Control device, method, controller and system for a magnetic bearing power amplifier

Abstract

The application discloses a kind of magnetic bearing power amplifier control device, method, magnetic bearing controller and magnetic bearing system, the device includes: logic control unit, based on the temperature of upper end device and the temperature of lower end device, determine the target freewheeling mode of magnetic bearing power amplifier, and based on the feedback current of magnetic bearing power amplifier, control magnetic bearing power amplifier according to the target freewheeling mode of magnetic bearing power amplifier and freewheeling;Wherein, the target freewheeling mode of magnetic bearing power amplifier includes: the first freewheeling mode of upper end device freewheeling, or the second freewheeling mode of lower end device freewheeling.The scheme, by based on the device temperature of magnetic bearing power amplifier, control upper end device and lower end device switch freewheeling, prevent single end device freewheeling and lead to larger loss, improve operation reliability and security.The magnetic bearing controller is related to industrial robot bearing, high-speed motor train unit bearing and other rolling bearing manufacturing.

Description

Technical Field

[0001] This invention belongs to the field of magnetic levitation technology, specifically relating to a control device, method, controller, and system for a magnetic bearing power amplifier, and particularly to a three-level dynamic loss distribution device, method, controller, and system for a magnetic bearing power amplifier. This magnetic bearing controller is applicable to the manufacture of rolling bearings such as those used in industrial robots and high-speed trains. Background Technology

[0002] Magnetic bearing systems (i.e., magnetic levitation bearing systems) achieve contactless rotor levitation using electromagnetic force, completely eliminating mechanical friction losses and significantly improving operating efficiency and lifespan. A magnetic bearing system consists of a rotor, stator coils, and a magnetic bearing control system. The magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier) ​​serves as the core execution unit of the magnetic bearing control system, primarily converting control commands into current in the magnetic bearing coils (i.e., stator coils), thereby outputting electromagnetic force to control rotor levitation.

[0003] In the relevant solutions, the magnetic bearing power amplifier (such as the magnetic bearing three-level power amplifier) ​​has an upper-end device and a lower-end device. The freewheeling stage is achieved through a single-end device (the lower-end device), which results in significant conduction losses in the single-end device. The magnetic bearing controller to which this magnetic bearing power amplifier belongs is involved in the manufacturing of rolling bearings such as industrial robot bearings and high-speed train bearings.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not represent an admission that the above content is the technology in the relevant solution. Summary of the Invention

[0005] The purpose of this invention is to provide a control device, method, controller, and system for a magnetic bearing power amplifier. This addresses the problem in magnetic bearing systems where the freewheeling phase of a magnetic bearing power amplifier (such as a three-level magnetic bearing power amplifier) ​​relies on a single-ended device (the lower-end device) for freewheeling, resulting in significant conduction losses in that single-ended device. The invention aims to control the switching of freewheeling between the upper and lower-end devices based on their temperatures (e.g., the temperatures of the upper and lower devices), preventing excessive conduction losses in the lower-end device and improving the operational reliability and safety of the magnetic bearing power amplifier. This magnetic bearing controller is relevant to the manufacturing of rolling bearings such as those used in industrial robots and high-speed trains.

[0006] This invention provides a control device for a magnetic bearing power amplifier, the magnetic bearing power amplifier including an upper device and a lower device; the control device for the magnetic bearing power amplifier includes: a temperature sampling unit, a current sampling unit, and a logic control unit; wherein, the temperature sampling unit is used to sample the temperature of the upper device and the lower device respectively to obtain the temperature of the upper device and the temperature of the lower device; the current sampling unit is used to sample the feedback value of the current output by the magnetic bearing power amplifier to the corresponding magnetic bearing coil to obtain the feedback current of the magnetic bearing power amplifier; the logic control unit is used to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and control the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier; wherein, the target freewheeling mode of the magnetic bearing power amplifier includes: a first freewheeling mode for the upper device, or a second freewheeling mode for the lower device.

[0007] In some embodiments, the logic control unit includes: a signal generation module and a logic switching module; wherein, the logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and controls the magnetic bearing power amplifier to continue current according to the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, including: the signal generation module is used to determine whether the magnetic bearing power amplifier is faulty based on the temperature of the upper device and the temperature of the lower device; and, if it is determined that the magnetic bearing power amplifier is not faulty, then determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device; if it is determined that the magnetic bearing power amplifier is faulty, then outputs a faulty reminder message of the magnetic bearing power amplifier; the logic switching module is used to control the magnetic bearing power amplifier to continue current according to the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier.

[0008] In some embodiments, the logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier. The system further includes: the signal generation module, which is configured to generate a logic switching signal when the current freewheeling mode of the magnetic bearing power amplifier is inconsistent with the target freewheeling mode; and the logic switching module, which is configured to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode based on the logic switching signal.

[0009] In some embodiments, the logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier. The system further includes: a signal generation module, configured to generate a logic sustaining signal when the current freewheeling mode of the magnetic bearing power amplifier is consistent with the target freewheeling mode; and a logic switching module, configured to maintain the current freewheeling mode of the magnetic bearing power amplifier based on the logic sustaining signal.

[0010] In some implementations, the signal generation module determines whether the magnetic bearing power amplifier is faulty based on the temperatures of the upper and lower devices, including: determining the higher of the temperatures of the upper and lower devices as the temperature of the magnetic bearing power amplifier; and determining whether the temperature of the magnetic bearing power amplifier is greater than a first preset temperature threshold; if the temperature of the magnetic bearing power amplifier is greater than the first preset temperature threshold, then the magnetic bearing power amplifier is determined to be faulty, and a faulty reminder message is output; if the temperature of the magnetic bearing power amplifier is less than or equal to the first preset temperature threshold, then the magnetic bearing power amplifier is determined not to be faulty, so as to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices.

[0011] In some implementations, if the signal generation module determines that the magnetic bearing power amplifier is not faulty, it determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices. This includes: if the magnetic bearing power amplifier is determined to be faulty, determining whether the temperature of the lower device is greater than a second preset temperature threshold, where the second preset temperature threshold is less than a first preset temperature threshold; if the temperature of the lower device is determined to be greater than the second preset temperature threshold, then the target freewheeling mode of the magnetic bearing power amplifier is determined to be the first freewheeling mode of the upper device, so that when the current freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device, a logic switching signal is generated.

[0012] In some embodiments, if the signal generation module determines that the magnetic bearing power amplifier is not faulty, it determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices. The method further includes: if the temperature of the lower device is determined to be less than or equal to a second preset temperature threshold, then determining whether the temperature of the upper device is greater than a third preset temperature threshold, where the third preset temperature threshold is less than the second preset temperature threshold; if the temperature of the upper device is determined to be greater than the third preset temperature threshold, then determining the target freewheeling mode of the magnetic bearing power amplifier to be the second freewheeling mode of the lower device, so that a logic switching signal is generated when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device; if the temperature of the upper device is determined to be less than or equal to the third preset temperature threshold, then determining the target freewheeling mode of the magnetic bearing power amplifier to be the first freewheeling mode of the upper device, so that a logic sustaining signal is generated when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device.

[0013] In some embodiments, the signal generation module includes: a first comparison module, a second comparison module, an addition module, a third comparison module, a first multiplexing module, a fourth comparison module, a fifth comparison module, a sixth comparison module, and a first OR gate module; wherein, a first preset temperature threshold is input to the first input terminal of the first comparison module and the first input terminal of the second comparison module; a set voltage value is input to the first input terminal of the third comparison module, a second preset temperature threshold is input to the first input terminal of the fifth comparison module, and a third preset temperature threshold is input to the first input terminal of the fourth comparison module; the temperature of the upper device is input in voltage form to the second input terminal of the first comparison module and the first input terminal of the first multiplexing module; the temperature of the lower device is input in voltage form to the second input terminal of the second comparison module and the second input terminal of the first multiplexing module; the input of the first comparison module... The output terminal of the first multiplexing module is connected to the first input terminal of the addition module, and the output terminal of the second comparison module is connected to the second input terminal of the addition module; the output terminal of the addition module is connected to the control terminal of the first multiplexing module; the first output terminal of the first multiplexing module is used to output a fault reminder message of the magnetic bearing power amplifier; the second output terminal of the first multiplexing module is connected to the second input terminal of the fourth comparison module; the third output terminal of the first multiplexing module is connected to the second input terminal of the fifth comparison module; the output terminal of the fourth comparison module is connected to the second input terminal of the sixth comparison module; the output terminal of the fifth comparison module is connected to the first input terminal of the sixth comparison module and the second input terminal of the first OR gate module, respectively; the output terminal of the sixth comparison module is connected to the first input terminal of the first OR gate module; the output terminal of the first OR gate module is used to output a corresponding logic switching signal or logic holding signal.

[0014] In some embodiments, the logic switching module includes: a first AND gate module, a second OR gate module, and a second multiplexing module; wherein, the PWM signal of the control system of the magnetic bearing power amplifier is input to the first input terminal of the first AND gate module and the first input terminal of the second OR gate module; the error drive signal of the control system of the magnetic bearing power amplifier, obtained based on the feedback current of the magnetic bearing power amplifier, is input to the first input terminal of the first AND gate module and the first input terminal of the second OR gate module; the output terminal of the first AND gate module is connected to the first input terminal of the second multiplexing module; the output terminal of the second OR gate module is connected to the second input terminal of the second multiplexing module; the logic switching signal or logic sustaining signal of the target freewheeling mode of the magnetic bearing power amplifier determined by the signal generation module is input to the control terminal of the second multiplexing module as a logic control signal; the first output terminal of the second multiplexing module is connected to the drive circuit terminal of the upper device; the second output terminal of the second multiplexing module is connected to the drive circuit terminal of the lower device.

[0015] Alternatively, the logic switching module includes: an FPGA module; wherein, the PWM signal of the control system of the magnetic bearing power amplifier is input to the first input terminal of the FPGA module; the error drive signal of the control system of the magnetic bearing power amplifier obtained based on the feedback current of the magnetic bearing power amplifier is input to the second input terminal of the FPGA module; the logic switching signal or logic maintenance signal of the target freewheeling mode of the magnetic bearing power amplifier determined by the signal generation module is used as a logic control signal and input to the control terminal of the FPGA module; the first output terminal of the FPGA module is connected to the drive circuit terminal of the upper device; and the second output terminal of the FPGA module is connected to the drive circuit terminal of the lower device.

[0016] In conjunction with the above-described device, the present invention further provides a magnetic bearing controller, comprising: the control device for the magnetic bearing power amplifier described above.

[0017] In conjunction with the above-described device, the present invention further provides a magnetic bearing system, comprising: a control device for the magnetic bearing power amplifier described above, or a magnetic bearing controller described above.

[0018] In conjunction with the aforementioned device, the present invention further provides a control method for a magnetic bearing power amplifier, comprising: sampling the temperatures of the upper device and the lower device respectively through the temperature sampling unit to obtain the temperatures of the upper device and the lower device; sampling the feedback value of the current output by the magnetic bearing power amplifier to the corresponding magnetic bearing coil through the current sampling unit to obtain the feedback current of the magnetic bearing power amplifier; determining the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper device and the lower device through the logic control unit, and controlling the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier; wherein, the target freewheeling mode of the magnetic bearing power amplifier includes: a first freewheeling mode for the upper device, or a second freewheeling mode for the lower device.

[0019] The present invention addresses the three-level implementation of a magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier). Based on the temperatures of the upper and lower devices, a target freewheeling mode for the magnetic bearing power amplifier is determined. This target freewheeling mode includes either a first freewheeling mode for the upper device or a second freewheeling mode for the lower device. Furthermore, based on the feedback current of the magnetic bearing power amplifier, the amplifier is controlled to follow the target freewheeling mode, i.e., controlling the upper or lower device to follow the determined target freewheeling mode. Thus, by controlling the switching of freewheeling between the upper and lower devices based on the device temperatures (such as the temperatures of the upper and lower devices), the freewheeling of a single device (e.g., the lower device) is prevented from having high conduction losses due to freewheeling, thereby improving the operational reliability and safety of the magnetic bearing power amplifier. This magnetic bearing controller relates to the manufacturing of rolling bearings such as industrial robot bearings and high-speed train bearings.

[0020] Specifically, in the solution of this invention, for the three-level implementation of the magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier), a control system of the magnetic bearing power amplifier is used for control. The control system of the magnetic bearing power amplifier is based on the reference current i provided by the position loop. ref and the feedback current i of the bearing coil fe The difference is the current error e, which is transmitted through the controller via the transfer function G. c After (s), the error drive signal is obtained, and the current error e is controlled by the controller as shown by the transfer function G. cThe PWM signal is obtained after (s) and the PWM module; the differential drive signal and the PWM signal are used as input signals for the three-level logic switching circuit; a temperature detection module and a dynamic allocation control unit are set in the control system of the magnetic bearing power amplifier. The temperature detection module detects the temperature of the upper device (the average temperature of each upper device) and the lower device (the average temperature of each lower device) in the magnetic bearing power amplifier. The dynamic allocation control unit outputs a three-level logic switching signal based on the upper and lower device temperatures to determine whether the upper or lower device should have freewheeling. The three-level logic switching signal is used as the control signal for the three-level logic switching circuit. The three-level logic switching signal outputs a freewheeling control signal (such as the control signal for whether the upper or lower device should have freewheeling). This freewheeling control signal drives the upper or lower device in the magnetic bearing power amplifier to have freewheeling after passing through the drive circuit. Thus, by controlling the switching of freewheeling between the upper and lower devices based on the temperature of the upper and lower devices in the magnetic bearing power amplifier, the freewheeling of a single device (such as the lower device) is prevented from causing large conduction losses in the single device (such as the lower device), thereby improving the operational reliability and safety of the magnetic bearing power amplifier. This magnetic bearing controller is involved in the manufacturing of rolling bearings such as industrial robot bearings and high-speed train bearings.

[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0022] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a control device for the magnetic bearing power amplifier of the present invention;

[0024] Figures 2 to 5 This is a schematic diagram of the power amplifier's operating state, where, Figure 2 This diagram illustrates the operating state of the power amplifier when it is turned on (i.e., both the upper switch S1 and the lower switch S4 are turned on). Figure 3 This diagram illustrates the power amplifier's off-state operation (i.e., both upper switch S1 and lower switch S4 are off). Figure 4 This is a schematic diagram showing the freewheeling state at the lower end of the power amplifier (i.e., the lower switch S4 and the lower freewheeling diode S3). Figure 5 This is a schematic diagram showing the freewheeling state at the upper end of the power amplifier (i.e., the upper switching transistor S1 and the upper freewheeling diode S2);

[0025] Figures 6 to 7 This is a schematic diagram illustrating the implementation of a three-level power amplifier with a magnetic bearing. Figure 6This diagram illustrates the structure of a three-level power amplifier implemented using an AND gate Lg1 for the upper switch S1 and an OR gate Lg2 for the lower switch S4. Figure 7 A schematic diagram of a three-level power amplifier implemented by using an OR gate Lg2 for the upper switch S1 and an AND gate Lg1 for the lower switch S4.

[0026] Figure 8 This is a schematic diagram of the three-level logic switching circuit of a magnetic bearing power amplifier.

[0027] Figure 9 This is a schematic diagram of the structure of the dynamic allocation control unit;

[0028] Figure 10 This is a schematic diagram of the first embodiment of the three-level logic switching circuit, specifically a schematic diagram of the three-level logic switching circuit structure that uses a multiplexer and logic gates to dynamically reconstruct the PWM output;

[0029] Figure 11 This is a schematic diagram of the second embodiment of the three-level logic switching circuit, specifically a schematic diagram of the three-level logic switching circuit structure using FPGA to dynamically reconstruct PWM output;

[0030] Figure 12 A schematic diagram of the simulation results for dynamic loss distribution of sinusoidal current;

[0031] Figure 13 A flowchart illustrating the dynamic loss distribution control of a magnetic bearing three-level power amplifier;

[0032] Figure 14 This is a schematic flowchart of an embodiment of the control method for the magnetic bearing power amplifier of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0034] Considering that in the control of a magnetic bearing system, the freewheeling phase of the magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier) ​​is achieved through a single-ended device (the lower-end device), there is a problem of relatively high conduction losses in this single-ended device. Specifically, in a logic gate-controlled magnetic bearing three-level power amplifier, since logic gates are used in conjunction with PWM to achieve three levels, the freewheeling phase only exists in the two lower-end switching devices, thus resulting in relatively high conduction losses in the lower-end switching devices.

[0035] Therefore, the present invention proposes a control device for a magnetic bearing power amplifier, specifically a three-level dynamic loss distribution device for a magnetic bearing power amplifier. This device can switch between the upper and lower devices during the freewheeling phase based on the temperature of the upper and lower devices in the magnetic bearing power amplifier (e.g., a three-level magnetic bearing power amplifier), avoiding excessive conduction losses in a single device (e.g., the lower device) and improving the operational reliability of the magnetic bearing power amplifier. The upper devices include an upper switching transistor S1 and an upper freewheeling diode S2, while the lower devices include a lower freewheeling diode S3 and a lower switching transistor S4.

[0036] According to an embodiment of the present invention, a control device for a magnetic bearing power amplifier is provided. See also... Figure 1 The diagram shows a structural schematic of an embodiment of the device of the present invention. This control device for the magnetic bearing power amplifier is applied to a control system based on the magnetic bearing power amplifier to implement a three-level control mode; the magnetic bearing power amplifier includes an upper device and a lower device, the upper device being an upper switching transistor S1 and an upper freewheeling diode S2, and the lower device being a lower freewheeling diode S3 and a lower switching transistor S4; in the solution of the present invention, as... Figure 1 As shown, the control device of the magnetic bearing power amplifier includes: a temperature sampling unit, a current sampling unit, and a logic control unit. The temperature sampling unit is such as a temperature detection module, the current sampling unit is such as a current sensor, and the logic control unit is such as a dynamic allocation control unit and a three-level logic switching circuit.

[0037] The temperature sampling unit is used to sample the temperature of the upper device and the lower device respectively to obtain the temperature of the upper device and the temperature of the lower device; the temperature of the upper device includes the average value of the temperature of the upper switching transistor S1 and the temperature of the upper freewheeling diode S2, and the temperature of the lower device includes the average value of the temperature of the lower freewheeling diode S3 and the temperature of the lower switching transistor S4.

[0038] The current sampling unit is used to sample the feedback value of the current output by the magnetic bearing power amplifier to the corresponding magnetic bearing coil, so as to obtain the feedback current of the magnetic bearing power amplifier.

[0039] The logic control unit is configured to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices, and to control the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier. The target freewheeling mode includes either a first freewheeling mode for the upper device or a second freewheeling mode for the lower device. That is, based on the temperatures of the upper and lower devices, it is determined whether the freewheeling mode during the freewheeling phase of the magnetic bearing power amplifier is upper device freewheeling or lower device freewheeling; subsequently, the magnetic bearing power amplifier is controlled to follow the determined target freewheeling mode, controlling either the upper or lower device freewheeling.

[0040] In the present invention, a target freewheeling mode for the magnetic bearing power amplifier is determined based on the temperatures of the upper and lower devices. The target freewheeling mode includes either a first freewheeling mode for the upper device or a second freewheeling mode for the lower device. Furthermore, the freewheeling of the upper or lower device is controlled according to the determined target freewheeling mode. Thus, by controlling the switching of freewheeling between the upper and lower devices based on the device temperatures (e.g., the temperatures of the upper and lower devices), the freewheeling of a single device (e.g., the lower device) is prevented from causing excessive conduction losses in that single device (e.g., the lower device), thereby improving the operational reliability and safety of the magnetic bearing power amplifier.

[0041] In some embodiments, the control device for the magnetic bearing power amplifier described in the present invention further includes:

[0042] The logic control unit is further configured to determine whether the magnetic bearing power amplifier is faulty based on the temperature of the upper device and the temperature of the lower device; and,

[0043] The logic control unit is further configured to, if it is determined that the magnetic bearing power amplifier is not faulty, determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and control the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier.

[0044] The logic control unit is also used to output a fault warning message for the magnetic bearing power amplifier if it is determined that the magnetic bearing power amplifier is faulty, such as reminding the host computer to control the magnetic bearing power amplifier to stop.

[0045] Specifically, the logic control unit includes a signal generation module, such as a dynamic allocation control unit. That is, when the logic control unit is further configured to determine whether the magnetic bearing power amplifier is faulty based on the temperatures of the upper and lower devices, specifically, when the logic control unit is further configured to determine whether the magnetic bearing power amplifier is faulty based on the temperatures of the upper and lower devices; if the magnetic bearing power amplifier is determined not to be faulty, then based on the temperatures of the upper and lower devices, the target freewheeling mode of the magnetic bearing power amplifier is determined, and based on the feedback current of the magnetic bearing power amplifier, the magnetic bearing power amplifier is controlled to follow the target freewheeling mode; if the magnetic bearing power amplifier is determined to be faulty, then a faulty reminder message is output, such as reminding the host computer to control the magnetic bearing power amplifier to stop. In this case, the logic control unit includes a signal generation module.

[0046] The signal generation module is used to determine whether the magnetic bearing power amplifier is faulty based on the temperature of the upper device and the temperature of the lower device; and,

[0047] The signal generation module is further configured to, if it is determined that the magnetic bearing power amplifier is not faulty, determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and control the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier.

[0048] The signal generation module is also used to output a fault reminder message for the magnetic bearing power amplifier if the fault is determined, such as reminding the host computer to control the magnetic bearing power amplifier to stop.

[0049] Specifically, the logic control unit includes: a signal generation module and a logic switching module, wherein the signal generation module is such as a dynamic allocation control unit, and the logic switching module is such as a three-level logic switching circuit.

[0050] The logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, including:

[0051] The signal generation module is used to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices; and

[0052] The signal generation module is used to generate a logic switching signal to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode when the current freewheeling mode of the magnetic bearing power amplifier is inconsistent with the target freewheeling mode of the magnetic bearing power amplifier. The logic switching signal is a control signal used to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode of the magnetic bearing power amplifier. The current freewheeling mode of the magnetic bearing power amplifier includes: a first freewheeling mode for the upper device or a second freewheeling mode for the lower device.

[0053] The logic switching module is used to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode of the magnetic bearing power amplifier based on the logic switching signal.

[0054] Preferably, the logic control unit includes: a signal generation module and a logic switching module, wherein the signal generation module is such as a dynamic allocation control unit, and the logic switching module is such as a three-level logic switching circuit.

[0055] The logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, including:

[0056] The signal generation module is used to determine whether the magnetic bearing power amplifier is faulty based on the temperatures of the upper and lower devices.

[0057] The signal generation module is further configured to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device if it is determined that the magnetic bearing power amplifier is not faulty.

[0058] The signal generation module is also used to output a fault reminder message for the magnetic bearing power amplifier if the fault is determined, such as reminding the host computer to control the magnetic bearing power amplifier to stop.

[0059] The logic switching module is used to control the magnetic bearing power amplifier to follow the target follow current mode of the magnetic bearing power amplifier based on the feedback current of the magnetic bearing power amplifier.

[0060] The present invention proposes a three-level dynamic loss allocation for a magnetic bearing power amplifier. The logic control unit includes a signal generation module and a logic switching module. Based on the temperature of the upper and lower devices in the magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier), the upper and lower devices are switched to carry current during the freewheeling phase. For example, the three-level implementation method can be changed according to the temperature of the switching device, thereby achieving dynamic adjustment of the switching device temperature. This prevents the lower switching device from carrying current for a long time, which would lead to large conduction losses and even affect the normal operation of the magnetic bearing power amplifier. Thus, it avoids large conduction losses of a single device (such as the lower device) and improves the operational reliability of the magnetic bearing power amplifier.

[0061] In some embodiments, the logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and controls the magnetic bearing power amplifier to freewheel according to the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, further comprising:

[0062] The signal generation module is further configured to generate a logic switching signal when the current freewheeling mode of the magnetic bearing power amplifier is inconsistent with the target freewheeling mode of the magnetic bearing power amplifier, so as to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode of the magnetic bearing power amplifier. The logic switching signal is a control signal used to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode of the magnetic bearing power amplifier; the current freewheeling mode of the magnetic bearing power amplifier includes: a first freewheeling mode for the upper device, or a second freewheeling mode for the lower device.

[0063] The logic switching module is further configured to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode of the magnetic bearing power amplifier based on the logic switching signal.

[0064] The present invention proposes a dynamic loss allocation scheme for a logic gate-controlled magnetic bearing three-level power amplifier in related solutions. When the current freewheeling mode of the magnetic bearing power amplifier differs from its target freewheeling mode, the signal generation module generates a logic switching signal. Based on this signal, the logic switching module switches the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode. By detecting the temperature of the switching devices and adjusting the three-level implementation method in real time, the temperature of the switching devices is dynamically adjusted, improving the safety and stability of the magnetic bearing power amplifier's operation and solving the problem of high conduction loss of the lower-end switching devices in logic gate-controlled magnetic bearing three-level power amplifiers in related solutions.

[0065] In some embodiments, the logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and controls the magnetic bearing power amplifier to freewheel according to the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, further comprising:

[0066] The signal generation module is further configured to generate a logic sustaining signal to maintain the current freewheeling mode of the magnetic bearing power amplifier when the current freewheeling mode of the magnetic bearing power amplifier is consistent with the target freewheeling mode of the magnetic bearing power amplifier; the logic sustaining signal is a control signal used to maintain the current freewheeling mode of the magnetic bearing power amplifier.

[0067] The logic switching module is also used to maintain the current freewheeling mode of the magnetic bearing power amplifier based on the logic sustaining signal.

[0068] The present invention proposes a dynamic loss allocation scheme for a logic gate-controlled magnetic bearing three-level power amplifier in related schemes. The signal generation module generates a logic sustaining signal to maintain the current freewheeling mode of the magnetic bearing power amplifier when the current freewheeling mode matches the target freewheeling mode. The logic switching module maintains the current freewheeling mode of the magnetic bearing power amplifier based on the logic sustaining signal. By only changing the three-level implementation method, dynamic adjustment of the switching device temperature is achieved without requiring shutdown or adding an additional power amplifier. This prevents the lower-end switching device from carrying current for extended periods, improving the safety and stability of the magnetic bearing power amplifier.

[0069] In some implementations, the signal generation module determines whether the magnetic bearing power amplifier is faulty based on the temperatures of the upper and lower devices, including:

[0070] The signal generation module is further configured to determine the highest temperature among the temperatures of the upper device and the lower device as the temperature of the magnetic bearing power amplifier; and to determine whether the temperature of the magnetic bearing power amplifier is greater than a first preset temperature threshold; the first preset temperature threshold is set to a value of 1.

[0071] The signal generation module is further configured to determine that the magnetic bearing power amplifier is faulty if the temperature of the magnetic bearing power amplifier is determined to be greater than a first preset temperature threshold, and to output a faulty reminder message for the magnetic bearing power amplifier, such as reminding the host computer to control the magnetic bearing power amplifier to stop.

[0072] The signal generation module is further configured to determine whether the magnetic bearing power amplifier is faulty or not if the temperature of the magnetic bearing power amplifier is determined to be less than or equal to a first preset temperature threshold, so as to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device.

[0073] In the present invention, if the temperature of the magnetic bearing power amplifier is determined to be less than or equal to a first preset temperature threshold, then the magnetic bearing power amplifier is determined to be faulty or not. Based on the temperatures of the upper and lower devices, the target freewheeling mode of the magnetic bearing power amplifier is determined. By detecting the temperature of the switching devices, the sequence of logic gates is adjusted in real time, thereby adjusting the upper and lower freewheeling devices in the three-level magnetic bearing three-level power amplifier. This avoids severe overheating caused by using only the lower device for freewheeling and prevents the lower switching device from carrying current for a long time, thus improving the safety and stability of the magnetic bearing power amplifier.

[0074] In some implementations, if the signal generation module determines that the magnetic bearing power amplifier is not faulty, it determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, including: determining the target freewheeling mode of the magnetic bearing power amplifier as a second freewheeling mode for the lower device.

[0075] The signal generation module is further configured to determine, in the case that the magnetic bearing power amplifier is not faulty, whether the temperature of the lower device is greater than a second preset temperature threshold, wherein the second preset temperature threshold is less than a first preset temperature threshold; the second preset temperature threshold is set to a value of 2.

[0076] The signal generation module is further configured to, when determining whether the magnetic bearing power amplifier is faulty or not, if it is determined that the temperature of the lower device is greater than a second preset temperature threshold, determine that the target freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device, so as to generate a logic switching signal when the current freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device; of course, when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device, generate a logic sustaining signal.

[0077] In the solution of this invention, if the signal generation module determines that the magnetic bearing power amplifier is not faulty, and if it determines that the temperature of the lower device is greater than a second preset temperature threshold, then it determines that the target freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device. In the case that the current freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device, a logic switching signal is generated. This allows for dynamic adjustment of the switching devices by measuring the temperature of the switching devices with sensors and changing the freewheeling methods of the upper and lower transistors, thereby improving the reliability of the power amplifier.

[0078] In some implementations, if the signal generation module determines that the magnetic bearing power amplifier is not faulty, it determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device. The process further includes determining that the target freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the lower device.

[0079] The signal generation module is further configured to, in the case that the magnetic bearing power amplifier is determined to be faulty, if the temperature of the lower device is determined to be less than or equal to a second preset temperature threshold, determine whether the temperature of the upper device is greater than a third preset temperature threshold, wherein the third preset temperature threshold is less than the second preset temperature threshold; the third preset temperature threshold is set to a value of 3.

[0080] The signal generation module is further configured to, when determining whether the magnetic bearing power amplifier is faulty or not, and when determining that the temperature of the lower device is less than or equal to a second preset temperature threshold, if determining that the temperature of the upper device is greater than a third preset temperature threshold, determine that the target freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device, so as to generate a logic switching signal when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device; and of course, to generate a logic sustaining signal when the current freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device.

[0081] The signal generation module is further configured to, when determining whether the magnetic bearing power amplifier is faulty or not, and when determining that the temperature of the lower device is less than or equal to a second preset temperature threshold, if determining that the temperature of the upper device is less than or equal to a third preset temperature threshold, determine that the target freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device, and generate a logic sustaining signal when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device; and generate a logic switching signal when the current freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device.

[0082] In the solution of this invention, when the signal generation module determines whether the magnetic bearing power amplifier is faulty or not, and determines that the temperature of the lower device is less than or equal to a second preset temperature threshold, if it determines that the temperature of the upper device is greater than a third preset temperature threshold, then it determines that the target freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device. In the case where the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device, a logic switching signal is generated. This allows for dynamic adjustment of the switching devices by measuring the temperature of the switching devices through sensors and changing the freewheeling methods of the upper and lower transistors, thereby improving the reliability of the power amplifier.

[0083] The present invention proposes a three-level dynamic loss distribution scheme for a magnetic bearing power amplifier. Based on temperature feedback, it achieves dynamic balanced distribution of switching device losses by dynamically reconstructing the implementation logic of the three levels of the power amplifier. Figures 2 to 5 This is a schematic diagram of the power amplifier's operating state, where, Figure 2 This diagram illustrates the operating state of the power amplifier when it is turned on (i.e., both the upper switch S1 and the lower switch S4 are turned on). Figure 3 This diagram illustrates the power amplifier's off-state operation (i.e., both upper switch S1 and lower switch S4 are off). Figure 4 This is a schematic diagram showing the freewheeling state at the lower end of the power amplifier (i.e., the lower switch S4 and the lower freewheeling diode S3). Figure 5 This is a schematic diagram showing the freewheeling state at the upper end of the power amplifier (i.e., the upper switching transistor S1 and the upper freewheeling diode S2). Figures 2 to 5 As shown, the magnetic bearing power amplifier includes: an upper switching transistor S1 and an upper freewheeling diode S2, a lower switching transistor S4 and a lower freewheeling diode S3, and an inductor; when both the upper switching transistor S1 and the lower switching transistor S4 are MOSFETs, the DC power supply V... in The positive terminal of the DC power supply (such as the bus voltage of a magnetic bearing power amplifier) ​​is connected to the drain of the upper switching transistor S1 and the cathode of the upper freewheeling diode S2, respectively; the source of the upper switching transistor S1 is connected to the cathode of the lower freewheeling diode S3, and the anode of the upper freewheeling diode S2 is connected to the drain of the lower switching transistor S4; in The negative terminal is connected to the anode of the lower freewheeling diode S3 and the source of the lower switching transistor S4, respectively; the inductor is connected between the source of the upper switching transistor S1 and the anode of the upper freewheeling diode S2. The gates of the upper switching transistor S1 and the lower switching transistor S4 are both control terminals of the magnetic bearing power amplifier.

[0084] Figures 2 to 5This demonstrates the main operating states of the magnetic bearing power amplifier, including turn-on, turn-off, and any combination of two freewheeling modes (upper freewheeling and lower freewheeling) to achieve a three-level output. In actual magnetic levitation, under closed-loop control of the position loop, the magnetic bearing power amplifier outputs a reference current i from the position loop. ref Current reference value (e.g.) Figure 8 Reference current i ref During dynamic changes, the output current of the magnetic bearing power amplifier may increase or decrease. If the output current of the magnetic bearing power amplifier needs to be increased, then... Figure 2 The opening process shown in the figure Figure 4 and Figure 5 Any of the freewheeling currents can be used to increase the current. Similarly, if the output current of the magnetic bearing power amplifier needs to be reduced, then... Figure 3 The shutdown process shown is coordinated with Figure 4 and Figure 5 This will reduce the current.

[0085] See Figures 2 to 5 In the example shown, the on-state of the magnetic bearing three-level power amplifier, combined with freewheeling, achieves current increase; the off-state, also combined with freewheeling, achieves current decrease. The three levels of the magnetic bearing three-level power amplifier are achieved in this way. The current-on process of the magnetic bearing three-level power amplifier is a rapid current rise, while the freewheeling process is a slow current discharge. With proper time allocation within a cycle, the overall current rise and fall can be achieved. The three-level design reduces output current ripple, thereby reducing rotor vibration.

[0086] Figures 6 to 7 This is a schematic diagram illustrating the implementation of a three-level power amplifier with a magnetic bearing. Figure 6 This diagram illustrates the structure of a three-level power amplifier implemented using an AND gate Lg1 for the upper switch S1 and an OR gate Lg2 for the lower switch S4. Figure 7 This is a schematic diagram of a three-level power amplifier implemented using an OR gate Lg2 for the upper switch S1 and an AND gate Lg1 for the lower switch S4. Figure 6 As shown, the output signal after the error drive signal and PWM signal pass through the AND gate Lg1 drives the upper switch S1 to turn on or off after passing through the drive circuit of the upper switch S1; the output signal after the error drive signal and PWM signal pass through the NOT gate Lg2 drives the lower switch S4 to turn on or off after passing through the drive circuit of the lower switch S4. Figure 7As shown, the output signal after the error drive signal and the PWM signal pass through the logic NOT gate Lg2, drives the upper switch S1 to turn on or off after passing through the drive circuit of the upper switch S1; the output signal after the error drive signal and the PWM signal pass through the logic AND gate Lg1, drives the lower switch S4 to turn on or off after passing through the drive circuit of the lower switch S4.

[0087]

[0088] In Table 1, the bridge circuit refers to the half-bridge topology formed by the upper switch S1, the upper freewheeling diode S2, the lower freewheeling diode S3, and the lower switch S4.

[0089] Figure 6 Table 1 details a typical three-level implementation of a magnetic bearing power amplifier, which utilizes logic gates (such as...) Figure 6 The AND gate Lg1 and OR gate Lg2 are used in conjunction with the error value (i.e., the error drive signal, such as...). Figure 8 The reference current i shown ref The feedback current i of the current output from the magnetic bearing power amplifier to the bearing coil fe With the help of the current error e), only one PWM channel is needed to achieve three-level operation, which significantly simplifies the control logic.

[0090] See Figure 6 As shown in Table 1, in the scheme of the present invention, a specific implementation of a three-level dynamic loss distribution method for a magnetic bearing power amplifier is as follows:

[0091] Step 11: During the closed-loop control process of the magnetic bearing, determine the reference current i. ref -Feedback current i fe =Current error e, i.e., determined Figure 8 After determining the current error e, proceed to step 12 or step 13.

[0092] Step 12, when the current error e > 0, as follows Figure 6 The error drive signal output is high, and this error drive signal is logically ANDed with the PWM signal (e.g., ...). Figure 6 The logic gate Lg1 in the middle drives the upper transistor (such as...). Figure 6 The upper switching device (such as the upper switching transistor S1) is turned on when the PWM is high and turned off when the PWM is low.

[0093] like Figure 6 The error drive signal shown is logically ORed with the PWM signal (e.g., ...). Figure 6 (Internal logic gate Lg2), driving the lower transistor (e.g.) Figure 6The lower switching transistor S4 is always on when the PWM signal is high or low. This causes the bridge circuit to be in an on-state when the PWM signal is high (e.g., ...). Figure 2 When the PWM is low, a lower freewheeling state is generated (e.g., Figure 4 ).

[0094] Step 13: When the current error e < 0, as follows Figure 6 The error drive signal output is low, and a logical AND operation is performed with the PWM signal. Figure 7 (Internal logic gate Lg1), driving the upper transistor ( Figure 7 The upper switching device (such as the upper switching transistor S1) is only turned off (always turned off) when the PWM is high or low.

[0095] like Figure 6 The error drive signal shown is logically ORed with the PWM signal. Figure 7 (Internal logic OR gate Lg2), driving the lower transistor ( Figure 7 The lower switching device (S4) is turned on when the PWM signal is high and turned off when the PWM signal is low. This causes the bridge circuit to generate a freewheeling current at the lower end when the PWM signal is high (e.g., ...). Figure 4 When the PWM is low, a shutdown state is generated (e.g., Figure 3 However, this implementation relies solely on the lower-end devices (such as the lower freewheeling diode S3 and the lower switching transistor S4) for freewheeling during the freewheeling phase. This results in a high proportion of the conduction time of the lower transistors (such as the lower freewheeling diode S3 and the lower switching transistor S4). Over long-term operation, this leads to a significant increase in the conduction losses of the lower transistors (such as the lower freewheeling diode S3 and the lower switching transistor S4). The temperature of the lower transistors (such as the lower freewheeling diode S3 and the lower switching transistor S4) is consistently higher than that of the upper transistors (such as the upper switching transistor S1 and the upper freewheeling diode S2), posing a risk of overheating. This not only affects the lifespan of the magnetic bearing three-level power amplifier but may also lead to instability in the control system.

[0096] Figure 8 This is a schematic diagram of the working process of the three-level logic switching circuit of the magnetic bearing power amplifier. Figure 8 The internal structure of the three-level logic switching circuit in the example, such as Figure 10 and Figure 11 As shown, the main function is to swap Lg1 and Lg2, and to switch the three-level freewheeling mode (upper freewheeling becomes lower freewheeling, or lower freewheeling becomes upper freewheeling). Figure 8 This is a schematic diagram of a control system for a three-level dynamic loss distribution method for a magnetic bearing power amplifier controlled by logic gates. It consists of a temperature monitoring module, a dynamic distribution control unit, and a three-level logic switching circuit.

[0097] like Figure 8 As shown, the reference current iref -Feedback current i fe =Current error e, current error e is transmitted through the controller as shown in the transfer function G c (s) The output error drive signal is then sent to the three-level logic switching circuit, and the current error e is also passed through the controller, such as the transfer function G. c (s) and the PWM module output a PWM signal to the three-level logic switching circuit. The temperature monitoring module feeds back the sampled temperature to the dynamic allocation control unit. The dynamic allocation control unit outputs a three-level logic switching signal to the three-level logic switching circuit. The three-level logic switching circuit outputs a drive control signal to the drive circuit. The drive circuit outputs a drive signal to the power bridge (i.e., the magnetic bearing power amplifier). The magnetic bearing power amplifier outputs current to the corresponding magnetic bearing coil. The feedback current of this magnetic bearing coil is transmitted through a current sensor (such as K). s After (module), the feedback current i of the magnetic bearing coil of that channel is obtained. fe The controller is such as the transfer function G. c (s) can function as a first-order low-pass filter. K s The transfer function G represents the amplification gain when converting a current signal into a voltage signal. c (s) represents the control algorithm, which is generally closed-loop control using a PI controller.

[0098] In the present invention, the temperature monitoring module embeds high-precision thermistors or other temperature sensors on the surfaces of the upper transistor (i.e., the upper switching transistor S1 and the upper freewheeling diode S2) and the lower transistor (i.e., the lower freewheeling diode S3 and the lower switching transistor S4) to collect temperature data of the switching devices in real time, ensuring monitoring accuracy and reliability. Furthermore, based on the temperature of the switching devices, the freewheeling method of the upper and lower transistors is changed, thereby realizing dynamic adjustment of the switching devices and improving the reliability of the power amplifier.

[0099] In some embodiments, the signal generation module includes: a first comparison module, a second comparison module, an addition module, a third comparison module, a first multiplexing module, a fourth comparison module, a fifth comparison module, a sixth comparison module, and a first OR gate module, wherein the first comparison module is as follows: Figure 9 Comparator 1 and the second comparison module are as follows: Figure 9 The comparator 2 in the above, the addition module as follows Figure 9 The adder in the middle, the third comparison module as follows Figure 9 Comparator 3 in the first multiplexing module, such as Figure 9 The multiplexer 1 and the fourth comparison module are as follows: Figure 9 Comparator 4 in the middle, the fifth comparison module as follows Figure 9 Comparator 5 in the middle, the sixth comparison module as follows Figure 9 Comparator 6 in the first OR gate module, such as Figure 9OR gate.

[0100] The first preset temperature threshold is input to the first input terminal of the first comparison module and the first input terminal of the second comparison module, respectively; the set voltage value is input to the first input terminal of the third comparison module; the second preset temperature threshold is input to the first input terminal of the fifth comparison module; and the third preset temperature threshold is input to the first input terminal of the fourth comparison module.

[0101] The temperature of the upper device is input in voltage form to the second input terminal of the first comparison module and the first input terminal of the first multiplexing module, respectively; the temperature of the lower device is input in voltage form to the second input terminal of the second comparison module and the second input terminal of the first multiplexing module, respectively; the output terminal of the first comparison module is connected to the first input terminal of the addition module, and the output terminal of the second comparison module is connected to the second input terminal of the addition module; the output terminal of the addition module is connected to the control terminal of the first multiplexing module.

[0102] The first output terminal of the first multiplexing module is used to output a fault reminder message for the magnetic bearing power amplifier, such as reminding the host computer to control the magnetic bearing power amplifier to stop.

[0103] The second output terminal of the first multiplexing module is connected to the second input terminal of the fourth comparison module; the third output terminal of the first multiplexing module is connected to the second input terminal of the fifth comparison module; the output terminal of the fourth comparison module is connected to the second input terminal of the sixth comparison module; the output terminal of the fifth comparison module is connected to the first input terminal of the sixth comparison module and the second input terminal of the first OR gate module, respectively; the output terminal of the sixth comparison module is connected to the first input terminal of the first OR gate module; the output terminal of the first OR gate module is used to output a corresponding logic switching signal or logic hold signal.

[0104] The present invention proposes a detailed dynamic loss allocation software architecture and hardware circuit implementation scheme, including: a dedicated circuit (such as...) Figure 9 The circuit shown can be used to dynamically allocate control units, with multiplexers and logic gates working together, or logic gate switching can be implemented using an FPGA. In practice, the circuit can be built directly according to the design scheme, and the program can be written. A programmable gate array (FPGA) is a user-programmable semiconductor integrated circuit device.

[0105] Figure 9 This is a schematic diagram of the structure of the dynamic allocation control unit; Figure 10 This is a schematic diagram of the first embodiment of the three-level logic switching circuit, specifically a schematic diagram of the three-level logic switching circuit structure that uses a multiplexer and logic gates to dynamically reconstruct the PWM output; Figure 11 This is a schematic diagram of the second embodiment of the three-level logic switching circuit, specifically a schematic diagram of the three-level logic switching circuit structure using FPGA to dynamically reconstruct the PWM output. Figure 9 , Figure 10 and Figure 11 It can display the dynamic loss distribution principle of the three-level magnetic bearing power amplifier.

[0106] The dynamic allocation control unit uses FPGA or dedicated circuitry (such as...) Figure 9 This is achieved by setting safe temperature thresholds (such as setpoint 1, setpoint 2, and setpoint 3) as triggering criteria, and determining whether to adjust the three-level control by analyzing temperature data in real time (see details). Figure 13 The dedicated circuits are mainly implemented using analog devices. FPGAs can achieve dynamic allocation control through programming, and their main functions include... Figure 13 The dynamic allocation control section of the flowchart.

[0107] like Figure 9 As shown, the temperature sampling values ​​(in voltage form) of the upper transistors (i.e., upper switching transistor S1 and upper freewheeling diode S2) are input to comparator 1 and multiplexer 1 respectively after passing through linear conditioning circuit 1. The temperature sampling values ​​(in voltage form) of the lower transistors (i.e., lower freewheeling diode S3 and lower switching transistor S4) are input to comparator 2 and multiplexer 1 respectively after passing through linear conditioning circuit 2. The setpoint 1 is input to comparator 1 and comparator 2 respectively. The output values ​​of comparator 1 and comparator 2 are input to comparator 3 after passing through an adder. The voltage setpoint is input to comparator 3. The output value of comparator 3 serves as the control signal for multiplexer 1. Multiplexer 1 outputs a power amplifier fault signal to the host computer or a three-level logic switching signal to the three-level logic switching circuit.

[0108] Multiplexer 1 outputs a three-level logic switching signal to the three-level logic switching circuit. Specifically, multiplexer 1 outputs a first signal to comparator 4, multiplexer 1 outputs a second signal to comparator 5, set value 2 is input to comparator 5, set value 3 is input to comparator 4, the output value of comparator 4 is input to comparator 6, the output value of comparator 5 is input to comparator 6 and a logic OR gate, the output value of comparator 6 is input to a logic OR gate, and the logic OR gate outputs a three-level logic switching signal to the three-level logic switching circuit.

[0109] Figure 9 The document lists a dynamic allocation control unit circuit with one upper and one lower switch. Each switch acquires a temperature feedback voltage signal via a data acquisition circuit, which then scales it to the required range using a linear conditioning circuit (e.g., an operational amplifier circuit). The two signals are then compared with a set value of 1 (i.e.,...). Figure 13The voltage value corresponding to the setpoint 1 temperature value is compared, and then the output signals are added by an adder and output to comparator 3. If both signals are greater than the setpoint 1, the adder outputs the highest voltage. If this highest voltage is greater than the (set) voltage value, comparator 3 outputs a high level, multiplexer switches to 1, and reports a fault in the magnetic bearing three-level power amplifier. Conversely, if both voltages are less than the setpoint 1 or only one is greater than the setpoint 1, the adder output is not the highest voltage. If this highest voltage is less than the (set) voltage value, comparator 3 outputs a low level, and multiplexer 1 does not switch. After the two signals pass through multiplexer 1, the upper tube signal is compared with the setpoint 3 (… Figure 13 The voltage corresponding to setting value 3 is compared. If it exceeds setting value 3, a high level is output, and the lower transistor is compared with setting value 2 ( Figure 13 The set value (corresponding to voltage 2) is compared. If the voltage is within the set value 2, a low level is output, and comparator 6 outputs a high level. This outputs a three-level logic switching signal after passing through a logic OR gate. Otherwise, comparator 6 outputs a low level. When the current transistor signal exceeds the set value 2, comparator 5 outputs a high level. This outputs a three-level logic switching signal after passing through a logic OR gate, controlling the switching of the logic gates. The (set) voltage value indicates that the multiplexer should be switched to position 1 when both of the preceding comparators output high levels. The range of the (set) voltage value is: higher than the voltage when only one of the preceding two comparators outputs a high level, and lower than the sum of the voltages when both of the preceding comparators output high levels.

[0110] In the present invention, the signal generation module includes a first comparison module, a second comparison module, an addition module, a third comparison module, a first multiplexing module, a fourth comparison module, a fifth comparison module, a sixth comparison module, and a first OR gate module, thereby realizing dynamic loss distribution of the power amplifier. By measuring the temperature of the switching devices and changing the freewheeling method of the upper and lower transistors, the loss of the switching devices can be dynamically adjusted. Compared with the magnetic bearing three-level power amplifier that always achieves freewheeling through the lower switching device, the reliability of the power amplifier is improved.

[0111] In some embodiments, the logic switching module includes: a first AND gate module, a second OR gate module, and a second multiplexing module, wherein the first AND gate module is a logical AND gate Lg1, the second OR gate module is a logical OR gate Lg2, and the second multiplexing module is a logical OR gate Lg2. Figure 10 The multiplexer 2 shown is shown.

[0112] The PWM signal of the control system of the magnetic bearing power amplifier is input to the first input terminal of the first AND gate module and the first input terminal of the second OR gate module, respectively. The error drive signal of the control system of the magnetic bearing power amplifier, obtained based on the feedback current of the magnetic bearing power amplifier, is input to the first input terminal of the first AND gate module and the first input terminal of the second OR gate module, respectively. The output terminal of the first AND gate module is connected to the first input terminal of the second multiplexing module. The output terminal of the second OR gate module is connected to the second input terminal of the second multiplexing module.

[0113] The signal generation module determines the logic switching signal or logic sustaining signal of the target freewheeling mode of the magnetic bearing power amplifier, and inputs it as a logic control signal to the control terminal of the second multiplexing module; the first output terminal of the second multiplexing module is connected to the driving circuit terminal of the upper device; the second output terminal of the second multiplexing module is connected to the driving circuit terminal of the lower device.

[0114] Alternatively, the logic switching module may include: an FPGA module, such as... Figure 11 The FPGA circuit shown.

[0115] The PWM signal of the control system of the magnetic bearing power amplifier is input to the first input terminal of the FPGA module; the error drive signal of the control system of the magnetic bearing power amplifier, obtained based on the feedback current of the magnetic bearing power amplifier, is input to the second input terminal of the FPGA module.

[0116] The signal generation module determines the logic switching signal or logic sustaining signal of the target freewheeling mode of the magnetic bearing power amplifier, and inputs it as a logic control signal to the control terminal of the FPGA module; the first output terminal of the FPGA module is connected to the driving circuit terminal of the upper device; the second output terminal of the FPGA module is connected to the driving circuit terminal of the lower device.

[0117] In the solution of the present invention, the logic switching module includes a first AND gate module, a second OR gate module, and a second multiplexing module, or the logic switching module includes an FPGA module, to realize dynamic adjustment of the temperature of the switching device, prevent the lower switching device from carrying current for a long time, resulting in large conduction losses, or even affecting the normal operation of the magnetic bearing power amplifier; thereby, avoiding large conduction losses of a single device (such as the lower device) and improving the operational reliability of the magnetic bearing power amplifier.

[0118] Figure 10 and Figure 11 This is a schematic diagram of a three-level logic switching circuit, using a hardware-level multiplexer and logic gates ( Figure 10 ) or FPGA ( Figure 11 The output path of the PWM is dynamically reconstructed to achieve the switching of the three-level modulation method in freewheeling mode. Figure 10 The logic gates (i.e., AND gate Lg1 and OR gate Lg2) participate in the three-level control, while multiplexer 2 switches the logic outputs to drive the upper transistor (such as the upper switch S1) and the lower transistor. The multiplexer is also called an analog switch, and it has multiple single-pole double-throw switches (two in this case). The switching is achieved by external three-level logic switching signals, thereby realizing the switching of the upper and lower logic gates. Figure 11 The functions of FPGA in China Figure 10 The functions of the AND gate Lg1, OR gate Lg2, and multiplexer 2 are similar, but the FPGA can switch them by directly modifying the logic.

[0119] Figure 13 A schematic diagram of the dynamic loss distribution control of a magnetic bearing three-level power amplifier. Figure 13 In this configuration, the upper transistors are the upper switching transistor S1 and the upper freewheeling diode S2, and the lower transistors are the lower switching transistor S4 and the lower freewheeling diode S3. The temperatures of these four transistors (i.e., the upper switching transistor S1 and the upper freewheeling diode S2, and the lower switching transistor S4 and the lower freewheeling diode S3) can be obtained using individual temperature sensors. The setpoint order is: Setpoint 1 > Setpoint 2 > Setpoint 3. Setpoint 1 is typically set to the shutdown temperature when the switching devices overheat, such as around 80 degrees Celsius. Setpoint 2 is the temperature of the main freewheeling device, which can be set to around 50 degrees Celsius. Setpoint 3 is for the less frequently used freewheeling device and can be close to Setpoint 2, set to around 40 degrees Celsius, to ensure dynamic switching. The specific temperatures for Setpoints 1, 2, and 3 depend on the specific devices being used.

[0120] like Figure 13 As shown, the specific implementation process of dynamic loss distribution control in a magnetic bearing three-level power amplifier includes:

[0121] Step 21: Sample the temperature of the upper transistor (i.e., the average temperature of the upper switching transistor S1 and the upper freewheeling diode S2), and sample the temperature of the lower transistor (i.e., the average temperature of the lower freewheeling diode S3 and the lower switching transistor S4), and then proceed to step 22.

[0122] Step 22: Take the maximum value of the upper tube temperature and the lower tube temperature as the upper and lower tube switching device temperature; determine whether the upper and lower tube switching device temperature is greater than the set value of 1: if so, determine that the power amplifier is faulty, that is, determine that the magnetic bearing three-level power amplifier is faulty, and output a fault reminder message; otherwise, proceed to step 23.

[0123] Step 23: Determine if the lower tube temperature is greater than the set value 2: If yes, then swap the AND gate Lg1 and the NOT gate Lg2, i.e. Figure 6 and Figure 7 The interchange shown is correct; otherwise, proceed to step 24. The lower tube temperature is the same as the lower tube switching device temperature C. 下 .

[0124] Step 24: Determine if the upper tube temperature is greater than the set value 3: If yes, then determine if the AND gate Lg1 and the NOT gate Lg2 are interchanged, i.e. Figure 6 and Figure 7 The above conditions must be met; otherwise, maintain the current operation, i.e., the AND gate Lg1 and the NOT gate Lg2 must not be interchanged. The upper transistor temperature, such as the upper transistor switching device temperature C... 上 .

[0125] like Figure 13 As shown, when the system detects that the temperatures of both the upper transistor (i.e., upper switching transistor S1 and upper freewheeling diode S2) and the lower transistor (i.e., lower freewheeling diode S3 and lower switching transistor S4) exceed the set threshold, a fault alarm is triggered to prevent equipment damage. When only the temperature of the lower transistor (i.e., lower freewheeling diode S3 and lower switching transistor S4) exceeds the limit, the logic gate outputs are swapped, forcing the upper freewheeling (with the upper transistor (i.e., upper switching transistor S1 and upper freewheeling diode S2) dominating the freewheeling path) and reducing the freewheeling time of the lower transistor (i.e., lower freewheeling diode S3 and lower switching transistor S4). The logic implemented by the three-level circuit remains unchanged; only the logic gates of the upper and lower transistors (i.e., lower freewheeling diode S3 and lower switching transistor S4) are swapped. The implementation method is the same as the specific implementation method of the magnetic bearing three-level power amplifier with logic control mentioned above, except that the driving logic gates of the upper and lower transistors (i.e., lower freewheeling diode S3 and lower switching transistor S4) are swapped.

[0126] When the upper transistor (i.e., upper switching transistor S1 and upper freewheeling diode S2) is in the freewheeling state, if only the upper transistor (i.e., upper switching transistor S1 and upper freewheeling diode S2) exceeds the temperature limit, the logic gate outputs are swapped, forcing the lower transistor to continue freewheeling (the freewheeling path is dominated by the lower transistor (i.e., lower freewheeling diode S3 and lower switching transistor S4), see [link to relevant documentation]). Figure 6 This becomes the traditional three-level implementation method, balancing the load; when the temperature is within a safe range, the system maintains the traditional downstream freewheeling strategy (see...). Figure 6 That is, the lower transistor (i.e., the lower freewheeling diode S3 and the lower switching transistor S4) dominates the freewheeling.

[0127] Figure 12 A schematic diagram of the simulation results for dynamic loss distribution of sinusoidal current. Figure 12 It can display the simulation results of the switching point of the three-level dynamic loss distribution logic of the magnetic bearing power amplifier. From Figure 12 It can be clearly seen from this that the two logic gates ( Figure 6 and Figure 7The interchange of the AND gates Lg1 and Lg2 (OR gates) does not cause drastic distortion in the output current; the current waveform remains stable without significant oscillations or distortion. This fully demonstrates that the method is perfectly applicable to the dynamic adjustment of the switching device losses in this magnetic bearing three-level power amplifier. The effectiveness of this method is verified through simulation: after the temperature-triggered logic interchange, dynamic balancing of the lower transistor's conduction loss is achieved, and the output current waveform remains stable, fully meeting the real-time requirements of the magnetic bearing system. In the freewheeling mode of related schemes, the lower transistor suffers from high losses and temperature imbalance due to continuous high load, which can easily lead to overheating failures during long-term operation. This method, however, dynamically adjusts the freewheeling path to dynamically distribute the current load between the upper and lower transistors, effectively avoiding localized overheating. This dynamic balancing mechanism not only improves the temperature consistency of the switching devices but also significantly extends the overall system lifespan, providing a crucial guarantee for the high reliability of the magnetic bearing.

[0128] The technical solution of this invention, by considering the three-level implementation of a magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier), determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices. The target freewheeling mode includes a first freewheeling mode for the upper device and a second freewheeling mode for the lower device. Furthermore, based on the feedback current of the magnetic bearing power amplifier, the amplifier is controlled to follow the target freewheeling mode, i.e., controlling the upper or lower device to follow the determined target freewheeling mode. Thus, by controlling the switching of freewheeling between the upper and lower devices based on the device temperatures (such as the temperatures of the upper and lower devices), the freewheeling of a single device (such as the lower device) is prevented from causing large conduction losses in that single device (such as the lower device), thereby improving the operational reliability and safety of the magnetic bearing power amplifier. This magnetic bearing controller relates to the manufacturing of rolling bearings such as industrial robot bearings and high-speed train bearings.

[0129] Specifically, in the solution of this invention, the magnetic bearing power amplifier (such as a magnetic bearing three-level power amplifier) ​​is controlled by a control system based on a three-level implementation method. ref and the feedback current i of the bearing coil fe The difference is the current error e, which is transmitted through the controller via the transfer function G. c After (s), the error drive signal is obtained, and the current error e is controlled by the controller as shown by the transfer function G. cThe PWM signal is obtained after (s) and the PWM module; the differential drive signal and the PWM signal are used as input signals for the three-level logic switching circuit; a temperature detection module and a dynamic allocation control unit are set in the control system of the magnetic bearing power amplifier. The temperature detection module detects the temperature of the upper device (the average temperature of each upper device) and the lower device (the average temperature of each lower device) in the magnetic bearing power amplifier. The dynamic allocation control unit outputs a three-level logic switching signal based on the upper and lower device temperatures to determine whether the upper or lower device should have freewheeling. The three-level logic switching signal is used as the control signal for the three-level logic switching circuit. The three-level logic switching signal outputs a freewheeling control signal (such as the control signal for whether the upper or lower device should have freewheeling). This freewheeling control signal drives the upper or lower device in the magnetic bearing power amplifier to have freewheeling after passing through the drive circuit. Thus, by controlling the switching of freewheeling between the upper and lower devices based on the temperature of the upper and lower devices in the magnetic bearing power amplifier, the freewheeling of a single device (such as the lower device) is prevented from causing large conduction losses in the single device (such as the lower device), thereby improving the operational reliability and safety of the magnetic bearing power amplifier. This magnetic bearing controller is involved in the manufacturing of rolling bearings such as industrial robot bearings and high-speed train bearings.

[0130] According to embodiments of the present invention, a magnetic bearing controller and a magnetic bearing system corresponding to a control device for a magnetic bearing power amplifier are also provided. The magnetic bearing controller and magnetic bearing system may include the control device for the magnetic bearing power amplifier described above. This magnetic bearing controller relates to the manufacture of rolling bearings such as industrial robot bearings and high-speed train bearings.

[0131] Since the processing and functions implemented by the magnetic bearing controller and magnetic bearing system in this embodiment are basically corresponding to the embodiments, principles and examples of the device, any details not covered in the description of this embodiment can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0132] According to embodiments of the present invention, a control method for a magnetic bearing power amplifier corresponding to a magnetic bearing controller and a magnetic bearing system is also provided, such as... Figure 14 The diagram shows a flowchart of an embodiment of the method of the present invention. This magnetic bearing controller relates to the manufacture of rolling bearings such as industrial robot bearings and high-speed train bearings. The control method for this magnetic bearing power amplifier may include steps S110 to S130.

[0133] In step S110, the temperature of the upper device and the lower device are sampled by the temperature sampling unit to obtain the temperature of the upper device and the temperature of the lower device. The temperature of the upper device includes the average value of the temperature of the upper switching transistor S1 and the temperature of the upper freewheeling diode S2, and the temperature of the lower device includes the average value of the temperature of the lower freewheeling diode S3 and the temperature of the lower switching transistor S4.

[0134] In step S120, the feedback value of the current output from the magnetic bearing power amplifier to the corresponding magnetic bearing coil is sampled by the current sampling unit to obtain the feedback current of the magnetic bearing power amplifier.

[0135] In step S130, the logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperatures of the upper and lower devices, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier. The target freewheeling mode of the magnetic bearing power amplifier includes either a first freewheeling mode for the upper device or a second freewheeling mode for the lower device. That is, based on the temperatures of the upper and lower devices, it is determined whether the freewheeling mode during the freewheeling phase of the magnetic bearing power amplifier is upper device freewheeling or lower device freewheeling; subsequently, the magnetic bearing power amplifier is controlled to follow the determined target freewheeling mode, controlling either upper device freewheeling or lower device freewheeling.

[0136] In the present invention, a target freewheeling mode for the magnetic bearing power amplifier is determined based on the temperatures of the upper and lower devices. The target freewheeling mode includes either a first freewheeling mode for the upper device or a second freewheeling mode for the lower device. Furthermore, the freewheeling of the upper or lower device is controlled according to the determined target freewheeling mode. Thus, by controlling the switching of freewheeling between the upper and lower devices based on the device temperatures (e.g., the temperatures of the upper and lower devices), the freewheeling of a single device (e.g., the lower device) is prevented from causing excessive conduction losses in that single device (e.g., the lower device), thereby improving the operational reliability and safety of the magnetic bearing power amplifier.

[0137] Since the processing and functions implemented by the method in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned device, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0138] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0139] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A control device for a magnetic bearing power amplifier, characterized in that, The magnetic bearing power amplifier includes an upper device and a lower device; the control device of the magnetic bearing power amplifier includes: a temperature sampling unit, a current sampling unit, and a logic control unit; wherein... The temperature sampling unit is used to sample the temperature of the upper device and the lower device respectively, and obtain the temperature of the upper device and the temperature of the lower device; The current sampling unit is used to sample the feedback value of the current output by the magnetic bearing power amplifier to the corresponding magnetic bearing coil, so as to obtain the feedback current of the magnetic bearing power amplifier. The logic control unit is used to determine the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and to control the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier; wherein, the target freewheeling mode of the magnetic bearing power amplifier includes: a first freewheeling mode for the upper device, or a second freewheeling mode for the lower device.

2. The control device for the magnetic bearing power amplifier according to claim 1, characterized in that, The logic control unit includes: a signal generation module and a logic switching module; in, The logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper-end device and the temperature of the lower-end device, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, including: The signal generation module is used to determine whether the magnetic bearing power amplifier is faulty based on the temperature of the upper device and the temperature of the lower device; and, If it is determined that the magnetic bearing power amplifier is not faulty, then the target freewheeling mode of the magnetic bearing power amplifier is determined based on the temperature of the upper device and the temperature of the lower device. If the magnetic bearing power amplifier is determined to be faulty, a faulty alert message for the magnetic bearing power amplifier is output. The logic switching module is used to control the magnetic bearing power amplifier to follow the target follow current mode of the magnetic bearing power amplifier based on the feedback current of the magnetic bearing power amplifier.

3. The control device for the magnetic bearing power amplifier according to claim 2, characterized in that, The logic control unit, based on the temperatures of the upper and lower devices, determines the target freewheeling mode of the magnetic bearing power amplifier, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, further includes: The signal generation module is also used to generate a logic switching signal when the current freewheeling mode of the magnetic bearing power amplifier is inconsistent with the target freewheeling mode of the magnetic bearing power amplifier. The logic switching module is further configured to switch the current freewheeling mode of the magnetic bearing power amplifier to the target freewheeling mode of the magnetic bearing power amplifier based on the logic switching signal.

4. The control device for the magnetic bearing power amplifier according to claim 2 or 3, characterized in that, The logic control unit, based on the temperatures of the upper and lower devices, determines the target freewheeling mode of the magnetic bearing power amplifier, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier, further includes: The signal generation module is also used to generate a logic sustain signal when the current freewheeling mode of the magnetic bearing power amplifier is consistent with the target freewheeling mode of the magnetic bearing power amplifier. The logic switching module is also used to maintain the current freewheeling mode of the magnetic bearing power amplifier based on the logic sustaining signal.

5. The control device for the magnetic bearing power amplifier according to any one of claims 2 to 4, characterized in that, The signal generation module determines whether the magnetic bearing power amplifier is faulty based on the temperatures of the upper and lower components, including: The highest temperature between the temperature of the upper device and the temperature of the lower device is determined as the temperature of the magnetic bearing power amplifier; and it is determined whether the temperature of the magnetic bearing power amplifier is greater than a first preset temperature threshold. If it is determined that the temperature of the magnetic bearing power amplifier is greater than a first preset temperature threshold, then the magnetic bearing power amplifier is determined to be faulty, and a faulty reminder message for the magnetic bearing power amplifier is output. If the temperature of the magnetic bearing power amplifier is determined to be less than or equal to a first preset temperature threshold, then the magnetic bearing power amplifier is determined to be faulty or not. Based on the temperature of the upper device and the temperature of the lower device, the target freewheeling mode of the magnetic bearing power amplifier is determined.

6. The control device for the magnetic bearing power amplifier according to any one of claims 2 to 5, characterized in that, If the signal generation module determines that the magnetic bearing power amplifier is not faulty, it determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, including: If it is determined that the magnetic bearing power amplifier is not faulty, it is determined whether the temperature of the lower device is greater than a second preset temperature threshold, and the second preset temperature threshold is less than a first preset temperature threshold. If it is determined that the temperature of the lower device is greater than the second preset temperature threshold, then the target freewheeling mode of the magnetic bearing power amplifier is determined to be the first freewheeling mode of the upper device, so that when the current freewheeling mode of the magnetic bearing power amplifier is the second freewheeling mode of the lower device, a logic switching signal is generated.

7. The control device for the magnetic bearing power amplifier according to any one of claims 2 to 6, characterized in that, If the signal generation module determines that the magnetic bearing power amplifier is not faulty, it further determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and includes: If it is determined that the temperature of the lower device is less than or equal to the second preset temperature threshold, then it is determined whether the temperature of the upper device is greater than the third preset temperature threshold, and the third preset temperature threshold is less than the second preset temperature threshold. If it is determined that the temperature of the upper device is greater than the third preset temperature threshold, then the target freewheeling mode of the magnetic bearing power amplifier is determined to be the second freewheeling mode of the lower device, so that a logic switching signal is generated when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device. If it is determined that the temperature of the upper device is less than or equal to the third preset temperature threshold, then the target freewheeling mode of the magnetic bearing power amplifier is determined to be the first freewheeling mode of the upper device, so as to generate a logic hold signal when the current freewheeling mode of the magnetic bearing power amplifier is the first freewheeling mode of the upper device.

8. The control device for the magnetic bearing power amplifier according to any one of claims 2 to 7, characterized in that, The signal generation module includes: a first comparison module, a second comparison module, an addition module, a third comparison module, a first multiplexing module, a fourth comparison module, a fifth comparison module, a sixth comparison module, and a first OR gate module; wherein, The first preset temperature threshold is input to the first input terminal of the first comparison module and the first input terminal of the second comparison module, respectively; the set voltage value is input to the first input terminal of the third comparison module; the second preset temperature threshold is input to the first input terminal of the fifth comparison module; and the third preset temperature threshold is input to the first input terminal of the fourth comparison module. The temperature of the upper device is input in voltage form to the second input terminal of the first comparison module and the first input terminal of the first multiplexing module, respectively; the temperature of the lower device is input in voltage form to the second input terminal of the second comparison module and the second input terminal of the first multiplexing module, respectively; the output terminal of the first comparison module is connected to the first input terminal of the addition module, and the output terminal of the second comparison module is connected to the second input terminal of the addition module; the output terminal of the addition module is connected to the control terminal of the first multiplexing module. The first output terminal of the first multiplexing module is used to output a fault warning message for the magnetic bearing power amplifier; The second output terminal of the first multiplexing module is connected to the second input terminal of the fourth comparison module; the third output terminal of the first multiplexing module is connected to the second input terminal of the fifth comparison module; the output terminal of the fourth comparison module is connected to the second input terminal of the sixth comparison module; the output terminal of the fifth comparison module is connected to the first input terminal of the sixth comparison module and the second input terminal of the first OR gate module, respectively; the output terminal of the sixth comparison module is connected to the first input terminal of the first OR gate module; the output terminal of the first OR gate module is used to output a corresponding logic switching signal or logic hold signal.

9. The control device for the magnetic bearing power amplifier according to any one of claims 2 to 8, characterized in that, in, The logic switching module includes: a first AND gate module, a second OR gate module, and a second multiplexing module; wherein, The PWM signal of the control system of the magnetic bearing power amplifier is input to the first input terminal of the first AND gate module and the first input terminal of the second OR gate module, respectively; the error drive signal of the control system of the magnetic bearing power amplifier, obtained based on the feedback current of the magnetic bearing power amplifier, is input to the first input terminal of the first AND gate module and the first input terminal of the second OR gate module, respectively; the output terminal of the first AND gate module is connected to the first input terminal of the second multiplexing module; the output terminal of the second OR gate module is connected to the second input terminal of the second multiplexing module. The signal generation module determines the logic switching signal or logic sustaining signal of the target freewheeling mode of the magnetic bearing power amplifier, and inputs it as a logic control signal to the control terminal of the second multiplexing module; the first output terminal of the second multiplexing module is connected to the driving circuit terminal of the upper device; the second output terminal of the second multiplexing module is connected to the driving circuit terminal of the lower device. or, The logic switching module includes: an FPGA module; wherein, The PWM signal of the control system of the magnetic bearing power amplifier is input to the first input terminal of the FPGA module; the error drive signal of the control system of the magnetic bearing power amplifier, obtained based on the feedback current of the magnetic bearing power amplifier, is input to the second input terminal of the FPGA module. The signal generation module determines the logic switching signal or logic sustaining signal of the target freewheeling mode of the magnetic bearing power amplifier, and inputs it as a logic control signal to the control terminal of the FPGA module; the first output terminal of the FPGA module is connected to the driving circuit terminal of the upper device; the second output terminal of the FPGA module is connected to the driving circuit terminal of the lower device.

10. A magnetic bearing controller, characterized in that, include: The control device for the magnetic bearing power amplifier as described in any one of claims 1 to 9.

11. A magnetic bearing system, characterized in that, include: The control device for the magnetic bearing power amplifier as described in any one of claims 1 to 9, or the magnetic bearing controller as described in claim 10.

12. A control method for a magnetic bearing power amplifier as described in any one of claims 1 to 9, characterized in that, include: The temperature of the upper device and the lower device are sampled by the temperature sampling unit to obtain the temperature of the upper device and the temperature of the lower device. The feedback value of the current output from the magnetic bearing power amplifier to the corresponding magnetic bearing coil is sampled through the current sampling unit to obtain the feedback current of the magnetic bearing power amplifier. The logic control unit determines the target freewheeling mode of the magnetic bearing power amplifier based on the temperature of the upper device and the temperature of the lower device, and controls the magnetic bearing power amplifier to follow the target freewheeling mode based on the feedback current of the magnetic bearing power amplifier; wherein, the target freewheeling mode of the magnetic bearing power amplifier includes: a first freewheeling mode for the upper device, or a second freewheeling mode for the lower device.

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