CN1949642A - Digital switch power amplifier for magnetic suspension flywheel magnetic bearing system - Google Patents
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Abstract
The invention is a digital switching power amplifier for magnetic bearing system of magnetic suspension flywheel, a device for actively controlling the current in the magnetic bearing coil, mainly comprising FPGA, isolated driving circuits, full-bridge main circuit, current detection circuit, conditioning circuit, A/D chip and overcurrent detection circuit. And the digital switch power amplifier makes PWM modulation by the error signal formed by the FPGA according to the given digital control quantity and sampling result of current feedback signal, directly control ON and OFF of power switches in the full bridge main circuit by the ready- modulated PWM signals through the isolated driving circuits, so as to achieve the purpose of controlling the current in the magnetic bearing coil. And the invention has advantages of simple structure and high reliability.
Description
Technical field
The present invention relates to a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system, be used for the output current of magnetic levitation flywheel magnetic bearing coil is controlled.
Background technology
Flywheel is a basic attitude control actuator on the middle-size and small-size satellite of three-axis attitude stabilization, the anti-flywheel of magnetic suspension has no rotating speed zero passage friction with respect to traditional mechanical bearing flywheel and can carry out the advantage of Active Vibration Control, so have broad application prospects on the high accuracy satellite.Not friction of magnetic bearing in addition, the wearing and tearing of having avoided mechanical bearing itself to bring owing to friction, its reliability depends on the degree of reliability of control system electronic devices and components, therefore it has longer useful life with respect to the mechanical bearing flywheel.
Power amplifier is as the actuator of magnetic levitation flywheel magnetic bearing control system, and its energy consumption maximum also is the weakest link of reliability in the whole magnetic bearing control system simultaneously.Improving the energy conversion efficiency of power amplifier and the main purpose that reliability is Designing power amplifier, also is that one of key technology to be solved is used in the magnetically levitated flywheel space simultaneously.
In order to improve the efficient of power amplifier, the magnetic levitation flywheel magnetic bearing control system generally adopts switch power amplifier.Figure of description 1 is depicted as the general structure of existing magnetic bearing system with switch power amplifier, pulse width modulating signal produces circuit and generates pwm signal according to given signal of electric current and current feedback signal, pwm signal generates the gate drive signal of full-bridge main circuit power switch pipe through light-coupled isolation and switch driving circuit, the power switch pipe of full-bridge main circuit is conducting and shutoff under the control of gate drive signal, in coil, generate in requisition for electric current, the electric current isolation detection circuit is finished the detection of coil current signal.According to the implementation difference of pulse width modulating signal generation circuit, magnetic bearing is divided into analogue device with switch power amplifier and DSP realizes two kinds.The switch power amplifier integrated level that realizes based on analogue device is low, power consumption is big and pulse width modulation mode is dumb, and the pwm signal output number of the switch power amplifier of realizing based on monolithic DSP is limited, need to use multi-disc DSP if finish multichannel control, cause reliability to reduce, the wasting of resources, and the PWM modulation system is fixed, and therefore all is unsuitable for the space based on the power amplifier of magnetic bearing switch that analogue device is realized and DSP realizes and uses.The isolation of the isolation of pwm signal and current feedback signal generally adopts switch optocoupler and linear optical coupling device to realize in the present in addition switch power amplifier, the poor reliability of optocoupler in space environment, when the satellite parts selection, should avoid using, be unsuitable for the space environment application scenario and use.In order to realize the application in satellite attitude control system of magnetically levitated flywheel, must the novel power amplifier of magnetic bearing switch of development.
Summary of the invention
Technology of the present invention is dealt with problems: the power amplifier of magnetic bearing switch that overcomes present use analogue device or DSP realization is unsuitable for the shortcoming that use in the space, a kind of magnetic levitation flywheel magnetic bearing control system digital switch power amplifier structure that use in the space that is suitable for is provided, improves the efficient and the reliability of power amplifier of magnetic bearing switch.
Technical solution of the present invention: a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system, mainly comprise FPGA, isolated drive circuit, full-bridge main circuit, current detection circuit, modulate circuit and A/D chip, wherein:
FPGA: control A/D chip is sampled to the signal of modulate circuit output when two power switch pipe afterflows of following brachium pontis of full-bridge main circuit, the Current Control amount of sampled result and input is subtracted each other formed error signal carry out the PWM modulation, generate four road pwm signals, export isolated drive circuit to;
Isolated drive circuit: output is joined with the full-bridge main circuit, is used for generating the gate drive signal of full-bridge main circuit power switch pipe;
Full-bridge main circuit:, thereby in the magnetic bearing coil, generate and the proportional electric current output of Current Control amount by the gate drive signal control Shang Qiao of isolated drive circuit output and the conducting and the shutoff of four power switch pipes of following bridge;
Current detection circuit: output is joined with modulate circuit, input with the full-bridge main circuit is joined, be used to export magnetic bearing coil current feedback signal;
Modulate circuit: output is joined with the A/D chip, is used for the current feedback signal of current detection circuit output is carried out level deviation and low-pass filtering;
The A/D chip: output is joined with FPGA, by FPGA control, when descending two power switch pipe afterflows of bridge the output signal of modulate circuit is sampled.
Principle of the present invention: for the magnetic levitation flywheel magnetic bearing switch power amplifier, by to four power switch pipes (VT1, VT2, VT3 on two brachium pontis of full-bridge main circuit, VT4) turn-on and turn-off are controlled, and can make the voltage at magnetic bearing coil two ends three kinds of states occur.For the full-bridge main circuit, two switching tube alternate conduction on each brachium pontis and shutoff, wherein VT1 and VT3, the on off state complementation of VT2 and VT4, insertion switch function S 1 and S2 are defined as follows:
The voltage status at magnetic bearing coil two ends was as shown in the table when S1 got different values with S2:
| The switch function state | Magnetic bearing coil both end voltage | The coil state | |
| S1 | S2 | ||
| 0 | 0 | 0 | Following bridge afterflow |
| 0 | 1 | -U | Forward current reduces or negative current increases |
| 1 | 0 | U | Forward current increases or negative current reduces |
| 1 | 1 | 0 | Last bridge afterflow |
For binary states PWM modulation system, the state of S1 and S2 is opposite all the time, does not have the S1 state identical with S2, and promptly there is not nature afterflow state in coil, thus the voltage at magnetic bearing coil two ends only exist U and-the U two states; Under the ternary PWM modulation system, four kinds of states shown in table S1 and S2 existences in promptly pass through to control the conducting and the shutoff of four power switch pipes of full-bridge main circuit, can obtain at magnetic bearing coil two ends three kinds of voltage status U ,-U and 0.Ternary PWM modulation system is compared with binary states PWM modulation system, under identical PWM carrier frequency condition, can significantly reduce the ripple of close power amplifier output current, reduces magnetic bearing because the loss that current ripples is introduced.
According to ternary PWM modulation principle, in of conducting and the shutoff of each PWM carrier cycle according to the difference determine switch pipe of current feedback signal and given digital control amount, the voltage at noninductive power resistor Rf1 and Rf2 two ends is directly proportional with the electric current of coil when descending the afterflow of bridge nature, the output voltage of current detection circuit has reflected the size of coil current at this moment, sample to this voltage signal and can obtain the size of current of coil this moment, and sampled result and given digital control amount are carried out the current closed-loop control that computing can realize close power amplifier.Because PWM modulation signal and A/D sampling control signal are controlled by FPGA, therefore can guarantee each PWM carrier cycle magnetic bearing coil all in the presence of bridge afterflow state and under the bridge afterflow state status output of modulate circuit being sampled down.
Existing magnetic bearing realizes with analogue device or DSP with switch power amplifier is many, the present invention with generally adopt power amplifier of magnetic bearing switch to compare advantage now to be:
(1) compares with the switch power amplifier that analogue device is realized, improved integrated level, reduced volume, reduced the power consumption of switch power amplifier circuit self.
(2) compare with the switch power amplifier based on DSP, finish the PWM modulation function by FPGA, the reliability of system is improved, and the IO aboundresources, can realize a plurality of control channel digital switch power amplifier PWM modulation functions in monolithic FPGA.
(3) cancel switch optocoupler and linear optical coupling device in the power amplifier that generally adopts now, used FPGA to finish the PWM modulation, improved the reliability that is applied to switch power amplifier under the space environment situation.
(4) adopt ternary PWM modulation system, compare, reduced the coil current ripple with binary states PWM modulation system.
(5) during two power switch pipe afterflows of the following bridge of full-bridge main circuit to sampling through modulate circuit conditioning after-current feedback signal, the conducting of avoiding power switch pipe with turn-off the disturbance current feedback signal.
Description of drawings
Fig. 1 is the general structured flowchart of existing magnetic bearing system of the present invention with switch power amplifier;
Fig. 2 is a hardware composition frame chart of the present invention;
Fig. 3 is a FPGA built-in function block diagram of the present invention;
Fig. 4 is a pwm signal oscillogram of the present invention;
Fig. 5 is a bridge power switch tube drives circuit down of the present invention;
Fig. 6 is the bridge power switch tube drives circuit of going up of the present invention.
Embodiment
As shown in Figure 1, provided the general structure of existing magnetic bearing system with switch power amplifier, pulse width modulating signal produces circuit and generates pwm signal according to given signal of electric current and current feedback signal, pwm signal generates the gate drive signal of full-bridge main circuit power switch pipe through light-coupled isolation and switch driving circuit, the power switch pipe of full-bridge main circuit is conducting and shutoff under the control of gate drive signal, in coil, generate in requisition for electric current, the electric current isolation detection circuit is finished the detection of coil current signal.
As shown in Figure 2, hardware of the present invention mainly comprises FPGA1, isolated drive circuit 2, full-bridge main circuit 3, current detection circuit 4, modulate circuit 5, A/D chip 6 and over-current detection circuit 7, FPGA1 control A/D chip 6 when bridge afterflow state down to sampling through modulate circuit 5 filtered current feedback signals, carry out the PWM modulation according to sampled result and outside input digit Current Control amount according to ternary PWM modulation strategy, four road pwm signals of output, be the gate drive signal Ug1～Ug4 of PWM1～PWM4, directly control conducting and the shutoff of four power switch pipe VT1～VT4 through the power switch pipe VT1～VT4 of isolated drive circuit 2 generation full-bridge main circuits 3.Generate current feedback signal behind the differential amplifier circuit of voltage difference via resistance R 1～R4 and operational amplifier IC1 formation of current detection circuit 4 with noninductive power resistor Rf1 and Rf2 two ends, the also available instrument amplifier of differential amplifier circuit that is made of resistance R 1～R4 and operational amplifier IC1 substitutes.
As shown in Figure 2, two power switch pipe VT3 of the following bridge of full-bridge main circuit 3, the source electrode of VT4 and with reference to being connected in series noninductive power resistor Rf1 between the ground respectively, Rf2, at two power switch pipe VT1 of last bridge, VT2 turn-offs, electric current is at following two power switch pipe VT3 of bridge, VT4, noninductive power resistor Rf1, when Rf2 and magnetic bearing coil L and R constitute the loop afterflow of forming, noninductive power resistor Rf1, the voltage at Rf2 two ends is directly proportional with coil current, with resistance R 1, R2, R3, the output of the differential amplifier circuit that R4 and operational amplifier IC1 constitute is as magnetic bearing coil current feedback signal.
Two power switch pipe VT3 of the following bridge of full-bridge main circuit 3, (Ug3, reference ground Ug4) directly joins with the reference ground of pwm signal and does not isolate the drive signal of VT4, avoids using isolating device.
As shown in Figure 3, provided FPGA built-in function block diagram of the present invention, FPGA mainly finishes pulsewidth calculating, pwm signal generates and three functions of A/D controlling of sampling.FPGA at first multiplies each other current feedback signal sampled result and current feedback amplification coefficient Ki, deducts this product and obtain current error e from given digital control amount, and current error e and error amplification coefficient Kp are coordinated obtains duty cycle error e
*, duty cycle error e
*Behind amplitude limit, do plus and minus calculation and obtain the pulse-width regulated amount with side-play amount, FPGA is deposited with two pulse-width regulated amounts in two pulse width register (pulse width register H and pulse width register L), finishing pulsewidth calculates, wherein side-play amount numerical value equals 1/2 of period register preservation numerical value, the function of amplitude limit link is the size of the restriction pulse-width regulated amount pwm signal that promptly the limits output (duty ratio of PWM1～PWM4), guarantee bridge afterflow state in the presence of the magnetic bearing coil all in each carrier cycle, with the magnetic test coil current signal.Increasing among the FPGA/down counter is that a least count value is 0, maximum count value is the numerical value preserved of period register, the forward-backward counter of counting direction alternate, is used for producing the triangular wave benchmark in the similar analog circuit.Increase/down counter is to produce a synchronizing signal SYN at 0 o'clock in count value, deposits the data of two pulse width register (pulse width register H and pulse width register L) in separately buffer register (buffer register H and buffering register L), realizes double buffering; Two pulse width register can not influence final pwm signal output by the FPGA renewal when SYN is invalid.At complete 3 times brachium pontis switching tubes of main circuit (VT3, VT4) (PWM1 and PWM2 are high during afterflow, PWM3 and PWM4 are low), increase/A/D sampling trigger signal ST of down counter generation, sampling trigger signal as A/D chip 6, the output signal that starts 6 pairs of modulate circuits 5 of A/D chip is sampled, and A/D controlling of sampling module is finished the generation of the sampling control signal of A/D chip 6.Comparator will increase/and the count value and the value in the buffer register of down counter relatively generate switching signal PH and PL, and PH and PL generate pwm signal (PWM1～PWM4) after the logic of dead band.The dead band logic is made up of dead band counter and some combinational logics, makes the upper and lower bridge arm drive signal Dead Time that staggers, and prevents that power device from leading directly to, and Dead Time is determined by dead band register.
As shown in Figure 4, provided in certain error e
*The oscillogram of pwm signal in following two PWM carrier cycles.In each carrier cycle, when increase/hour SYN signal is for high for the count value of down counter, the data of two pulse width register (pulse width register H and pulse width register L) deposit buffer register (buffer register H and buffering register L) separately in.When entering bridge switch pipe afterflow afterflow under the magnetic bearing coil (PWM1 and PWM2 are for high, and PWM3 and PWM4 are low) state, FPGA produces a ST signal, starts A/D chip 6 and samples.
As shown in Figure 5, provided bridge power switch tube drives circuit down of the present invention.The pwm signal of input carries out level translation through triode Q1, and Q2 and Q3 constitute push-pull circuit, strengthens driving force, and the effect of resistance R 5 and R6 is to prevent the gate drive signal vibration, and the effect of voltage-stabiliser tube Z1 is to prevent that grid voltage is too high.
As shown in Figure 6, provided the bridge power switch tube drives circuit of going up of the present invention.The pwm signal of input carries out level translation through triode Q1, and Q2 and Q3 constitute push-pull circuit, and the output of push-pull circuit is through the drive signal of pulse transformer T1 after secondary obtains isolating.Triode Q4 to the charge discharge of grid, makes drive signal trailing edge steepening when the drive signal step-down, the effect of resistance R 5 and R6 is to prevent the gate drive signal vibration, and voltage-stabiliser tube Z1 prevents that grid voltage is too high.
Though the present invention is a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system, the digital switch power amplifier that also can be used as a kind of general magnetic bearing system is applied in the magnetic bearing control system of other types.
Claims (6)
1, a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system is characterized in that: comprising:
FPGA (1): control A/D chip (6) is at two power switch pipe (VT3 of following brachium pontis of full-bridge main circuit (3), VT4) signal of modulate circuit (5) output is sampled during afterflow, the Current Control amount of sampled result and input is subtracted each other formed error signal carry out the PWM modulation, generate four road pwm signals-PWM1～PWM4, export isolated drive circuit (2) to;
Isolated drive circuit (2): output is joined with full-bridge main circuit (3), is used for generating full-bridge main circuit (3) power switch pipe (gate drive signal of VT1～VT4) (Ug1～Ug4);
Full-bridge main circuit (3): ((conducting and the shutoff of VT1～VT4) are exported thereby generate in the magnetic bearing coil with the proportional electric current of Current Control amount for the control Shang Qiao of Ug1～Ug4) and four power switch pipes of following bridge by the gate drive signal of isolated drive circuit (2) output;
Current detection circuit (4): output is joined with modulate circuit (5), input with full-bridge main circuit (3) is joined, be used to export magnetic bearing coil current feedback signal;
Modulate circuit (5): output is joined with A/D chip (6), is used for the current feedback signal of current detection circuit (4) output is carried out level deviation and low-pass filtering;
A/D chip (6): output is joined with FPGA (1), and by FPGA (1) control, (VT3 VT4) samples to the output signal of modulate circuit (5) during afterflow at two power switch pipes of bridge down.
2, a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system according to claim 1, it is characterized in that: described FPGA (1) adopts a kind of ternary PWM modulation of FPGA built-in function logic realization, and the Current Control amount of outside input is a digital quantity.
3, a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system according to claim 1 and 2, it is characterized in that: described FPGA (1) mainly finishes pulsewidth calculating, pwm signal generates and three functions of A/D controlling of sampling, at first current feedback signal sampled result and current feedback amplification coefficient Ki are multiplied each other, deduct this product and obtain error from given digital control amount, this error and error amplification coefficient Kp are coordinated obtains duty cycle error e
*, duty cycle error e
*Behind amplitude limit, do plus and minus calculation and obtain the pulse-width regulated amount, again two pulse-width regulated amounts are deposited with in two pulse width register, finish pulsewidth and calculate with side-play amount; Increase/synchronizing signal SYN of down counter generation, deposit the data of two pulse width register in separately buffer register, realize double buffering, also produce an A/D sampling trigger signal ST, sampling trigger signal as the A/D chip, start the A/D chip output signal of modulate circuit is sampled, A/D controlling of sampling module is finished the generation of the sampling control signal of A/D chip; Comparator will increase/and the count value and the value in the buffer register of down counter relatively generate double switch signal PH, PL, and this PH and PL switching signal generate four road pwm signals after the logic of dead band.
4, a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system according to claim 3, it is characterized in that: described increasing/down counter is that a least count value is 0, maximum count value is the numerical value preserved of period register, the forward-backward counter of counting direction alternate, is used for producing the triangular wave benchmark in the similar analog circuit.
5, a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system according to claim 1, it is characterized in that: two power switch pipe (VT3 of the following bridge of described full-bridge main circuit (3), VT4) source electrode and with reference to being connected in series noninductive power resistor (Rf1 between the ground respectively, Rf2), at two power switch pipe (VT1 of last bridge, VT2) turn-off, electric current is at following two power switch pipes of bridge (VT3, VT4), noninductive power resistor (Rf1, during the loop afterflow Rf2) formed with magnetic bearing coil L and R, noninductive power resistor (Rf1, Rf2) voltage at two ends is directly proportional with coil current, with resistance (R1, R2, R3, R4) and the output of the differential amplifier circuit that constitutes of operational amplifier (IC1) as magnetic bearing coil current feedback signal.
6, a kind of digital switch power amplifier that is used for magnetic suspension flywheel magnetic bearing system according to claim 1, it is characterized in that: two power switch pipe (VT3 of the following bridge of described full-bridge main circuit (3), VT4) drive signal (Ug3, Ug4) reference ground directly joins with the reference ground of pwm signal and does not isolate, and avoids using isolating device.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006101143900A CN100438292C (en) | 2006-11-09 | 2006-11-09 | Digital switch power amplifier for magnetic suspension flywheel magnetic bearing system |
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| CNB2006101143900A CN100438292C (en) | 2006-11-09 | 2006-11-09 | Digital switch power amplifier for magnetic suspension flywheel magnetic bearing system |
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| CN100438292C CN100438292C (en) | 2008-11-26 |
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| CN101931371A (en) * | 2010-08-06 | 2010-12-29 | 中国人民解放军国防科学技术大学 | Magnetic suspension bearing control power amplification integrated system |
| CN102843053A (en) * | 2012-08-10 | 2012-12-26 | 北京航空航天大学 | Three-dimensional spatial vector based switch power amplifier of magnetic bearing system |
| CN103066928A (en) * | 2012-11-10 | 2013-04-24 | 江苏大学 | Nonlinear power amplifier |
| CN103314525A (en) * | 2010-12-22 | 2013-09-18 | 沃喀莎轴承有限公司 | Magnetic bearing drive circuit |
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