CN100511959C - DPS based intellectual high speed magnetic suspension control and analog power amplifying device - Google Patents
DPS based intellectual high speed magnetic suspension control and analog power amplifying device Download PDFInfo
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- CN100511959C CN100511959C CNB200410013276XA CN200410013276A CN100511959C CN 100511959 C CN100511959 C CN 100511959C CN B200410013276X A CNB200410013276X A CN B200410013276XA CN 200410013276 A CN200410013276 A CN 200410013276A CN 100511959 C CN100511959 C CN 100511959C
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Abstract
The apparatus is composed of the DSP and periphery circuit. The DSP receives the signal from the current vortex position sensors through the data line. The output signal of the DSP is conected with the constant current power amplifying apparatus, through the D/A converting circuit, the output signal of the apparatus is connected with the magnetic suspension mechanical executing apparatus. Between the DSP and the D/A converting circuit, a CPLD is connected, which communicates with the DSP by the CAD bus.
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 analog 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 analog amplifier device based on DSP, what adopt is the scheme of " DSP+CPLD+D/A ", DSP carries out high-speed signal acquisition, analysis and control, CPLD and D/A will analyze data adaptive by logic, drive and carry out analog signal conversion, give power amplifier device at last and carry out control task, to overcome above-mentioned deficiency.
To achieve these goals, characteristics of the present invention are: be made of DSP (digital signal processor) and peripheral circuit, DSP receives the signal of current vortex position transducer by input data line, the DSP output signal is connected with constant-current type switch power amplifying device by D/A (mould/number) change-over circuit, and the control signal of constant-current type switch power amplifying device output is connected with the magnetic suspension mechanical actuating mechanism;
Also be connected with a CPLD (programmable logic device) between above-mentioned DSP and the D/A change-over circuit, the input of CPLD links to each other with the DSP output signal, and the output of CPLD and the data input pin of D/A join;
Adopt CAN (control area net) bus to carry out communication between above-mentioned DSP and the CPLD;
Above-mentioned constant-current type switch power amplifying device adopts PWM (pulse-width modulation) type power amplifier, and its input also is connected with current sensor output signal on the maglev magnetic coil.
The present invention is the scheme of " DSP+CPLD+D/A " 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; Realize the good but hardware of the operating accuracy high stability of PWM, software design complexity by scm software, the entire system utilance is not high.So in design, the SG3524/2524PWM modulator block that the present invention has adopted American Silicon general (Silicon General) company to produce.It belongs to simulation and the digital mixed integrated circuit of being made by bipolar technology, inside has comprised the necessary various basic circuits of both-end output Switching Power Supply, power is recommended the output type Switching Power Supply among the suitable formation 100-500W, and realize the electrical network isolation with high frequency transformer or photoisolator, can save heavy Industrial Frequency Transformer.
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, now progressively develop into to be used for other industrial department, and its bus specification was 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.The present invention adopts 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 the present invention adopts 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, Control Parameter with 10 road power supply power amplifiers passes to CPLD (ALTERA7128) by bus mode at last, CPLD gives 10 tunnel 12 D/A (AD7545) modular converter with the DSP Control Parameter through after logical transition, gating and the driving, thereby exports 10 road analog amplifiers control voltage.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.The Can bus is given host computer (industrial computer) with 10 circuit-switched data parameters by bus mode, carries out dynamic real-time monitor and demonstration, or data parameters is passed to monitoring DSP monitor and show processing.
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.This controlling schemes according to the position sampling voltage of transducer by corresponding system optimizing control, at last through providing the real-time reference voltage of power supply power amplifier after the digital-to-analogue conversion.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 of the present invention (Fig. 2) itself has just constituted a little current closed-loop system, to guarantee that DA output 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, the present invention has 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.
The SG3524/2524PWM modulator block that power amplifier hardware using American Silicon of the present invention general (Silicon General) company produces constitutes the PWM switch constant-current source.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 Control Parameter are sent to the D/A unit 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.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 the upper monitoring machine 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 the upper monitoring computer based on the upper machine communication of RS232/USB with data.
The software program of CPLD of the present invention is mainly finished following function: output driving, DSP2812 peripheral logic and the operating state of 12 bit data shows, multichannel D/A logic chip selects 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 (5)
1, a kind of intelligent high-speed magnetic suspension control and analog amplifier device based on DSP, it is characterized in that: constitute by DSP and peripheral circuit, DSP receives the signal of current vortex position transducer by input data line, the DSP output signal is connected with constant-current type switch power amplifying device by the D/A change-over circuit, the control signal of constant-current type switch power amplifying device output is connected with the magnetic suspension mechanical actuating mechanism, also be connected with a CPLD between DSP and the D/A change-over circuit, the input of CPLD links to each other with the DSP output signal, the output of CPLD and the input of the data of D/A, sheet choosing end joins, and hardware management and the logic of also responsible DSP external memory of CPLD and I/O are adaptive in addition.
2, intelligent high-speed magnetic suspension control and analog amplifier device based on DSP as claimed in claim 1 is characterized in that: adopt the CAN bus to carry out communication between DSP and host computer or other dsp systems.
3, intelligent high-speed magnetic suspension control and analog amplifier device based on DSP as claimed in claim 1, it is characterized in that: constant-current type switch power amplifying device adopts PWM type power amplifier, and its input also is connected with current sensor output signal on the maglev magnetic coil.
4, intelligent high-speed magnetic suspension control and analog amplifier device based on DSP as claimed in claim 1 is characterized in that: DSP adopts the TMS320F2812 or the TMS320C2407 special signal processing module of U.S. Ti company.
5, intelligent high-speed magnetic suspension control and analog amplifier device based on DSP as claimed in claim 1 is characterized in that: the SG3524/2524PWM modulator block that constant-current type switch power amplifying device adopts American Silicon General Corporation to produce constitutes the PWM switch constant-current source.
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| CNB200410013276XA CN100511959C (en) | 2004-06-10 | 2004-06-10 | DPS based intellectual high speed magnetic suspension control and analog power amplifying device |
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| CNB200410013276XA CN100511959C (en) | 2004-06-10 | 2004-06-10 | DPS based intellectual high speed magnetic suspension control and analog power amplifying device |
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| CN1585259A CN1585259A (en) | 2005-02-23 |
| CN100511959C true CN100511959C (en) | 2009-07-08 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100370383C (en) * | 2005-10-31 | 2008-02-20 | 西安交通大学 | Flexible digital type motion control system |
| CN100461627C (en) * | 2005-12-29 | 2009-02-11 | 南京航空航天大学 | Tri-level switch power amplifier |
| CN100367137C (en) * | 2006-06-02 | 2008-02-06 | 北京航空航天大学 | Integral high precision control moment gyro gimbal servo digital controller |
| 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 |
| CN102751924B (en) * | 2012-06-15 | 2014-09-10 | 北京航空航天大学 | Linear power driving controller based on large-power operational amplifier for three-phase alternating current motor |
| CN108377055A (en) * | 2018-03-30 | 2018-08-07 | 苏州容浦机电科技有限公司 | A kind of novel magnetically levitated switch reluctance servo motor |
| CN110347610B (en) * | 2019-07-23 | 2023-10-27 | 中电智能科技有限公司 | Embedded code debugging system and method |
| CN113067523B (en) * | 2021-04-22 | 2023-04-11 | 东北大学 | Magnetic suspension motor vibration suppression method based on angular domain notch filtering |
Citations (3)
| 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 |
| CN1402141A (en) * | 2002-09-28 | 2003-03-12 | 清华大学 | High compactness mother disc RW machine control system |
| 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 (3)
| 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 |
| CN1402141A (en) * | 2002-09-28 | 2003-03-12 | 清华大学 | High compactness mother disc RW machine control system |
| 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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Granted publication date: 20090708 Termination date: 20110610 |