磁悬浮轴承功率放大器及低功耗控制研究
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摘要
磁悬浮轴承是利用可控电磁力使转子稳定悬浮的一种新型轴承,它消除了传统机械轴承存在的机械摩擦和磨损,具有转速高、寿命长、无需润滑、工况可监测等优点,自出现伊始,就受到了工业界、学术界的普遍关注和广泛研究。本文针对主动磁悬浮轴承中的开关功率放大器和低功耗控制器进行了研究。
本文首先针对一种长转子磁悬浮轴承给出了节省轴向空间的轴向位移检测新方法。利用电涡流传感器对被测转子的台阶表面敏感的特性,通过将双电涡流传感器径向对称安装,达到测量轴向位移的目的。将两个传感器的输出进行数学运算处理消除了传感器线圈与导体间径向距离的变化对检测结果的影响。针对位移传感器工作时输出电压信号中存在的高斯噪声进行了时域和频域分析,结果表明,影响转子的噪声主要集中在低频段,采用卡尔曼滤波的方法对转子位移信号进行估计,降低了噪声对位移输出信号的影响,提高了信噪比。该检测方法应用在磁悬浮鼓风机中,结果表明传感器的输出电压之和与转子轴向位移之间具有良好的线性关系和灵敏度,实现了精确测量并达到了节省空间的目标。
针对基于FPGA(Field Programmable Gate Array)控制的三电平脉冲宽度调制型开关功率放大器进行研究,建立了基于Simulink的数学模型,并利用Embedded MATLAB Function模块模拟了FPGA的工作流程,结果表明建立的系统模型能有效的反映开关功率放大器闭环控制系统的实际工作特性。提出了构造干扰观测器的方法对数字控制式开关功率放大器中存在的时间延时问题进行补偿,将前向通路中的时间延时作为扰动项等效到输入端,并构造干扰观测器对扰动项进行估计,在此基础上分析了负载参数扰动对时间延时补偿效果的影响。
在以往两电平开关功率放大器非线性现象分析的基础上,研究了三电平开关功率放大器的非线性现象,针对磁悬浮轴承开关功率放大器全桥拓扑结构,研究了全桥变换器在工作过程中存在的混沌行为。首先采用频闪映射的方法,建立了全桥变换器的非线性模型,分析了其分岔稳定性和混沌特性,利用数值计算确定了电流控制比例系数、载波频率和功率电源电压的稳定区域,计算了李雅普诺夫指数验证混沌现象的存在,并确定了参数的稳定工作范围。
为降低磁悬浮轴承静态电流损耗研究了零功率控制。针对零功率控制下控制系统刚度低的特点,采用位移反馈的方法提高控制系统的刚度,为了实现刚度和功耗的折中。本文研究的基于可变刚度的零功率控制在磁悬浮人工心脏泵中进行了实验验证,在满足磁悬浮人工心脏泵刚度和阻尼的情况下达到了降低功耗的结果。
Magnetic bearing is a new type of bearing that keep rotor suspended stably by controllable electromagnetic force. It eliminates friction and wear which exists in traditional mechanical bearings and has many advantages, such as high speed, long life, no lubrication, and which conditions can be monitored. Since it appeared at the beginning, it attractes the industry and academia's attention. This paper focuses on switching power amplifier and low power controller on magneitc bearing.
First, in order to save axial space of long roter in magnetic bearing, a new method of axial displacement detection is described. The eddy current sensors are radial symmetrical installed and rotor axial displacement is measured by use of characteristic of eddy current sensor which sensitive to the stepped surface. According to mathematical arithmetic processing with two sensors output, it eliminates the influence on the detection result of the variation of the radial distance between the sensor coil and object. Gaussian noise which existes in the output voltage of sensors are analysed in time domain and frequency domain. The result shows that noise is main existed in low frequency domain. Kalman filter method is used to estimate the signal of rotor displacement, it reduces the influence of noise and improved the signal-to-noise ratio. This detection method used in maglev blower, the results show that it has a good linear relationship and sensitivity between the sum of two sensor output voltage and the rotor axial displacement, which realize accureate measurement and space-saving target.
Three-level pulse width modulation switching power amplifier based on FPGA(Field Programmable Gate Array) is studied, Simulink-based mathematical model is established to simulate the FPGA in Embedded MATLAB Function module workflow. A method of construction disturbance observer is presented to compensate time delay in digital switching power amplifier, The time delay in the forward passage are equivalent to the input as a disturbance to compensate the time delay, and the disturbance is estimated by constructing a disturbance observer and switching power amplifier time delay compensation is realized and then the impact of the load parameter perturbation to the delay compensation effect is analysed.
On the basis of the nonlinear phenomena analysis of two-level switching power amplifier, nonlinear phenomena in three-level switching power amplifier is studied. For the Full-bridge topology in the magnetic bearing three-level switching power amplifier, the existing chaotic behavior of full-bridge converter are studied. First, the a non-linear model of the full-bridge converter is established by using the stroboscopic map method, bifurcation stability and chaos characteristics are analyzed and the current control proportional coefficient, the carrier frequency and the stable region of the power supply voltage are calculated and determined by numerical computation, and Lyapunov exponent is calculated to verify the existence of chaos, which reveals the stable operating range of the parameter.
In order to reduce the quiescent current loss of the magnetic levitation bearings, zero power control is studied. Displacement feedback method is used to improve the stiffness of control system to ovecome the characteristics of low stiffness in zero power control. In order to achieve compromise of stiffness and low power, switching function is designed. Zero power control based on variable stiffness is varified in maglev artificial heart pump, which reduces power consumption and has enough stiffness and damp.
本文首先针对一种长转子磁悬浮轴承给出了节省轴向空间的轴向位移检测新方法。利用电涡流传感器对被测转子的台阶表面敏感的特性,通过将双电涡流传感器径向对称安装,达到测量轴向位移的目的。将两个传感器的输出进行数学运算处理消除了传感器线圈与导体间径向距离的变化对检测结果的影响。针对位移传感器工作时输出电压信号中存在的高斯噪声进行了时域和频域分析,结果表明,影响转子的噪声主要集中在低频段,采用卡尔曼滤波的方法对转子位移信号进行估计,降低了噪声对位移输出信号的影响,提高了信噪比。该检测方法应用在磁悬浮鼓风机中,结果表明传感器的输出电压之和与转子轴向位移之间具有良好的线性关系和灵敏度,实现了精确测量并达到了节省空间的目标。
针对基于FPGA(Field Programmable Gate Array)控制的三电平脉冲宽度调制型开关功率放大器进行研究,建立了基于Simulink的数学模型,并利用Embedded MATLAB Function模块模拟了FPGA的工作流程,结果表明建立的系统模型能有效的反映开关功率放大器闭环控制系统的实际工作特性。提出了构造干扰观测器的方法对数字控制式开关功率放大器中存在的时间延时问题进行补偿,将前向通路中的时间延时作为扰动项等效到输入端,并构造干扰观测器对扰动项进行估计,在此基础上分析了负载参数扰动对时间延时补偿效果的影响。
在以往两电平开关功率放大器非线性现象分析的基础上,研究了三电平开关功率放大器的非线性现象,针对磁悬浮轴承开关功率放大器全桥拓扑结构,研究了全桥变换器在工作过程中存在的混沌行为。首先采用频闪映射的方法,建立了全桥变换器的非线性模型,分析了其分岔稳定性和混沌特性,利用数值计算确定了电流控制比例系数、载波频率和功率电源电压的稳定区域,计算了李雅普诺夫指数验证混沌现象的存在,并确定了参数的稳定工作范围。
为降低磁悬浮轴承静态电流损耗研究了零功率控制。针对零功率控制下控制系统刚度低的特点,采用位移反馈的方法提高控制系统的刚度,为了实现刚度和功耗的折中。本文研究的基于可变刚度的零功率控制在磁悬浮人工心脏泵中进行了实验验证,在满足磁悬浮人工心脏泵刚度和阻尼的情况下达到了降低功耗的结果。
Magnetic bearing is a new type of bearing that keep rotor suspended stably by controllable electromagnetic force. It eliminates friction and wear which exists in traditional mechanical bearings and has many advantages, such as high speed, long life, no lubrication, and which conditions can be monitored. Since it appeared at the beginning, it attractes the industry and academia's attention. This paper focuses on switching power amplifier and low power controller on magneitc bearing.
First, in order to save axial space of long roter in magnetic bearing, a new method of axial displacement detection is described. The eddy current sensors are radial symmetrical installed and rotor axial displacement is measured by use of characteristic of eddy current sensor which sensitive to the stepped surface. According to mathematical arithmetic processing with two sensors output, it eliminates the influence on the detection result of the variation of the radial distance between the sensor coil and object. Gaussian noise which existes in the output voltage of sensors are analysed in time domain and frequency domain. The result shows that noise is main existed in low frequency domain. Kalman filter method is used to estimate the signal of rotor displacement, it reduces the influence of noise and improved the signal-to-noise ratio. This detection method used in maglev blower, the results show that it has a good linear relationship and sensitivity between the sum of two sensor output voltage and the rotor axial displacement, which realize accureate measurement and space-saving target.
Three-level pulse width modulation switching power amplifier based on FPGA(Field Programmable Gate Array) is studied, Simulink-based mathematical model is established to simulate the FPGA in Embedded MATLAB Function module workflow. A method of construction disturbance observer is presented to compensate time delay in digital switching power amplifier, The time delay in the forward passage are equivalent to the input as a disturbance to compensate the time delay, and the disturbance is estimated by constructing a disturbance observer and switching power amplifier time delay compensation is realized and then the impact of the load parameter perturbation to the delay compensation effect is analysed.
On the basis of the nonlinear phenomena analysis of two-level switching power amplifier, nonlinear phenomena in three-level switching power amplifier is studied. For the Full-bridge topology in the magnetic bearing three-level switching power amplifier, the existing chaotic behavior of full-bridge converter are studied. First, the a non-linear model of the full-bridge converter is established by using the stroboscopic map method, bifurcation stability and chaos characteristics are analyzed and the current control proportional coefficient, the carrier frequency and the stable region of the power supply voltage are calculated and determined by numerical computation, and Lyapunov exponent is calculated to verify the existence of chaos, which reveals the stable operating range of the parameter.
In order to reduce the quiescent current loss of the magnetic levitation bearings, zero power control is studied. Displacement feedback method is used to improve the stiffness of control system to ovecome the characteristics of low stiffness in zero power control. In order to achieve compromise of stiffness and low power, switching function is designed. Zero power control based on variable stiffness is varified in maglev artificial heart pump, which reduces power consumption and has enough stiffness and damp.
引文
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