The Design Of Integrated Controller For Magnetic Suspension Bearing Under Dual-DSP Architecture

Magnetic suspension bearings is ideal support for high performance rotor system due to its superior performance.However,the magnetic suspension bearing is a typical nonlinear electromechanical coupling system,and has the characteristics of open-loop instability.Active control must be applied to stabilize the suspension of the rotor system.Therefore,the control system is the key link in the magnetic suspension bearing system,and the controller is the core design part of the control system,so the design of the controller is especially important.A typical magnetic suspension bearing control system involves multiple position closed-loop and current closed-loop control.Conventional magnetic suspension bearing controller usually adopts position controller and current controller(power driver)to achieve the above control closed-loop respectively.The control information interaction is realized by interconnection of cables.Usually,the system is an analog signal of response control variables.The structure of the system is complex,easy to be disturbed and the cost of implementation is high.According to the control requirements of multi-degree-of-freedom magnetic suspension rotor,a design scheme of integrated controller for magnetic suspension bearing based on dual-DSP architecture was proposed in this paper.The specific work is as follows:(1)The position controller and power driver of the original control system were realized on the same control board,which realized the integration of control and drive of the control system.In this paper,the real-time requirement of magnetic suspension bearing control was analyzed,and two independent DSP were used to accomplish the above functions respectively.(2)The data interaction scheme based on dual-port RAM was used to replace the cable transmission of analog signals,and the related hardware semaphores were designed to achieve the synchronization of dualDSP operation.(3)The software control sequence between the dual-DSP was designed.The time rhythm of the parallel software between the upper position controller DSP and the lower power driver DSP was realized by the hardware handshake,and the corresponding software control flow was designed.(4)The integrated control system based on the above integrated controller scheme was developed,and the experimental research was carried out.The experimental results showed that the control period of the traditional PID algorithm is about 148.5?s,and the magnetic suspension bearing system has good current ripple and follow,static suspension,rotation and antiinterference characteristics.It proved that the integrated controller scheme proposed in this paper was applied in the magnetic suspension bearing control system,which has good real-time performance and anti-interference ability.The innovation of this paper is mainly embodied in: the data communication between digital signals between dual-DSP,which solves the problem that the cable connection is complicated and the analog signal is susceptible to interference in the conventional system;The position controller and power driver are synchronized on the same control board,and the integrated design of control and drive is realized,which greatly simplifies the structure of the control system.The research in this paper is of great significance to improve the performance of magnetic suspension bearing and the reliability and maintainability of its control system.It also provides an effective idea for the design of other types of mechatronics control system,which has good reference value and practical application value.