磁悬浮轴承三电平功率放大器数字驱动系统
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摘要
主动磁悬浮轴承(简称磁悬浮轴承)是利用可控的电磁力将转子稳定地悬浮在空中,实现转子和定子之间无机械接触的一种新型的高性能轴承。由于其具有无磨损、无需润滑、寿命长、能耗低、振动和噪声小等传统轴承无法比拟的优点,在航空航天、能源、交通、超高速精密加工等领域有着广阔的应用前景.功率放大器系统是磁悬浮轴承系统的重要组成部分,其性能的好坏直接影响磁悬浮轴承执行的优劣。本文对基于FPGA的磁悬浮轴承三电平功放数字控制器及磁悬浮轴承多点温度自动检测系统做了研究与实验,主要工作为:
第一,根据磁悬浮轴承控制系统的需要,本文设计了以Xilinx Xc2s200的FPGA(可编程逻辑门器件)为平台的磁悬浮轴承功放的数字驱动系统,提高了三电平功率放大器的电流响应速度,减小了电流纹波,使得磁悬浮轴承同时具有高精度、高刚度。
第二,程序采用数字PID控制方式,提高功放的电流响应速度,以数字并行通讯的方式接收DSP传送的控制信号,并实时将采集到的线圈电流数据发送给DSP控制芯片,提高系统的控制精度和稳定性。
第三,设计了无干扰多点温度自动检测系统,采用热敏电阻在磁悬浮电主轴内部多个关键点对温度检测,实时为运行中的控制系统提供数据参考,为研究温升对磁悬浮轴承的影响奠定了基础。
本文的研究对实现磁悬浮轴承在磨床上的应用有一定的意义。
Active magnetic bearing(AMB) is a kind of novel high-performance bearing,in which rotor can be suspended stably by controllable magnetic force and realize contact-free property between rotor and stator. Due to its advantages of no friction,no lubrication,lo ngevity,low energy consumption,low vibration and noise and so on,it is much beter than traditional bearing and has vast and promising applications in following fields: aerospace, energy, transportation, super-high speed and high precisionm anufacturing,etc.The control system is an important part of AMB system and influences its performance. This paper makes some research and experiment of hardware design and control algorithm for AMB control system. The main works are as follows:
First, on the basis of the Analysis of the three-level amplifier characteristics,in accordance with the needs of AMB control system, This paper is designed to use the Xilinx Xc2s200 FPGA as a platform for the numeric of magnetic bearing amplifier drive system, Improve the three-level power amplifier of the current response rate, Reduce the current ripple, At the same time makes magnetic bearings with high precision and high rigidity.
Second, Digital PID control procedures used, Amp improve the current response rate, Parallel to the number of communications sent the DSP receive control signals, And real-time collection will be current in the coil to the data sent to the control of DSP chips, Improve the system of control accuracy and stability.
Third, Fever to study the effects of magnetic bearings, We designed a multi-point temperature without interference automatic detection system, Thermistor in the use of magnetic levitation Spindle several key points on the internal temperature detection, Real time for the operation of the control system to provide reference data.
This research has a contribution to the application of Magnetic bearing on the grinder .
第一,根据磁悬浮轴承控制系统的需要,本文设计了以Xilinx Xc2s200的FPGA(可编程逻辑门器件)为平台的磁悬浮轴承功放的数字驱动系统,提高了三电平功率放大器的电流响应速度,减小了电流纹波,使得磁悬浮轴承同时具有高精度、高刚度。
第二,程序采用数字PID控制方式,提高功放的电流响应速度,以数字并行通讯的方式接收DSP传送的控制信号,并实时将采集到的线圈电流数据发送给DSP控制芯片,提高系统的控制精度和稳定性。
第三,设计了无干扰多点温度自动检测系统,采用热敏电阻在磁悬浮电主轴内部多个关键点对温度检测,实时为运行中的控制系统提供数据参考,为研究温升对磁悬浮轴承的影响奠定了基础。
本文的研究对实现磁悬浮轴承在磨床上的应用有一定的意义。
Active magnetic bearing(AMB) is a kind of novel high-performance bearing,in which rotor can be suspended stably by controllable magnetic force and realize contact-free property between rotor and stator. Due to its advantages of no friction,no lubrication,lo ngevity,low energy consumption,low vibration and noise and so on,it is much beter than traditional bearing and has vast and promising applications in following fields: aerospace, energy, transportation, super-high speed and high precisionm anufacturing,etc.The control system is an important part of AMB system and influences its performance. This paper makes some research and experiment of hardware design and control algorithm for AMB control system. The main works are as follows:
First, on the basis of the Analysis of the three-level amplifier characteristics,in accordance with the needs of AMB control system, This paper is designed to use the Xilinx Xc2s200 FPGA as a platform for the numeric of magnetic bearing amplifier drive system, Improve the three-level power amplifier of the current response rate, Reduce the current ripple, At the same time makes magnetic bearings with high precision and high rigidity.
Second, Digital PID control procedures used, Amp improve the current response rate, Parallel to the number of communications sent the DSP receive control signals, And real-time collection will be current in the coil to the data sent to the control of DSP chips, Improve the system of control accuracy and stability.
Third, Fever to study the effects of magnetic bearings, We designed a multi-point temperature without interference automatic detection system, Thermistor in the use of magnetic levitation Spindle several key points on the internal temperature detection, Real time for the operation of the control system to provide reference data.
This research has a contribution to the application of Magnetic bearing on the grinder .
引文
[1]施韦策 G,等.主动磁轴承基础、性能及应用[M].北京:新时代出版社,1997:1-50,131
[2]koyoseiko公司网站主页:www.koyoseiko.com
[3]kapp公司网站主页:www.kapp.com
[4]SKF公司网站主页:www revolve.com
[5]张庆春,邢涛,李国栋,姜军,梁迎春.磁悬浮轴承磨床电主轴控制器的研究[J].机械工程学报,2006,42(11):168-172
[6]山东大学磁悬浮实验中心网站:www.amb.sdu.edu.cn
[7]丁祝顺,王养丽,彭震中.磁悬浮轴承的研究进展[J].电力情报,1999,(4):13-16
[8]张敬东.磁悬浮轴承的特性及发展初探[J].攀枝花大学学报,1999,16(2):70-72
[9]曾励,黄民双,刘正埙,王晓青.磁悬浮轴承的原理及现状[J].机械工艺师,1999,(5):29-30
[10]吕峰,丁予展,高澜庆.磁悬浮轴承的原理与应用[J].机械,1994,21(6):40-43
[11]郭兴龙,王西国,韩永刚.一种新型轴承磁悬浮轴承[J].机械工程师,2001,(6):21-22
[12]刘迎澍,黄田.磁悬浮研究综述[J].机械工程学报,2000,36(11):5-9
[13]虞烈,刘恒.轴承2转子系统动力学[M].西安:西安交通大学出版社,2001:372-395.
[14]曹洁.磁悬浮轴承系统数学模型的研究[J].甘肃工业大学学报,1998,24(1):89-92
[15]王海英.磁悬浮轴承.转子系统的稳定性分析[M].西安:西安交通大学,1995:86
[16]Eric Maslen,Magnetic Bearings[M].USA:University of Virginia,2000:77-110
[17]蒋启龙,张昆三,连三级.磁浮轴承系统的数学模型与控制分析[J].西南交通大学学报,1999,34(4):413-418
[18]袁崇军,王海英,谢友柏.磁悬浮轴承-转子系统稳定性分析与控制器参数设计[J].西安交通大学学报,1996,30(3):7-14
[19]汪希平.磁悬浮轴承系统的参数设计与应用研究[M].西安:西安交通大学,1994:59
[20]张亮,房建成.永磁偏置磁轴承三电平PWM开关功放的研究.电力电子技术,2006,40(1):1-3.
[21]曾学明,徐龙祥,刘正埙.磁悬浮轴承三电平PWM功率放大器研究[J].电力电子技术,2002,36(3):13-15.
[22]杨作兴,赵雷,赵鸿宾.磁轴承MPW开关功率放大器的研究[J].电力电子技术,2000,(1):23-25.
[23]Shuqin Liu,Feng Xu,Changzhi Lu,Zhongguo Bian.Design of Experiments for the Feedback Circuit of Power Driver Amplifier with Magnetic Bearing [J].Proceedings of the 8th International Symposium on Magnetic Bearings,2002,(2):107-112
[24]Keith F J.Switching Amplifier Design for Magnetic Bearings [J].Proceedings of 2nd International Symposium on Magnetic Bearings.1990,(6):211-218
[25]Bardas T,Harris T,Oleksuk C,et al.Problems,Solutions and Applications in the Development of A Wide Band Power Amplifier for Magnetic Bearings[M].Proceedings of 2nd International Symposium on Magnetic Bearings,Tokyo:Japan,1990:211-218
[26]Yang Jing,He Qing Xiang,Wang Kai.Effects of AMB Power Amplifier Structure upon the System Performance[M].Proceedings of the 8th International Symposium on Magnetic Bearings,Mito,Japan,2002:97-100
[27]Jung-sik Yim,Jang-hwan Kim,Seung-Ki sul.et al.A Novel Cost-effective Scheme of Power Amplifier for AMB Using Space Vector Technology[M].Proceedings of the 8th International Symposium on Magnetic Bearings,Mito,Japan,2002:101-105
[28]Johann Wassermann,Helmut Springer.A Linear Power Amplifier with Current Injection(LACI)for Magnetic Bearings[M].Proceedings of the 2nd International Symposium on Magnetic Bearings,August 1994,ETH Zurich.
[29]刘淑琴,虞烈,谢友柏.磁悬浮轴承驱动级电压与电流对转速和控制精度影响的研究[J].机械工程学报,1999,35(3):101-104.
[30]杨鹏辉.磁悬浮轴承系统控制器和功率放大器的研究与设计[M].西安:西安交通大学,1996:90
[31]张亮,房建成.磁悬浮轴承脉宽调制型开关功放的实现及电流纹波分析[J].电工技术学报,2007,22(3):13-20.
[32]张德魁,赵雷,赵鸿宾.电流响应速度对磁轴承系统性能的影响[J].清华大学学报,2001,11(6):23-26
[33]Wayne Wolf.FPGA-Based System Design[M].北京:机械工业出版社,2006:80-102.
[34]飞兆半导体公司,Debbie Brandenburg.高速A/D转换器的选择[J].今日电子,2003,(11):60-65
[35]JOANNE MISTLER.如何为你的系统选择合适的高速转换器[J].今日电子,2005,(6):50-52
[36]Linear Technology Corporation.LTC1850/LTC1851,8-Channel,10-Bit/12-Bit,1.25Msps Sampling ADCs[M].USA:Linear Technology Corporation,2001:1-28
[37]Xilinx Coporation.Platform Flash In-System Programmable Configuration PROMS[M].USA:Xilinx Corporation,2003:1-42
[38]Xilinx Coporation.Spartan-Ⅱ 2.5V FPGA Family[M].USA:Xilinx Corporation,2003:1-42
[39]Z.S.Spakovszky,J.D.Paduano.Tip-Clearance Actuation With Magnetic Bearings For High-Speed Compressor Stall Control[J].ASME Turbo Expo,2000(1):51-53
[40]王丽芝.防止PWM功率放大器大功率管“直通”的一种方法[J].电子与自动化,1994,(1):41-42
[41]Chen Liqun.How static precision of an AMB rotor system is affected by heating of the thrust dis[J].Seventh International Symp On Magnetic Bearings,2000:437-441
[42]周祖德,王晓光,胡业发,江征风.传感器温漂对磁悬浮转子控制精度的影响.测试技术学报,2004,18(3):189-195.
[43]陈立群.磁悬浮轴承精度控制与其应用研究[M].西安:西安交通大学,1999:0-195
[44]王晓光,黄庆裕.磁悬浮转子的温度场测量与三维数字模型的建立.红外与激光工程,2006,35(4):395-400.
[45]李道华,李玲,朱艳.传感器电路分析与设计[M].武汉:武汉大学出版社,2000:230-248.
[46]尹春雷,李庆军,刘淑琴.位置敏感传感器PSD在磁悬浮装置中的应用[J].传感技术学报,2003,16(2):203-206.
[47]王洪萍.铂电阻温度传感器测温研究[J].抚顺石油学院学报,2003,23(2):58-60.
[48]钱国维.铂电阻温度传感器的非线性校正[J].电子技术,1995,(10):6-7.
[49]王庆斌,刘萍,尤利文,林啸天.电磁干扰与电磁兼容技术[M].北京:机械工业出版社,1999:1-32,192-218.
[50]阮新波,严仰光.直流开关电源的软开关技术[M].北京:科学出版社,2000:1-103
[2]koyoseiko公司网站主页:www.koyoseiko.com
[3]kapp公司网站主页:www.kapp.com
[4]SKF公司网站主页:www revolve.com
[5]张庆春,邢涛,李国栋,姜军,梁迎春.磁悬浮轴承磨床电主轴控制器的研究[J].机械工程学报,2006,42(11):168-172
[6]山东大学磁悬浮实验中心网站:www.amb.sdu.edu.cn
[7]丁祝顺,王养丽,彭震中.磁悬浮轴承的研究进展[J].电力情报,1999,(4):13-16
[8]张敬东.磁悬浮轴承的特性及发展初探[J].攀枝花大学学报,1999,16(2):70-72
[9]曾励,黄民双,刘正埙,王晓青.磁悬浮轴承的原理及现状[J].机械工艺师,1999,(5):29-30
[10]吕峰,丁予展,高澜庆.磁悬浮轴承的原理与应用[J].机械,1994,21(6):40-43
[11]郭兴龙,王西国,韩永刚.一种新型轴承磁悬浮轴承[J].机械工程师,2001,(6):21-22
[12]刘迎澍,黄田.磁悬浮研究综述[J].机械工程学报,2000,36(11):5-9
[13]虞烈,刘恒.轴承2转子系统动力学[M].西安:西安交通大学出版社,2001:372-395.
[14]曹洁.磁悬浮轴承系统数学模型的研究[J].甘肃工业大学学报,1998,24(1):89-92
[15]王海英.磁悬浮轴承.转子系统的稳定性分析[M].西安:西安交通大学,1995:86
[16]Eric Maslen,Magnetic Bearings[M].USA:University of Virginia,2000:77-110
[17]蒋启龙,张昆三,连三级.磁浮轴承系统的数学模型与控制分析[J].西南交通大学学报,1999,34(4):413-418
[18]袁崇军,王海英,谢友柏.磁悬浮轴承-转子系统稳定性分析与控制器参数设计[J].西安交通大学学报,1996,30(3):7-14
[19]汪希平.磁悬浮轴承系统的参数设计与应用研究[M].西安:西安交通大学,1994:59
[20]张亮,房建成.永磁偏置磁轴承三电平PWM开关功放的研究.电力电子技术,2006,40(1):1-3.
[21]曾学明,徐龙祥,刘正埙.磁悬浮轴承三电平PWM功率放大器研究[J].电力电子技术,2002,36(3):13-15.
[22]杨作兴,赵雷,赵鸿宾.磁轴承MPW开关功率放大器的研究[J].电力电子技术,2000,(1):23-25.
[23]Shuqin Liu,Feng Xu,Changzhi Lu,Zhongguo Bian.Design of Experiments for the Feedback Circuit of Power Driver Amplifier with Magnetic Bearing [J].Proceedings of the 8th International Symposium on Magnetic Bearings,2002,(2):107-112
[24]Keith F J.Switching Amplifier Design for Magnetic Bearings [J].Proceedings of 2nd International Symposium on Magnetic Bearings.1990,(6):211-218
[25]Bardas T,Harris T,Oleksuk C,et al.Problems,Solutions and Applications in the Development of A Wide Band Power Amplifier for Magnetic Bearings[M].Proceedings of 2nd International Symposium on Magnetic Bearings,Tokyo:Japan,1990:211-218
[26]Yang Jing,He Qing Xiang,Wang Kai.Effects of AMB Power Amplifier Structure upon the System Performance[M].Proceedings of the 8th International Symposium on Magnetic Bearings,Mito,Japan,2002:97-100
[27]Jung-sik Yim,Jang-hwan Kim,Seung-Ki sul.et al.A Novel Cost-effective Scheme of Power Amplifier for AMB Using Space Vector Technology[M].Proceedings of the 8th International Symposium on Magnetic Bearings,Mito,Japan,2002:101-105
[28]Johann Wassermann,Helmut Springer.A Linear Power Amplifier with Current Injection(LACI)for Magnetic Bearings[M].Proceedings of the 2nd International Symposium on Magnetic Bearings,August 1994,ETH Zurich.
[29]刘淑琴,虞烈,谢友柏.磁悬浮轴承驱动级电压与电流对转速和控制精度影响的研究[J].机械工程学报,1999,35(3):101-104.
[30]杨鹏辉.磁悬浮轴承系统控制器和功率放大器的研究与设计[M].西安:西安交通大学,1996:90
[31]张亮,房建成.磁悬浮轴承脉宽调制型开关功放的实现及电流纹波分析[J].电工技术学报,2007,22(3):13-20.
[32]张德魁,赵雷,赵鸿宾.电流响应速度对磁轴承系统性能的影响[J].清华大学学报,2001,11(6):23-26
[33]Wayne Wolf.FPGA-Based System Design[M].北京:机械工业出版社,2006:80-102.
[34]飞兆半导体公司,Debbie Brandenburg.高速A/D转换器的选择[J].今日电子,2003,(11):60-65
[35]JOANNE MISTLER.如何为你的系统选择合适的高速转换器[J].今日电子,2005,(6):50-52
[36]Linear Technology Corporation.LTC1850/LTC1851,8-Channel,10-Bit/12-Bit,1.25Msps Sampling ADCs[M].USA:Linear Technology Corporation,2001:1-28
[37]Xilinx Coporation.Platform Flash In-System Programmable Configuration PROMS[M].USA:Xilinx Corporation,2003:1-42
[38]Xilinx Coporation.Spartan-Ⅱ 2.5V FPGA Family[M].USA:Xilinx Corporation,2003:1-42
[39]Z.S.Spakovszky,J.D.Paduano.Tip-Clearance Actuation With Magnetic Bearings For High-Speed Compressor Stall Control[J].ASME Turbo Expo,2000(1):51-53
[40]王丽芝.防止PWM功率放大器大功率管“直通”的一种方法[J].电子与自动化,1994,(1):41-42
[41]Chen Liqun.How static precision of an AMB rotor system is affected by heating of the thrust dis[J].Seventh International Symp On Magnetic Bearings,2000:437-441
[42]周祖德,王晓光,胡业发,江征风.传感器温漂对磁悬浮转子控制精度的影响.测试技术学报,2004,18(3):189-195.
[43]陈立群.磁悬浮轴承精度控制与其应用研究[M].西安:西安交通大学,1999:0-195
[44]王晓光,黄庆裕.磁悬浮转子的温度场测量与三维数字模型的建立.红外与激光工程,2006,35(4):395-400.
[45]李道华,李玲,朱艳.传感器电路分析与设计[M].武汉:武汉大学出版社,2000:230-248.
[46]尹春雷,李庆军,刘淑琴.位置敏感传感器PSD在磁悬浮装置中的应用[J].传感技术学报,2003,16(2):203-206.
[47]王洪萍.铂电阻温度传感器测温研究[J].抚顺石油学院学报,2003,23(2):58-60.
[48]钱国维.铂电阻温度传感器的非线性校正[J].电子技术,1995,(10):6-7.
[49]王庆斌,刘萍,尤利文,林啸天.电磁干扰与电磁兼容技术[M].北京:机械工业出版社,1999:1-32,192-218.
[50]阮新波,严仰光.直流开关电源的软开关技术[M].北京:科学出版社,2000:1-103