基于STM32的磁悬浮轴承数字控制器设计

Design of Digital Controller for Magnetic Bearing Based on STM32

针对传统磁悬浮轴承转子系统开环不稳定、非线性和强耦合等特性,需要对电磁力施加主动控制才能使转子稳定悬浮的缺陷,本文设计了一种基于STM32的磁悬浮轴承数字控制器方案。该控制器以ARM STM32F407ZGT6微处理器为核心,设计了电源转换、电涡流位移传感器、功率放大器控制、实时时钟以及声光报警等硬件电路;同时编写了基于国产嵌入式实时操作系统RT-Thread的多线程软件框架,实现了数据采集、PID算法等功能。实验结果表明,该数字控制器下的磁悬浮轴承转子系统可以在200 ms内达到稳定悬浮状态,运行可靠、实时性好、速度快、抗干扰能力强。

In view of the open-loop instability,nonlinear and strong coupling characteristics of traditional magnetic bearing rotor system,active control of electromagnetic force is needed to make the rotor stable suspension,a magnetic bearing digital controller based on STM32 is designed in this paper.The controller takes ARM STM32F407ZGT6 microprocessor as the core,and designs the hardware circuits of power conversion,eddy current displacement sensor,power amplifier control,real-time clock and sound and light alarm.At the same time,the multithreading software framework based on the domestic embedded real-time operating system RT-Thread is compiled to realize the functions of data acquisition and PID algorithm.The experimental result shows that the magnetic bearing rotor system under the digital controller can achieve stable suspension state within 200 ms,reliable and stable operation,fast speed,good real-time performance and strong anti-interference ability.