Magnetic suspension controller and magnetic suspension motor system based on global single clock source

Abstract

The invention relates to a magnetic suspension controller and a magnetic suspension motor system based on a global single clock source, which comprise a sensor module, a power amplifier module, an analog-to-digital conversion module, a magnetic suspension motor and a magnetic suspension control unit, the clock signal comprises a sensing clock used for detection of the sensor module, a sampling clock used for sampling of the analog-to-digital conversion module and a power amplifier clock used for driving of the power amplifier module; the sensor module is configured to detect control data of the magnetic suspension motor and output a sensor signal; the analog-to-digital conversion module is configured to convert a sensor signal into a sampling signal; the magnetic suspension control unit is configured to perform data operation processing on the sampling signal and generate a power amplification signal, and the power amplification module is configured to generate a PWM signal and excite an electromagnetic coil in the magnetic suspension motor based on the PWM signal. The system is simple in structure and low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation motors, and in particular to a magnetic levitation controller and a magnetic levitation motor system based on a global single clock source. Background Art

[0002] A magnetic levitation motor is a magnetic levitation rotary drive that uses magnetic field force to suspend the rotor so that there is no mechanical contact between the rotor and the stator. The magnetic levitation motor can be a magnetic bearing motor, a bearingless motor, or a bearingless thin-film motor, etc.

[0003] A magnetic bearing motor, also known as a magnetic bearing, is a motor that combines a rotary drive motor with an axial magnetic bearing or / and a radial magnetic bearing or / and an axial-diameter hybrid magnetic bearing instead of integrating them together.

[0004] A bearingless motor is a motor that integrates motor rotation and suspension functions. A bearingless motor has an additional set of windings on top of the windings that generate a rotating drive magnetic field to generate an excitation magnetic field. The interaction between the two magnetic fields breaks the balanced distribution of the original drive magnetic field, thereby generating a radial force acting on the rotor. The rotor is suspended by controlling the radial force in the motor. Compared with a magnetic bearing motor, the magnetic suspension winding of a bearingless motor is wound on the stator and does not occupy additional radial space, which to a certain extent overcomes the shortcomings of large size and high cost of magnetic bearings. In order to achieve suspension of the motor rotor in five degrees of freedom, early bearingless motors generally required two bearingless motors and one axial magnetic bearing.

[0005] The bearingless thin-film motor is a special bearingless motor that inherits the advantages of bearingless motors. The axial length to diameter ratio of the rotor is very small and it is in the shape of a thin film, eliminating the axial magnetic bearing. The bearingless technology is used to realize the rotation of the rotor and the active suspension in the radial direction. The magnetic circuit formed by the mechanical structure is used to realize the passive suspension of the other three degrees of freedom except the radial and rotor rotation degrees of freedom. It has the characteristics of high cleanliness, no precipitation, no particles, no dynamic seal, and excellent performance. It has good application prospects in ultra-pure drive fields such as biochemistry, medical treatment, and semiconductor manufacturing.

[0006] Unless otherwise specified, the term magnetic levitation motor refers to a magnetic levitation rotary drive that uses magnetic field force to suspend the rotor so that there is no mechanical contact between the rotor and the stator.

[0007] Compared with the traditional motor using contact mechanical bearings, the magnetic levitation motor needs to perform more degrees of freedom control. This requires more sensors to be integrated in the motor body. Various sensors and sensor circuits are collectively referred to as sensor components. Various conditioning circuits that adjust and process the sensor signals containing control data output by the sensor components are collectively referred to as signal conditioning modules. The sensor components and signal conditioning modules constitute sensor modules. The control data of the magnetic levitation motor can be detected in real time through the sensor modules. The control data can include, for example, rotor displacement data, rotor angle data (rotor speed data) or current data of the electromagnetic coil. With the control data as feedback, the control host or controller of the magnetic levitation motor generates a control signal of the power amplifier as the execution part according to the control strategy. The power amplifier outputs current to excite the electromagnetic coil of the stator part of the magnetic levitation motor to achieve the suspension and / or rotation control of the rotor. The power amplifier is also called a power amplifier circuit, such as a PWM power amplifier. The power amplifier can be an output stage or output stage circuit including a PWM generator or a PWM circuit, or an output stage or output stage circuit that only amplifies power. Various power amplifiers including output stages or output stage circuits are collectively referred to as power amplifier modules.

[0008] The output stage of the power amplifier in the controller of the magnetic levitation motor includes multiple switching elements, such as MOS tubes or IGBTs. When these switching elements are switched, spike noise will be generated in the system. Due to the need for compact motor structure, the electromagnetic coil used for rotation control or / and suspension control in the magnetic levitation motor is usually close to the sensor used to detect motor control data in space, and the current signal passing through the electromagnetic coil carries spike noise, which easily interferes with the detection of the sensor and the sampling of its signal conditioning circuit, resulting in a low signal-to-noise ratio and poor anti-interference ability of the entire control system. In order to solve the problem of spike noise interference, the synchronization signal sent by the synchronization module synchronizes the analog-to-digital conversion module and the power amplifier, thereby avoiding the interference of the spike noise caused by the switching elements in the power amplifier. However, on the one hand, this synchronization method requires an additional synchronization module to be set up in the system, resulting in a complex system hardware structure and increased cost; on the other hand, there is an error in the phase lock between the power signal (PWM signal) of the power amplifier and the sampling signal of the analog-to-digital conversion module in this synchronization method, which affects the accuracy of displacement detection. In addition, due to errors in the mechanical assembly of the motor (such as winding and core assembly and sensor assembly, etc.) and errors in the electronic components themselves, the existing magnetic levitation motors have poor mass production consistency. Summary of the invention

[0009] To solve the above technical problems, the present invention proposes a magnetic levitation controller and a magnetic levitation motor system based on a global single clock source, which can improve the signal-to-noise ratio and anti-interference ability of the system, and does not require an additional synchronization module. The system structure is simple and the cost is low.

[0010] According to one aspect of the present invention, a magnetic levitation controller based on a global single clock source is provided, the magnetic levitation controller includes a sensor module, a power amplifier module, an analog-to-digital conversion module and a magnetic levitation control unit, the clock signal of the magnetic levitation controller is generated based on the global single clock source, the clock signal includes a sensor clock for sensor module detection, a sampling clock for analog-to-digital conversion module sampling and a power amplifier clock for power amplifier module driving; wherein the sensor module is configured to detect control data of the magnetic levitation motor based on the sensor clock and output a sensor signal; the analog-to-digital conversion module is configured to convert the sensor signal into a sampling signal based on the sampling clock; the magnetic levitation control unit is configured to perform data calculation processing on the sampling signal and generate an amplifier signal, the power amplifier module is configured to generate a PWM signal based on the power amplifier signal and the power amplifier clock, and to excite the electromagnetic coil in the magnetic levitation motor based on the PWM signal.

[0011] Furthermore, the magnetic levitation controller also includes a clock distribution module, which generates a clock signal based on a reference clock of a global single clock source, and the clock signal includes a sensor clock, a sampling clock and a power amplifier clock.

[0012] Furthermore, the clock distribution module includes a frequency division module, which includes multiple frequency dividers. The multiple frequency dividers respectively divide the reference clock from the global single clock source to generate multiple divided clocks. The clock signal is configured as multiple divided clocks, and the multiple divided clocks include a sensor clock, a sampling clock and a power amplifier clock.

[0013] Furthermore, the clock distribution module also includes a frequency multiplier, which multiplies the reference clock from the global single clock source to generate a multiplied clock, and a plurality of frequency dividers perform frequency division processing based on the multiplied clock.

[0014] Furthermore, the clock distribution module also includes multiple frequency multipliers, one of which is connected to the global single clock source to generate a divided clock; the other frequency dividers correspond one-to-one to the multiple frequency multipliers, the frequency multipliers multiply the reference clock from the global single clock source to generate a multiplied clock, and the frequency dividers perform division processing based on the multiplied clock generated by the corresponding frequency multiplier.

[0015] Furthermore, the clock distribution module also includes a phase shift module, which includes multiple phase shifters, and the multiple phase shifters correspond one-to-one to the multiple frequency dividers. The phase shifters adjust the phase of the divided clocks from the corresponding frequency dividers, and the clock signal is configured as multiple divided clocks after phase shift adjustment.

[0016] Furthermore, the magnetic suspension controller also includes a communication port for communication connection, and the communication port is used to write the value of frequency division and / or phase shift.

[0017] Furthermore, the sensor module includes a sensor component and a signal conditioning module, the sensor clock includes a sensor clock and a signal conditioning clock, the sensor component is configured to detect the control data of the magnetic levitation motor based on the sensor clock, and generate a sensor signal containing the control data, and the signal conditioning module is configured to adjust and process the sensor signal containing the control data based on the signal conditioning clock, and generate a conditioned sensor signal.

[0018] Furthermore, the sensor assembly includes a displacement sensor for detecting rotor displacement data of the magnetic levitation motor and / or a position angle sensor for detecting rotor angle data of the magnetic levitation motor and / or a current sensor for detecting current data of the electromagnetic coil of the magnetic levitation motor, and the sensor signal includes a rotor displacement signal and / or a rotor angle signal and / or a current signal.

[0019] Further, one of the multiple frequency dividers and a corresponding phase shifter are configured to generate a sensor clock, and another of the multiple frequency dividers and a corresponding phase shifter are configured to generate a signal conditioning clock; or one of the multiple frequency dividers and a corresponding phase shifter are configured to generate an intermediate sensor clock, and the phase shift module also includes a secondary phase shifter, which performs phase shifting on the intermediate sensor clock and generates a sensor clock and a signal conditioning clock.

[0020] Furthermore, the magnetic levitation controller also includes a power supply, the clock signal also includes a power supply clock, and the power switch of the power supply is based on the power supply clock.

[0021] Furthermore, the magnetic levitation control unit is configured as a magnetic levitation rotation integrated control unit, which calculates a rotating current component for rotation control of the magnetic levitation motor and a suspension current component for suspension control of the magnetic levitation motor based on the rotor displacement data and rotor angle data of the magnetic levitation motor, and performs current synthesis on the rotating current component and the suspension current component to generate a current given signal.

[0022] Furthermore, the power amplifier module includes a PWM generator and an output stage, and the PWM generator generates a PWM signal for performing PWM control on the output stage based on the power amplifier clock and the power amplifier signal.

[0023] Furthermore, the PWM generator is integrated with the magnetic levitation rotation integrated control unit.

[0024] Furthermore, the clock distribution module is implemented based on FPGA, the magnetic levitation control unit is implemented based on DSP, the clock signal also includes a system clock, and the system control of DSP is based on the system clock.

[0025] Furthermore, the clock distribution module and the magnetic levitation control unit are implemented based on FPGA, MCU or DSP.

[0026] Furthermore, the analog-to-digital conversion module is built into the FPGA, MCU or DSP, or the analog-to-digital conversion module is external to the FPGA, MCU or DSP.

[0027] According to another aspect of the present invention, a magnetic levitation motor system based on a global single clock source is provided. The magnetic levitation motor system includes a magnetic levitation motor and the above-mentioned magnetic levitation controller.

[0028] Furthermore, the magnetic levitation motor is a magnetic bearing motor or a bearingless motor or a bearingless thin-film motor.

[0029] The above technical solution of the present invention has the following advantages over the prior art: the present invention proposes a magnetic levitation controller and a magnetic levitation motor system based on a global single clock source, by designing the clock signals of each component in the magnetic levitation controller to come from a global single clock source, so that the sensing clock for sensor module detection, the sampling clock for analog-to-digital conversion module sampling, and the power amplifier clock for power amplifier module driving constitute the same-phase clock (the clock signal frequencies may be different, but the clock effective edges are aligned), thereby achieving precise alignment of the effective edges (clock edges) of each clock signal in the magnetic levitation motor system, and on the basis of the effective edge alignment, achieving precise controllability and adjustment of the delay time between each related signal, that is, ensuring that the phase or phase difference between the related signals between each component is determined, thereby avoiding the noise and interference generated by the power amplifier module or other components during sensor detection or analog-to-digital conversion, thereby improving the signal-to-noise ratio and anti-interference ability of the system, and no additional synchronization module is required, the system structure is simple and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0031] Figure 1 It is a structural schematic diagram of an embodiment of a magnetic suspension controller and a magnetic suspension motor system based on a global single clock source of the present invention;

[0032] Figure 2 is a schematic structural diagram of an embodiment of a clock distribution module of the present invention;

[0033] Figure 3 is a structural schematic diagram of another embodiment of a clock distribution module of the present invention;

[0034] Figure 4is a structural schematic diagram of another embodiment of the clock distribution module of the present invention;

[0035] Figure 5 is a structural diagram of another embodiment of a clock distribution module of the present invention;

[0036] Figure 6 It is a structural schematic diagram of another embodiment of the magnetic levitation controller and magnetic levitation motor system based on a global single clock source of the present invention. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, for example, a system, product or device comprising a series of units is not necessarily limited to those units clearly listed, but may include other units that are not clearly listed or inherent to these products or devices.

[0039] In the prior art, the output stage of the power amplifier in the control system of the magnetic levitation motor includes multiple switching elements, such as MOS tubes or IGBTs, etc. When these switching elements are switched, spike noise will be generated in the system. Due to the need for compact motor structure, the electromagnetic coil used for rotation control or / and suspension control in the magnetic levitation motor and the sensor used to detect motor control data are usually close in space, and the current signal passing through the electromagnetic coil carries spike noise, which easily interferes with the detection of the sensor and the sampling of its signal conditioning circuit, resulting in a low signal-to-noise ratio and poor anti-interference ability of the entire control system. In order to solve the problem of spike noise interference, the synchronization signal sent by the synchronization module synchronizes the analog-to-digital conversion module and the power amplifier, which can avoid the interference of the spike noise caused by the switching elements in the power amplifier. However, on the one hand, this synchronization method requires an additional synchronization module to be set up in the system, resulting in a complex system hardware structure and increased cost; on the other hand, there is an error in the phase locking between the power signal (PWM signal) of the power amplifier and the sampling signal of the analog-to-digital conversion module in this synchronization method, which affects the accuracy of displacement detection. In addition, due to errors in the mechanical assembly of the motor (such as winding and core assembly and sensor assembly, etc.) and errors in the electronic components themselves, the existing magnetic levitation motors have poor mass production consistency.

[0040] In order to solve the above technical problems, the present invention proposes a magnetic suspension controller based on a global single clock source, see Figure 1 The magnetic levitation controller includes a sensor module, a power amplifier module, an analog-to-digital conversion module and a magnetic levitation control unit. The clock signal of the magnetic levitation controller is generated based on a global single clock source, and the clock signal includes a sensor clock for sensor module detection, a sampling clock for analog-to-digital conversion module sampling and a power amplifier clock for power amplifier module driving; wherein the sensor module is configured to detect control data of the magnetic levitation motor based on the sensor clock and output a sensor signal; the analog-to-digital conversion module is configured to convert the sensor signal into a sampling signal based on the sampling clock; the magnetic levitation control unit is configured to perform data calculation processing on the sampling signal and generate an amplifier signal, and the power amplifier module is configured to generate a PWM signal based on the power amplifier signal and the power amplifier clock, and excite the electromagnetic coil in the magnetic levitation motor based on the PWM signal.

[0041] The present invention designs the clock signals of each component in the magnetic levitation controller to come from a global single clock source, so that the sensor clock used for sensor module detection, the sampling clock used for analog-to-digital conversion module sampling, and the power amplifier clock used for power amplifier module excitation constitute the same-phase clock, thereby realizing the precise alignment of the effective edges (clock edges) of each clock signal in the magnetic levitation motor system, and on the basis of the effective edge alignment, realizing the precise controllability and adjustment of the delay time between each related signal, that is, ensuring that the phase or phase difference between the related signals of each component is determined, thereby avoiding the noise and interference generated by the power amplifier module during sensor detection and analog-to-digital conversion. For example, on the basis of the effective edge alignment, the sampling time of the analog-to-digital conversion module is controlled to avoid the noise and interference generated by other components, thereby improving the signal-to-noise ratio and anti-interference ability of the system, and no additional synchronization module is required, the system structure is simple and the cost is low.

[0042] Among them, the same phase clock means that the clock signal frequencies of two or more clocks can be the same or different, but the effective edges of the clocks are aligned, and the effective edges can be rising edges or falling edges. Phase is also called phase time (PhaseTime), which refers to the delay time between the clock signal and the ideal signal (such as the reference clock) at the corresponding effective moment (generally referring to the rising edge or falling edge). Phase is the instant delay. For example, one is a slow clock and the other is a fast clock. The clock frequencies of the two are different. The clock edge of the slow clock is always aligned with the clock edge of the fast clock. The two clocks have the same phase at the clock edge of the slow clock. In the present invention, each clock signal is based on a global single clock source, and the purpose is to provide multiple clock signals with effective edge alignment for each component, so as to accurately determine the phase or phase difference of each associated signal on this basis, so as to ensure that the phase relationship is determined when avoiding noise and interference, thereby solving the problem of being unable to avoid and interfere due to the uncertainty of the phase relationship. The clock frequencies of each clock signal can be the same or different. For example, the clock frequency of the sensor clock used for sensor module detection is different from the clock frequency of the power amplifier clock used for the power amplifier module. If the clock frequencies of the two clock signals are different and the effective edges of the two clock signals are not aligned, it will cause errors in the phase locking between other signals generated based on the clock signal. Taking the PWM signal of the power amplifier module and the sampling signal of the analog-to-digital conversion module as an example, if there is an error in the phase locking between the two, it will affect the accuracy of displacement detection. The magnetic levitation controller of the present invention is based on a global single clock source, which can ensure the precise alignment of the effective edges (clock edges) of the clock signals of the magnetic levitation motor system. On the basis of the effective edge alignment, the delay time between the related signals can be further accurately controlled and adjusted, thereby avoiding the noise and interference generated by the power amplifier module or other components during sensor detection and analog-to-digital conversion.

[0043] Among them, see Figure 1 and Figure 6The power amplifier module is configured to generate a PWM signal based on the power amplifier signal and the power amplifier clock, and to excite the electromagnetic coil in the magnetic levitation motor based on the PWM signal. That is, the power amplifier module, as the executive part of the magnetic levitation controller, is used to output current to excite the electromagnetic coil of the stator part of the magnetic levitation motor to achieve the suspension and / or rotation control of the rotor. Among them, the electromagnetic coil can be a winding coil for rotation control of a bearingless motor, or a winding coil for suspension control, or a winding coil with two functions. It can also be a motor coil for motor rotation of a magnetic bearing motor, or an electromagnet coil for magnetic bearings. Among them, the power amplifier module is also called a power amplifier or a power amplifier circuit, which can be an output stage or an output stage circuit including a PWM generator or a PWM circuit, or it can be only an output stage or an output stage circuit, and it can also include an isolation drive circuit, etc. The present invention collectively refers to various power amplifiers including an output stage or an output stage circuit as a power amplifier module. In one embodiment, the power amplifier module includes a PWM generator and an output stage. Figure 1 Only the overall power amplifier module is shown in FIG. 1 . The PWM generator is also called a PWM circuit. The PWM generator generates a PWM signal for PWM control of the output stage based on the power amplifier clock and the power amplifier signal. In another embodiment, see Figure 6 , the PWM generator is integrated with the magnetic levitation rotation integrated control unit, and the magnetic levitation rotation integrated control unit and the PWM generator constitute the magnetic levitation rotation integrated control unit, and the corresponding magnetic levitation rotation integrated control unit only needs to be configured with one power amplifier module, so that the suspension and rotation control can be realized with one set of control systems, and the hardware structure is simple. At the same time, the power amplifier module includes an output stage, and the magnetic levitation rotation integrated control unit is configured to perform data calculation processing on the sampling signal, and generate a PWM signal based on the power amplifier clock and the power amplifier signal to perform PWM control on the power amplifier module. Figure 6 Only the output stage is shown in the figure. The principle of the PWM generator is that the power amplifier clock is used as a reference clock frequency to determine the period of the PWM waveform, that is, the count of the counter is controlled by the power amplifier clock. The counter increases the count value in response to the reference clock frequency, that is, the count range of the counter determines the period of the PWM signal, and the count range of the counter can be achieved by setting the count value of the counter. The comparator circuit generates a PWM signal according to the count value provided by the counter, that is, the comparison value of the comparator determines the duty cycle of the PWM signal, and the comparison value of the comparator can be achieved by setting the reference voltage of the comparator.

[0044] Among them, see Figure 1 and Figure 2The sensor module is configured to detect the control data of the magnetic levitation motor based on the sensor clock and output the sensor signal; since the magnetic levitation motor needs to perform more degrees of freedom control, more sensors are integrated in the motor body. Various sensors and sensor circuits are collectively referred to as sensor components. Various conditioning circuits that adjust and process the sensor signals containing control data output by the sensor components are collectively referred to as signal conditioning modules. The signal conditioning modules are usually integrated with the magnetic levitation controller, see Figure 1 . In other embodiments, the signal conditioning module as a component of the magnetic levitation controller can also be provided separately from the main body of the magnetic levitation controller, for example, it can be provided as an independent signal conditioning box, which is independent of the magnetic levitation motor and the magnetic levitation controller and is connected to the sensor assembly in the magnetic levitation motor and the analog-to-digital conversion module in the magnetic levitation controller. The sensor assembly and the signal conditioning module constitute a sensor module, through which the control data of the magnetic levitation motor can be detected in real time. The control data may include, for example, rotor displacement data, rotor angle data (rotor speed data) or current data of the electromagnetic coil, etc. Preferably, see Figure 1 and Figure 2 The sensor module includes a sensor component and a signal conditioning module. The sensor clock includes a sensor clock and a signal conditioning clock. The sensor component is configured to detect the control data of the magnetic levitation motor based on the sensor clock and generate a sensor signal containing the control data. The signal conditioning module is configured to adjust and process the sensor signal containing the control data based on the signal conditioning clock and generate a conditioned sensor signal.

[0045] The present invention does not limit the sensor form and sensor circuit of the sensor component. For example, the sensor component includes a displacement sensor for detecting the rotor displacement data of the magnetic levitation motor and / or a position angle sensor for detecting the rotor angle data of the magnetic levitation motor and / or a current sensor for detecting the current data of the electromagnetic coil of the magnetic levitation motor. The sensor signal includes a rotor displacement signal and / or a rotor angle signal and / or a current signal.

[0046] The following takes the sensor assembly configured as a displacement sensor for detecting rotor displacement data of a magnetic levitation motor as an example to explain the principle of the sensor module detecting rotor displacement data and performing adjustment and processing.

[0047] The displacement sensor detects the displacement of the rotor during the operation of the magnetic levitation motor. At present, the sensors for displacement detection are usually inductive or eddy current displacement sensors, but not limited to them. Taking the eddy current displacement sensor as an example, the eddy current displacement sensor uses the principle of eddy current effect to detect micro displacement. When the excitation source or excitation signal applies a high-frequency alternating current to the sensor coil, the coil will generate an alternating magnetic field and an induced electric field. When a metal conductor approaches the coil, the induced electric field will generate induced eddy currents on the surface of the metal conductor. Eddy currents will generate eddy current magnetic fields, which are opposite to the direction of the coil magnetic field and will offset part of the coil magnetic field, thereby changing the impedance of the sensor coil. When the distance between the metal conductor and the sensor coil changes, the impedance of the sensor coil will follow the change, so that the distance between the metal conductor and the sensor coil can be measured according to the impedance. In principle, setting an eddy current displacement sensor in one degree of freedom direction can realize the detection of the displacement of the rotor in the direction of that degree of freedom. However, in practice, the accuracy and stability of displacement measurement are easily affected by temperature drift, probe manufacturing accuracy, and workpiece installation process accuracy. Therefore, a preferred embodiment is to use a differential signal combined with an eddy current displacement sensor to detect the relative displacement of the rotor in the stator; using two sets of sensor coils with the same winding method, since the two sets of sensor coils are at the same ambient temperature in the stator, the adverse effects of temperature drift can be effectively suppressed; at the same time, since the differential signal is used to obtain the relative displacement rather than the absolute displacement, the impact of manufacturing accuracy on the measurement can be reduced. On the basis of the differential displacement sensor, the detection of the rotor displacement can also use the LC resonance principle of the resonant circuit to further improve the signal-to-noise ratio and anti-interference ability of the sensor detection.

[0048] Since the impedance change of the coil is generally small, the key to the demodulation scheme of the eddy current displacement sensor is to measure the small impedance change with high precision. The prior art generally adopts an amplitude detection scheme, which can extract the signal of amplitude by rectifying and filtering the terminal voltage of the sensor coil. Its advantage is that the scheme is simple and easy to implement. However, since the impedance change of the coil is very small, it is necessary to amplify the small voltage change on the coil through a high-gain amplifier, which will cause irrelevant interference signals to be amplified, resulting in poor signal-to-noise ratio. In addition, the amplitude detection scheme is very susceptible to the temperature drift of the device, and an additional temperature drift removal circuit is required to solve it, which greatly increases the cost of the hardware. For this reason, the demodulation circuit of the eddy current signal of the present invention is implemented by a phase detection scheme. The core of the phase detection scheme is to multiply the voltage signal on the equivalent inductance of the sensor coil and a demodulation signal orthogonal to the excitation signal of the sensor coil by an analog multiplier and filter it to obtain a low-frequency signal containing phase information. Its advantage is that it utilizes the orthogonality of the excitation signal and the demodulation signal, eliminates the influence of irrelevant frequency signals, and therefore has strong anti-interference ability. And the phase signal changes more obviously with the impedance of the excitation coil, so the sensitivity is higher. In the present invention, when the sensor module is configured for rotor displacement detection, the sensor module includes a sensor component and a signal conditioning module, the sensor clock includes a sensor clock and a signal conditioning clock, and the sensor component is configured as an eddy current displacement sensor, such as a differential displacement sensor. The differential displacement sensor detects the displacement data of the rotor of the magnetic levitation motor based on the sensor clock, and generates a sensor signal containing the displacement data. Among them, the sensor clock comes from a global single clock source, and the sensor clock can be used as an excitation signal to excite the sensor coil of the eddy current displacement sensor directly or after amplification; the signal conditioning module is configured as a phase-locked amplifier circuit, and the phase-locked amplifier circuit adjusts and processes the sensor signal containing the displacement data based on the signal conditioning clock, and generates a conditioned sensor signal. Among them, the signal conditioning clock comes from a global single clock source, and the signal conditioning clock and the sensor clock are of the same source. After simple frequency division and phase shift processing, a reference signal of the same frequency orthogonal for the phase-locked amplifier circuit can be obtained. In this way, the excitation signal and demodulation signal for the signal conditioning module are both from a global single clock source, the phase difference between the two is determined, and the implementation is simple, thereby effectively improving the sensitivity and anti-interference ability of the sensor detection. In other embodiments, a solution of simultaneous amplitude detection and phase discrimination can also be adopted.

[0049] The above embodiment describes the detection and signal conditioning of rotor displacement data by taking the eddy current sensor as an example, but is not limited to this. The position angle sensor used to detect the rotor angle data of the magnetic levitation motor, such as the Hall sensor, and the current sensor used to detect the current data of the electromagnetic coil of the magnetic levitation motor, such as the Hall sensor, can also generate an excitation signal for the sensor and a demodulation signal for the signal conditioning circuit based on a global single clock source. And based on the global single clock source, it can ensure that the phase relationship between different sensors is determined. For example, when the magnetic levitation motor includes a displacement sensor, a position angle sensor and a current sensor at the same time, the phase relationship between different sensor signals of each sensor detection circuit is determined, thereby reducing the noise mutual interference between the sensor detection circuits. Because the essence of the signal conditioning circuit is a multiplier, and the implementation of the multiplier can use an analog switch, the noise generated during the switch switching process may affect other sensors. Through the global single clock source, it is ensured that the phase or phase difference between the signals of each sensor module is determined, thereby avoiding the noise generated by each other during the signal conditioning process, and improving the signal-to-noise ratio and anti-interference ability of the system.

[0050] Among them, see Figure 1The analog-to-digital conversion module is configured to convert the sensor signal into a sampling signal based on a sampling clock. The analog-to-digital conversion module is also called an ADC or an analog-to-digital converter, which is used to sample the rotor displacement signal, rotor angle signal and current signal of the electromagnetic coil detected by the sensor module, and perform analog-to-digital conversion on the rotor displacement signal, rotor angle signal and current signal to generate a rotor displacement digital signal, a rotor angle digital signal and a current digital signal. The output end of the analog-to-digital conversion module is connected to the input end of the magnetic suspension control unit (including the control algorithm). At the sampling time of the analog-to-digital conversion module, if the switch element of the power amplifier module is switched, the sampling signal of the analog-to-digital conversion module will be interfered by the spike-shaped noise caused by the switching of the switch element, resulting in errors in the sampling of the analog-to-digital conversion module, and even causing the digital control system to crash. When the analog-to-digital conversion module is sampling, if there is an error in the phase lock between the PWM signal of the power amplifier module and the sampling signal of the analog-to-digital conversion module, it will affect the accuracy of sensor detection. To this end, the present invention controls the sampling time of the analog-to-digital conversion module by using the sampling clock from a global single clock source as a control signal. Since the sampling clock of the analog-to-digital conversion module, the power amplifier clock of the power amplifier module and the sensor clock of the sensor module are of the same source, there is a definite phase difference relationship between them. Thus, on the one hand, the phase locking error between the PWM signal of the power amplifier module and the sampling signal of the analog-to-digital conversion module can be eliminated, ensuring that the positional relationship between the effective edge (clock edge) of the sampling signal of the analog-to-digital conversion module and the effective edge of the PWM signal of the power amplifier module is determined, thereby improving the accuracy of sensor detection; on the other hand, the sampling time of the analog-to-digital conversion module can avoid the switching of the switching elements of the power amplifier module, avoid the spike noise interference caused by the switching elements in the power amplifier, and improve the signal-to-noise ratio and anti-interference ability of the system.

[0051] Among them, see Figure 1 and Figure 2 In the magnetic levitation controller of the present invention, the global single clock source is used to generate a reference clock. As a preferred embodiment, the global single clock source can be a quartz crystal oscillator (crystal oscillator).

[0052] Among them, see Figure 1 and Figure 2, the clock signal of the magnetic levitation controller is generated based on a global single clock source, and the clock signal includes a sensor clock for sensor module detection, a sampling clock for analog-to-digital conversion module sampling, and a power amplifier clock for power amplifier module driving; in this way, the clock signals of the sensor module, the analog-to-digital conversion module, and the power amplifier module all come from a global single clock source, that is, their clocks are of the same source, so that there is no need to set up a synchronization module to ensure that the phase difference between each related signal is determined. The clock homology can be implemented using a clock topology. Preferably, the magnetic levitation controller of the present invention also includes a clock distribution module, which is used to generate a clock signal based on a reference clock of a global single clock source, and the clock signal includes a sensor clock, a sampling clock, and a power amplifier clock. However, it is not limited to this, and the clock signal generated by the clock distribution module can also be expanded according to the global clock needs of the entire system. For example, the power clock, system clock, etc. in the further technical solutions below, Figure 2 The power supply clock is illustrated in FIG. 1 , and other extensions are indicated by ellipsis (……). The reference clock from the global single clock source is uniformly configured through the clock distribution module to meet the global clock requirements of each component.

[0053] See also Figure 2 In one embodiment, the clock distribution module includes a frequency division module, and the frequency division module includes multiple frequency dividers. The multiple frequency dividers respectively divide the reference clock from the global single clock source to generate multiple divided clocks. The clock signal is configured as multiple divided clocks, and the multiple divided clocks include a sensor clock, a sampling clock, and a power amplifier clock. A crystal oscillator has only one inherent frequency, and many frequencies can be expanded through frequency division. In this way, it is not necessary to have a crystal oscillator for each frequency. For example, the original signal of the crystal oscillator is divided by N, and the frequency becomes 1 / N of the original. Multiple divided clocks with specific required frequencies are generated by multiple frequency dividers, including a sensor clock, a sampling clock, and a power amplifier clock, etc., so as to realize the function of the clock distribution module. As a preferred embodiment, Figure 2 Each frequency divider in the clock source is based on a single global clock source. Figure 2It is shown that the frequency divider module includes a first frequency divider, a second frequency divider, a third frequency divider, a fourth frequency divider and a fifth frequency divider. The extension of other frequency dividers is indicated by an ellipsis (……). In other embodiments, the extension of the frequency divider is also indicated by an ellipsis. The first frequency divider performs frequency division processing based on the reference clock to generate a signal conditioning clock for signal conditioning; the second frequency divider performs frequency division processing based on the reference clock to generate a sensor clock for sensor excitation; the third frequency divider performs frequency division processing based on the reference clock to generate a sampling clock for sampling of the analog-to-digital conversion module; the fourth frequency divider performs frequency division processing based on the reference clock to generate a power amplifier clock for driving the power amplifier module; the fifth frequency divider performs frequency division processing based on the reference clock to generate a power supply clock for the power switch of the power supply. In this embodiment, five clock signals of the magnetic levitation controller are exemplified, but it is not limited to this. Based on the extended function of the frequency division module, all clock signals of the entire magnetic levitation controller can be obtained from a global single clock source. In this embodiment, the frequency division module includes 5 frequency dividers, and each frequency divider is independent of each other and generates a clock signal based on a global single clock source, but is not limited to this. In other embodiments, another clock signal can be generated based on a frequency divider by re-dividing the frequency or shifting the phase.

[0054] See also Figure 3 In one embodiment, the clock distribution module further includes a frequency multiplier, which multiplies the reference clock from the global single clock source to generate a multiplied clock, and multiple frequency dividers perform frequency division based on the multiplied clock. Setting a frequency multiplier before frequency division can increase the frequency of the crystal oscillator, thereby providing a variety of frequency options for each clock signal and improving the flexibility of the system. Figure 4 In another embodiment, the clock distribution module further includes a plurality of frequency multipliers. Figure 4 In the figure, multiple frequency multipliers are shown, including frequency multiplier A, frequency multiplier B, frequency multiplier C and frequency multiplier D. The extension of other frequency multipliers is indicated by ellipsis (……). In other embodiments, the extension of frequency multipliers is also indicated by ellipsis. One of the frequency dividers (frequency divider A) is connected to the global single clock source to generate a divided clock; other frequency dividers, such as frequency divider B, frequency divider C, frequency divider D and frequency divider F, correspond to multiple frequency multipliers one by one, and each frequency multiplier performs frequency multiplication processing on the reference clock from the global single clock source to generate a multiplied clock. The frequency divider performs frequency division processing based on the multiplied clock generated by the corresponding frequency multiplier. In this way, by connecting multiple frequency multipliers to the global single clock source, multiple types of multiplied clocks can be obtained, and multiple frequency divided clocks with specific required frequencies are generated after passing through multiple frequency dividers, including sensor clocks, sampling clocks, power amplifier clocks, power supply clocks, etc.

[0055] Continue to refer Figure 2 , Figure 3 and Figure 4In one embodiment, the clock distribution module further includes a phase shift module, which includes a plurality of phase shifters, which correspond to a plurality of frequency dividers one by one, and the phase shifters adjust the phases of the divided clocks from the corresponding frequency dividers, and the clock signal is configured as a plurality of divided clocks after the phase shift adjustment. Figure 2 and Figure 3 In the embodiment, the plurality of phase shifters are configured as a first phase shifter, a second phase shifter, a third phase shifter, a fourth phase shifter and a fifth phase shifter, which correspond to the first frequency divider, the second frequency divider, the third frequency divider, the fourth frequency divider and the fifth frequency divider, respectively. Figure 4 In the embodiment, a plurality of phase shifters are configured as phase shifter A, phase shifter B, phase shifter C, phase shifter D and phase shifter F, which correspond to frequency divider A, frequency divider B, frequency divider C, frequency divider D and frequency divider F one by one, respectively. However, it is not limited to this. In other embodiments, when phase adjustment is not required, the phase shifter corresponding to the frequency divider can be omitted. Due to the errors in the mechanical assembly of the motor (such as the assembly of the winding and the core and the assembly of the sensor, etc.) and the errors in the electronic components themselves, the existing magnetic levitation motor has poor consistency in mass production. By setting a plurality of phase shifters corresponding to a plurality of frequency dividers one by one, the phase adjustment of each clock signal can be achieved. On the one hand, the clock edges of the clock signals of each specific frequency can be accurately aligned through phase adjustment. On the other hand, the phase adjustment can also reduce the influence of the mechanical assembly error of the motor and / or the error of the electronic components themselves on the sensor detection, thereby improving the accuracy of system detection and the consistency of mass production.

[0056] Continue to refer Figure 1 In one embodiment, the magnetic suspension controller further includes a communication port for communication connection, and the communication port is used to write the frequency division and phase shift values. By writing the frequency division and phase shift values ​​through the communication port, the frequency division and phase shift of the clock distribution module can be adjusted online to eliminate the influence of the mechanical assembly error of the motor and / or the error of the electronic components themselves on the sensor detection, thereby improving the accuracy of system detection and the consistency of mass production. The communication port as a communication connection interface can be configured on the circuit board of the control system.

[0057] Continue to refer Figure 1 In one embodiment, the magnetic levitation controller also includes a power supply, the clock signal also includes a power supply clock, and the power switch of the power supply is based on the power supply clock. In this way, the power supply clock is generated by the clock distribution module, and the power supply clock is also based on a global single clock source, so that the entire system can control the power switch of the power supply based on the global clock principle. In addition, since the power supply part is similar to the power amplifier module, there is also switching, which generates spike noise. Based on the same principle, the power supply clock and the sampling clock of other components (such as the analog-to-digital conversion module) are the same source, so that the sampling time of the analog-to-digital conversion module can avoid the noise interference generated by the power supply part, further improving the signal-to-noise ratio and anti-interference ability of the system.

[0058] In the above embodiments, one of the multiple frequency dividers and a corresponding phase shifter are configured to generate a sensor clock, and another of the multiple frequency dividers and a corresponding phase shifter are configured to generate a signal conditioning clock. However, this is not limited to this. In other embodiments, see Figure 5 , one of the multiple frequency dividers and a corresponding phase shifter are configured to generate an intermediate sensor clock, and the phase shift module also includes a secondary phase shifter, which performs phase shift processing on the intermediate sensor clock and generates a sensor clock and a signal conditioning clock. Since the sensor clock and the signal conditioning clock are used to constitute the input signal and reference signal of the signal conditioning, the two have the same frequency, and the phase shift processing of the secondary phase shifter can generate an input signal and a reference signal with the same frequency and orthogonal phase difference. In this way, when the clock distribution module is implemented, the secondary phase shifter can be flexibly configured, for example, the secondary phase shifter is set in the motor body of the magnetic levitation motor.

[0059] In the above embodiments, the magnetic levitation control unit and the clock distribution module belong to the control part of the magnetic levitation motor, and their functions can be implemented based on control technologies such as FPGA, MCU, or DSP. Different processor modes can be selected according to the application environment requirements of the control system. For example, the clock distribution module and the magnetic levitation control unit can be integrated together on a circuit board of FPGA, MCU, or DSP. Preferably, the clock distribution module is implemented based on FPGA, the magnetic levitation control unit is implemented based on DSP, the clock signal also includes a system clock, and the system control of DSP is based on the system clock. In this way, the system clock is generated by the clock distribution module, the system clock is based on a global single clock source, and the entire DSP system performs system control based on the global clock.

[0060] The present invention does not limit the setting mode of the analog-to-digital conversion module (ADC). For example, in general applications, the analog-to-digital conversion module can be built into the FPGA or MCU or DSP, so that the entire control system structure is simple and low-cost. In some applications with many and complex control channels, the analog-to-digital conversion module can be placed outside the FPGA or MCU or DSP as an independent part, for example, to give full play to the scalability and flexible configuration function of the core processing part.

[0061] Based on the same inventive concept, the present invention proposes a magnetic levitation motor system based on a global single clock source. The magnetic levitation motor system includes a magnetic levitation motor and the above-mentioned magnetic levitation controller.

[0062] The present invention does not limit the type of magnetic levitation motor, which can be summarized as a magnetic levitation rotary drive that uses magnetic field force to suspend the rotor so that there is no mechanical contact between the rotor and the stator. Preferably, the magnetic levitation motor can be a magnetic bearing motor, a bearingless motor or a bearingless thin-film motor, etc.

[0063] A magnetic bearing motor, also known as a magnetic bearing, is a motor that combines a rotary drive motor with an axial magnetic bearing or / and a radial magnetic bearing or / and an axial-diameter hybrid magnetic bearing, etc., rather than integrating them together.

[0064] A bearingless motor is a motor that integrates motor rotation and suspension functions. A bearingless motor has an additional set of windings on top of the windings that generate a rotating driving magnetic field to generate an excitation magnetic field. The interaction between the two magnetic fields breaks the balanced distribution of the original driving magnetic field, thereby generating a radial force acting on the rotor. The rotor suspension is achieved by controlling the radial force in the motor.

[0065] The bearingless thin-film motor is a special bearingless motor. It inherits the advantages of the bearingless motor, and the axial length to diameter ratio of the rotor is very small, in the shape of a thin film, eliminating the axial magnetic bearing. The bearingless technology is used to realize the rotation of the rotor and the active suspension in the radial direction. The magnetic circuit composed of the mechanical structure is used to realize the passive suspension of the other three degrees of freedom except the radial and rotor rotation degrees of freedom. It has the characteristics of high cleanliness, no precipitation, no particles, no dynamic seal, and excellent performance. It has good application prospects in ultra-pure drive fields such as biochemistry, medical treatment, and semiconductor manufacturing.

[0066] The bearingless thin-film motor can be divided into a single winding structure and a double winding structure according to the different winding structures. The present invention does not limit the winding structure of the bearingless thin-film motor, which can be a single winding structure or a double winding structure. In one embodiment, a winding coil is arranged on each stator tooth, and the winding coil is a concentrated winding. The winding coil is used for both rotation control and suspension control to form a single winding structure of a magnetic levitation motor. In another embodiment, two winding coils are arranged on each stator tooth, and the two winding coils can both be concentrated windings, or one winding coil can be a concentrated winding and the other winding coil can be a distributed winding. The two winding coils on the stator teeth are stacked together, one winding coil is used for rotation control, and the other winding coil is used for suspension control to form a double winding structure of a magnetic levitation motor. Since the single-winding magnetic levitation motor can realize the rotation and suspension of the motor rotor at the same time with only one set of winding coils, it has better performance advantages than the double-winding magnetic levitation motor.

[0067] For magnetic levitation motors of different structural forms, the magnetic levitation control units of the magnetic levitation controller of the present invention can be two independent control systems, such as a motor controller for rotation control of the magnetic bearing motor and a magnetic bearing controller for suspension control of the magnetic bearing motor. Preferably, the magnetic levitation motor of the present invention is configured as a bearingless thin-film motor, and the magnetic levitation control unit is configured as a magnetic levitation rotation integrated control unit. The magnetic levitation rotation integrated control unit calculates the rotating current component for rotation control of the bearingless thin-film motor and the suspension current component for suspension control of the bearingless thin-film motor based on the rotor displacement data and rotor angle data of the bearingless thin-film motor, and performs current synthesis on the rotating current component and the suspension current component to generate an amplifier signal.

[0068] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A magnetic levitation controller based on a global single clock source, the magnetic levitation controller comprising a sensor module, a power amplifier module, an analog-to-digital conversion module and a magnetic levitation control unit, characterized in that: The clock signal of the magnetic levitation controller is generated based on a global single clock source, and the clock signal includes a sensor clock for detection by the sensor module, a sampling clock for sampling by the analog-to-digital conversion module, and a power amplifier clock for driving the power amplifier module; wherein the sensor module is configured to detect control data of the magnetic levitation motor based on the sensor clock and output a sensor signal; the analog-to-digital conversion module is configured to convert the sensor signal into a sampling signal based on the sampling clock; the magnetic levitation control unit is configured to perform data calculation processing on the sampling signal and generate an amplifier signal, and the power amplifier module is configured to generate a PWM signal based on the power amplifier signal and the power amplifier clock, and to excite the electromagnetic coil in the magnetic levitation motor based on the PWM signal.

2. The magnetic suspension controller based on a global single clock source according to claim 1, characterized in that: The magnetic levitation controller further includes a clock distribution module, which generates the clock signal based on a reference clock of the global single clock source. The clock signal includes the sensor clock, the sampling clock and the power amplifier clock.

3. The magnetic suspension controller based on a global single clock source according to claim 2, characterized in that: The clock distribution module includes a frequency division module, and the frequency division module includes multiple frequency dividers. The multiple frequency dividers respectively divide the reference clock from the global single clock source to generate multiple divided clocks. The clock signal is configured as the multiple divided clocks, and the multiple divided clocks include the sensor clock, the sampling clock and the power amplifier clock.

4. The magnetic suspension controller based on a global single clock source according to claim 3 is characterized in that: The clock distribution module further includes a frequency multiplier, which performs frequency multiplication processing on the reference clock from the global single clock source to generate a frequency multiplied clock, and the multiple frequency dividers perform frequency division processing based on the frequency multiplied clock.

5. The magnetic suspension controller based on a global single clock source according to claim 3 is characterized in that: The clock distribution module also includes multiple frequency multipliers, one of which is connected to the global single clock source to generate a divided clock; the other frequency dividers correspond one-to-one to the multiple frequency multipliers, the frequency multiplier multiplies the reference clock from the global single clock source to generate a multiplied clock, and the frequency divider performs frequency division based on the multiplied clock generated by the corresponding frequency multiplier.

6. The magnetic suspension controller based on a global single clock source according to claim 3, 4 or 5, characterized in that: The clock distribution module also includes a phase shift module, which includes multiple phase shifters. The multiple phase shifters correspond one-to-one to the multiple frequency dividers. The phase shifters adjust the phase of the divided clocks from the corresponding frequency dividers. The clock signal is configured as multiple divided clocks after phase shift adjustment.

7. The magnetic suspension controller based on a global single clock source according to claim 6, characterized in that: The magnetic suspension controller also includes a communication port for communication connection, and the communication port is used to write the value of frequency division and / or phase shift.

8. The magnetic suspension controller based on a global single clock source according to claim 6, characterized in that: The sensor module includes a sensor component and a signal conditioning module, the sensor clock includes a sensor clock and a signal conditioning clock, the sensor component is configured to detect the control data of the magnetic levitation motor based on the sensor clock, and generate a sensor signal containing the control data, and the signal conditioning module is configured to adjust and process the sensor signal containing the control data based on the signal conditioning clock, and generate a conditioned sensor signal.

9. The magnetic suspension controller based on a global single clock source according to claim 8, characterized in that: The sensor assembly includes a displacement sensor for detecting the rotor displacement data of the magnetic levitation motor and / or a position angle sensor for detecting the rotor angle data of the magnetic levitation motor and / or a current sensor for detecting the current data of the electromagnetic coil of the magnetic levitation motor, and the sensor signal includes a rotor displacement signal and / or a rotor angle signal and / or a current signal.

10. The magnetic suspension controller based on a global single clock source according to claim 8, characterized in that: One of the multiple frequency dividers and a corresponding phase shifter are configured to generate the sensor clock, and another of the multiple frequency dividers and a corresponding phase shifter are configured to generate the signal conditioning clock; or one of the multiple frequency dividers and a corresponding phase shifter are configured to generate an intermediate sensor clock, and the phase shift module also includes a secondary phase shifter, which performs phase shifting on the intermediate sensor clock and generates the sensor clock and the signal conditioning clock.

11. The magnetic suspension controller based on a global single clock source according to claim 2, characterized in that: The magnetic levitation controller further includes a power supply, the clock signal further includes a power supply clock, and the power switch of the power supply is based on the power supply clock.

12. The magnetic suspension control system based on a global single clock source according to claim 1, characterized in that: The magnetic levitation control unit is configured as a magnetic levitation and rotation integrated control unit, which calculates a rotating current component for rotation control of the magnetic levitation motor and a suspension current component for suspension control of the magnetic levitation motor based on the rotor displacement data and rotor angle data of the magnetic levitation motor, and performs current synthesis on the rotating current component and the suspension current component to generate a current given signal.

13. The magnetic suspension controller based on a global single clock source according to claim 1, characterized in that: The power amplifier module includes a PWM generator and an output stage. The PWM generator generates a PWM signal for performing PWM control on the output stage based on the power amplifier clock and the power amplifier signal.

14. The magnetic suspension controller based on a global single clock source according to claim 13, characterized in that: The PWM generator is integrated with the magnetic suspension control unit.

15. The magnetic suspension controller based on a global single clock source according to claim 2, characterized in that: The clock distribution module is implemented based on FPGA, the magnetic levitation control unit is implemented based on DSP, the clock signal also includes a system clock, and the system control of the DSP is based on the system clock.

16. The magnetic suspension controller based on a global single clock source according to claim 2, characterized in that: The clock distribution module and the magnetic suspension control unit are implemented together based on FPGA, MCU or DSP.

17. The magnetic suspension controller based on a global single clock source according to claim 16, characterized in that: The analog-to-digital conversion module is built in the FPGA, MCU or DSP, or the analog-to-digital conversion module is external to the FPGA, MCU or DSP.

18. A magnetic levitation motor system based on a global single clock source, characterized in that: The magnetic levitation motor system comprises a magnetic levitation motor and a magnetic levitation controller as described in any one of claims 1-17.

19. The magnetic levitation motor system based on a global single clock source according to claim 18, characterized in that: The magnetic suspension motor is a magnetic bearing motor or a bearingless motor or a bearingless sheet motor.

Images