Parameter of bit DSP in the constant-current type switch numbers power amplifier device of the present invention, according to the on off state of Control Parameter decision pwm signal.Simultaneously 10 road current sample modules are carried out real-time sampling with the power amplifier electric current, by finishing the constant current control of 10 road power amplifiers with the realization of the comparison of given parameter and control algolithms such as PI algorithm or minimum pulse width.
The software program of CPLD of the present invention is mainly finished following function: output driving, DSP2407 peripheral logic and the operating state of 16 bit data shows, 10 road power amplifier output states are monitored or the like.
The present invention can be used for the dynamic real-time monitor of multi-way control system.For example: the magnetic-suspension main-shaft control system, magnetic suspension motor control system etc., the present invention can also be used to some special structures are carried out the high-resolution dynamic monitoring in addition, as dynamic monitoring of magnetic suspension disk or the like.
The content that is not described in detail in the specification of the present invention belongs to this area professional and technical personnel's known prior art.
Claims (4)
1. intelligent high-speed magnetic suspension control and digital power amplifier device based on a DSP, constitute by a DSP and peripheral circuit, it is characterized in that: a DSP receives the signal of current vortex position transducer by input data line, the one DSP output signal is connected with constant-current type switch numbers power amplifier device, the control signal of constant-current type switch numbers power amplifier device output is connected with the magnetically floating hard disk system, constant-current type switch numbers power amplifier device is made of the 2nd DSP and peripheral circuit, the output signal of the 2nd DSP is connected with a multichannel semibridge system switch driver by the high speed photo coupling drive circuit, the output of multichannel semibridge system switch driver is connected with the magnetically floating hard disk system, adopts the CAN bus to carry out communication between a DSP and the constant-current type switch numbers power amplifier device.
2. intelligent high-speed magnetic suspension control and digital power amplifier device based on DSP as claimed in claim 1 is characterized in that: the 2nd DSP output in the constant-current type switch numbers power amplifier device also is connected with a CPLD.
3. intelligent high-speed magnetic suspension control and digital power amplifier device based on DSP as claimed in claim 1 is characterized in that: the input of the 2nd DSP in the constant-current type switch numbers power amplifier device also is connected with current sensor output signal on the magnetic coil in the magnetically floating hard disk system.
4. intelligent high-speed magnetic suspension control and digital power amplifier device based on DSP as claimed in claim 1 is characterized in that: DSP adopts TMS 320F2812 or TMS 320C2407 special signal processing module.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100132755A CN100414831C (en) | 2004-06-10 | 2004-06-10 | DPS based intellectual high speed magnetic suspension control and digital power amplifying device |
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| CNB2004100132755A CN100414831C (en) | 2004-06-10 | 2004-06-10 | DPS based intellectual high speed magnetic suspension control and digital power amplifying device |
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| CN1585258A CN1585258A (en) | 2005-02-23 |
| CN100414831C true CN100414831C (en) | 2008-08-27 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103066928A (en) * | 2012-11-10 | 2013-04-24 | 江苏大学 | Nonlinear power amplifier |
| CN105689160B (en) * | 2016-01-20 | 2019-01-08 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of closing method and device for magnetic suspension centrifuge |
| CN109334467A (en) * | 2018-11-08 | 2019-02-15 | 湖南根轨迹智能科技有限公司 | Magnetic suspending train control system and its control method based on DSP |
| CN110944267A (en) * | 2019-11-22 | 2020-03-31 | 广东联晟通信科技有限公司 | Based on DSP power amplifier intelligence switch auto-change over device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1368727A (en) * | 2002-01-28 | 2002-09-11 | 武汉理工大学 | Antistatic technique for magnetically floating hard disk drive |
| CN1434459A (en) * | 2003-01-21 | 2003-08-06 | 武汉理工大学 | Magnetic suspension hard disc single free degree multi-function experiment platform |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1368727A (en) * | 2002-01-28 | 2002-09-11 | 武汉理工大学 | Antistatic technique for magnetically floating hard disk drive |
| CN1434459A (en) * | 2003-01-21 | 2003-08-06 | 武汉理工大学 | Magnetic suspension hard disc single free degree multi-function experiment platform |
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| CN1585258A (en) | 2005-02-23 |
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Granted publication date: 20080827 Termination date: 20110610 |