CN102385154B - Electrical control device for DC motor type force actuator - Google Patents
Electrical control device for DC motor type force actuator Download PDFInfo
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Abstract
An electrical control device for a DC motor type force actuator relates to astronomical telescope active optical systems, aims to solve the problems that the conventional stepping motor serving as the force actuator has a complicated drive circuit, adopts single force close-loop control in the algorithm realization, and an external position transducer is needed to be equipped if a DC motor is adopted, the precision of power output is low and the stability is poor, and adopts the control method that a force set value Fr and a force feedback value Fb are obtained through a control system, and are subjected to the subtraction to obtain a force error value ef, and the ef is rectified to get the force velocity set value Vr; the Fb and the force feedback value Fb1 are subjected to the subtraction through the control system to get the difference value divided by a delay time T and further get the force velocity feedback value Vb; the Vr and the Vb are subjected to the subtraction to get the difference value ev, the rectified ev serves as the current setting value Ir; the Ir and the Ib are subjected to the subtraction to obtain the difference value current ei; and the ei is rectified through a current controller and to be outputted. The electrical control device provided by the invention is suitable for the control field of force actuators.
Description
The applying date of original application: 2010.04.22
The application number of original application: 201010152279.7
The denomination of invention of original application: a kind of control method of direct current motor type force actuator and electric control gear
Technical field
The present invention relates to astronomical telescope active optics system, be specifically related to a kind of control system of force actuator.
Background technology
Force actuator is as the important component part in large-scale astronomical telescope active optics system, and it is by exerting pressure or the shape of pulling force real time altering primary mirror minute surface, to revise the minute surface deformation that causes due to factors such as gravity, temperature and wind-force.In order to reach needed surface figure accuracy, each force actuator reaches milli newton's level (mN) to the accuracy requirement that minute surface applies power, and the power output that requires has very high stability within the time of even tens minutes a few minutes.This technology has solved the manufacturing difficult problem of large-scale astronomical telescope primary mirror, but control system has been proposed very high requirement.
Existing force actuator can be divided into two kinds, direct current motor type and stepper motor type by the difference of topworks.general direct current motor type force actuator needs the allocation position sensor, in order to carry out motor position, speed adjusting, for example the force actuator in VST telescope active optics system is equipped with the LVDT position transducer, force actuator in the VLT telescope is equipped with scrambler, and this dual mode has increased cost and the complexity of system undoubtedly, described stepper motor type force actuator takes full advantage of the advantage that step angle can segment control, need not the steady adjusting that the external position sensor gets final product realizable force actuator power output, but control and type of drive due to stepper motor itself, determined that also this system has a line many, the shortcoming of driving circuit complexity, number be for example 01113669.3 in Chinese invention patent application, publication number (notification number): CN1343898, in the instructions of patent name " electric-control system of force actuator in large-scale astronomical telescope ", the electric-control system of force actuator in a kind of large-scale astronomical telescope has been proposed, what this system adopted is exactly that stepper motor drives, and the control of this stepper motor type force actuator adopts open loop to control, or simple power closed-loop control, in addition, number be 200510094193.2 in Chinese invention patent application, publication number (notification number): CN1752791, in the instructions of patent name " intelligence control system of force actuator in large-scale astronomical telescope ", the control system of force actuator in a kind of large-scale astronomical telescope that comprises Control System Software has been proposed, the stepper motor that this system still adopts drives, what adopt on algorithm is realized is also single power closed-loop control, and use simple proportional controller, but adopting this control strategy is limited to the inhibition of the non-linear and external disturbance that exists in system.
Summary of the invention
When the present invention has stepper motor as force actuator now in order to solve, driving circuit is complicated, on realizing, algorithm adopts single power closed-loop control, adopt direct current generator to need the configuring external position transducer, and the precision of power output is low, the problem of poor stability, and a kind of electric control gear of direct current motor type force actuator is provided.
A kind of electric control gear of direct current motor type force actuator comprises communication unit, communication unit, control system, digital to analog converter, sensor interface, direct current generator interface, digital interface; It also comprises power collecting unit, power amplifier, current controller and current sampling unit;
Described control system input end is connected output terminal with the input end of the output terminal of the output terminal of communication unit, digital interface, power amplifier respectively and is connected with the power collecting unit; Control system reads the power setting value by communication unit respectively, reads the force feedback value by the power collecting unit and operates on it, and reads the spacing status information of the power output of force actuator by digital interface; The input end of digital to analog converter is connected with the output terminal of control system, and described digital to analog converter is converted to simulating signal with the current setting value of control system output by digital signal, to offer current controller; The output terminal of described current controller is connected with another input end of power amplifier, and the output terminal of power amplifier is connected with current sampling unit with the direct current generator interface respectively; Described current sampling unit is used for gathering the current feedback value that current controller provides, and described current controller also is used for controlling the armature supply of direct current generator, guarantees quick, the stable output of electric current, improves torque rigidity, suppresses simultaneously external disturbance; Power amplifier is used for current drive signal is amplified, to drive the rotation of direct current generator; The output terminal of digital interface is connected with the described input end of power amplifier, digital interface is used for the spacing status information of insertion force actuator, guarantee that force actuator after arriving spacing position, in time stops the rotation of direct current generator, avoid the power output of force actuator to exceed the safe range of regulation; The input end of described power collecting unit is connected with sensor interface, and the power collecting unit obtains the power output of force actuator by sensor interface; Sensor interface is connected with power module.
Beneficial effect of the present invention: the present invention is directed to control method and electric control gear that direct current motor type force actuator adopts, need not to use extra position transducer, reduced simultaneously the complexity of force actuator electric-control system, effectively raise control accuracy and the stability of force actuator, the present invention adopts the control strategy of three closed loops to play inhibiting effect to the non-linear and external disturbance that force actuator itself has.
Description of drawings
Fig. 1 is control method schematic diagram of the present invention;
Fig. 2 is the structural representation of electric control gear of the present invention.
in figure 1, force controller, 2, the power speed control, 3, current controller, 4, power amplifier, 5, divider, 6, the current acquisition unit, 7, delay cell, 8, the power collecting unit, 8-1, the analog signal conditioner unit, 8-2, analog to digital converter, 9, force actuator, 9-1, direct current generator, 9-2, LoadCell(power sensor), 10, communication interface, 11, power interface, 12, serial communication converter, 13, power-supply filter, 14, stabilized voltage supply, 15, sensor interface, 16, control system, 17, digital interface, 18, digital to analog converter, 19, the direct current generator interface, 20, communication unit, 21, power module.
Embodiment
Embodiment one: in conjunction with Fig. 1, present embodiment is described, a kind of control method of direct current motor type force actuator, the method is realized by following steps:
Step 1: control system 16 obtains power setting value Fr;
Step 2: the force feedback value Fb of power collecting unit 8 outputs is sent into control system 16;
Step 3: the power setting value Fr of step 1 acquisition and the force feedback value Fb of step 2 acquisition are carried out the subtraction operation, acquisition power error amount ef, adopt the 1 couple of described power error amount ef of force controller in control system 16 to proofread and correct, and will proofread and correct result as the power speed setting value Vr of the power speed control 2 in control system 16;
Step 4: control system 16 is subtracted each other step 2 the force feedback value Fb that obtains and the force feedback value Fb1 that obtains through delay cell 7, then will subtract each other the result of rear acquisition divided by T time delay that delay cell 7 produces, and obtains power speed feedback value Vb;
Step 5: the power speed setting value Vr of step 3 acquisition and the power speed feedback value Vb of step 4 acquisition are carried out the subtraction operation, obtain difference e v, adopt the 2 couples of described difference e v of power speed control in control system 16 to proofread and correct, and will proofread and correct result as the current setting value Ir of direct current generator 9-1;
Step 6: the current feedback value Ib that the current setting value Ir of the direct current generator 9-1 that step 5 is obtained and current sampling unit 6 obtain carries out subtraction and operates, obtain difference electric current ei, adopt 3 couples of described difference electric current ei of current controller to proofread and correct, result after 4 pairs of corrections of employing power amplifier is amplified, control the rotation of direct current generator 9-1, force actuator 9 is controlled.
What the described force controller 1 of present embodiment, power speed control 2 and current controller 3 adopted is proportional-plus-integral controller or pure proportional controller; Described current sampling unit 6 is comprised of high-precision current sampling resistor and operational amplifier; Described power collecting unit 8 is used for gathering the force signal of LoadCell 9-2 output, and current sampling unit 6 is used for measuring the armature supply of direct current generator 9-1.
Power in present embodiment is controlled, power speed is controlled and Current Control is all completed automatically by the mode of closed-loop control, wherein, force controller 1, power speed control 2 and current controller 3 can be realized by software programming in digitial controller, wherein, current controller 3 can be realized by hardware circuit; Described power speed feedback value Vb does not need extra sensor, only need a delay cell 7 that produces fixed delay time, current force feedback value Fb and the force feedback value Fb1 that postpones to gather are subtracted each other, again divided by T time delay, acquisition power speed feedback value Vb, this method has been save position-type sensor of the prior art, is convenient to simultaneously Digital Implementation.
Embodiment two: present embodiment is described in conjunction with Fig. 2, be used for realizing the electric control gear of control method of a kind of direct current motor type force actuator of present embodiment, comprise communication unit 20, power module 21, control system 16, digital to analog converter 18, sensor interface 15, direct current generator interface 19, digital interface 17; It also comprises power collecting unit 8, power amplifier 4, current controller 3 and current sampling unit 6;
Described control system 16 input ends are connected with the output terminal of communication unit 20, the output terminal of digital interface 17, the output terminal that the input end of power amplifier 4 is connected with the power collecting unit respectively; Control system 16 reads the power setting value by communication unit 20 respectively, reads the force feedback value by power collecting unit 8 and operates on it, and reads the spacing status information of power output by digital interface 17; The output terminal of control system 16 is connected with the input end of digital to analog converter 18, and described digital to analog converter 18 is converted to simulating signal with the current setting value of control system 16 outputs by digital signal, to offer current controller 3; The output terminal of described current controller 3 is connected with the input end of power amplifier 4, and the output terminal of power amplifier 4 is connected with current sampling unit with direct current generator interface 19 respectively and is connected; Described current sampling unit 6 is used for gathering the current feedback value that current controller 3 provides, and described current controller 3 also is used for controlling the armature supply of direct current generator, and power amplifier 4 is used for current drive signal is amplified, to drive the rotation of direct current generator; Another input end of power amplifier 4 is connected with the output terminal of digital interface 17, digital interface 17 is used for the spacing status information of insertion force actuator, guarantee that force actuator is after arriving spacing position, in time stop the rotation of direct current generator, avoid the power output of force actuator to exceed the safe range of regulation; The input end of described power collecting unit 8 is connected with sensor interface 15, and power collecting unit 8 obtains the power output of force actuator by sensor interface 15; Sensor interface 15 is connected with power module 21.
The analog proportional-plus-integral controller that the described current controller 3 of present embodiment is comprised of NPO electric capacity, resistance and amplifier OPA277.
The described digital to analog converter 18 of present embodiment adopts AD7656, and the resolution of described digital to analog converter 18 is sixteen bit.
The described control system 16 of present embodiment mainly comprises force controller 1, delay cell 7, divider 5 and power speed control 2 as the control core of electric control gear; The output terminal of described force controller 1 is connected with the input end of power speed control 2, the input end of force controller 1 is connected with the input end that the input end of delay cell 7 is connected with divider respectively, the output terminal of delay cell 7 is connected with another input end of divider 5, delay cell 7 is used for a force feedback value that constantly gathers on reserve force collecting unit 8, divider 5 is used for the computing power speed feedback value, the output terminal of divider 5 is connected with another input end of power speed control 2, and the output terminal of described power speed control 2 is as the output terminal of control system 16; Described control system 16 is mainly completed control algolithm and is proofreaied and correct.
The described control system 16 of present embodiment can be microprocessor or industrial computer; Described microprocessor is DSP or single-chip microcomputer.
The described power collecting unit 8 of present embodiment is comprised of analog to digital converter 8-2 and analog signal conditioner unit 8-1; The input end of described analog to digital converter 8-2 is connected with the analog signal output of analog signal conditioner unit 8-1; The input end of analog signal of described analog signal conditioner unit 8-1 is as the signal input part of power collecting unit 8, and the output terminal of analog to digital converter 8-2 is as the signal output part of power collecting unit 8; The weak voltage signals that described analog signal conditioner unit 8-1 is used for surveying LoadCell output amplifies, and analog to digital converter 8-2 samples to the voltage signal after amplifying, and finally offers control system 16 as the force feedback value.
The described analog to digital converter 8-2 of present embodiment adopts AD7744, and the resolution of described analog to digital converter 8-2 is sixteen bit; Described analog signal conditioner unit 8-1 adopts instrument amplifier AD620.
The described communication unit 20 of present embodiment is comprised of serial communication converter, communication interface, can realize that the serial ports of described control system 16 is controlled, and the networking of many electric control gears is controlled.
The described communication unit 21 of present embodiment is comprised of power interface 10, power-supply filter 13 and stabilized voltage supply 14, power interface 10 access externally fed power supplys, process through power-supply filter 13, for described electric control gear provides stable dc power supply, stabilized voltage supply 14 is connected with sensor interface 15, export high-precision 10V voltage signal, be used for providing driving voltage to surveying LoadCell.
Embodiment three: in conjunction with Fig. 1 and Fig. 2, this embodiment is described, present embodiment is the embodiment of embodiment one:
The described control system 16 of the present embodiment is DSP;
Concrete implementation procedure is: one, DSP reads by serial communication converter 12 the power setting value Fr that host computer sends; Two, DSP gathers force feedback value Fb take 1ms as fixed sample period by power collecting unit 8; Three, DSP is poor with power setting value Fr and force feedback value Fb, and power error amount ef is sent into force controller 1 proofread and correct, and proofreaies and correct result as the power speed setting value Vr of power speed control 2; Four, DSP subtracts each other acquired force feedback value Fb and the force feedback value Fb1 that obtains through delay cell 7, and its difference obtains power speed feedback value Vb divided by sampling period T; Five, DSP is with the correction result of force controller 1, and namely power speed setting value Vr and power speed feedback value Vb subtract each other, and its difference e v sends into power speed control 2 and proofreaies and correct, and proofreaies and correct result as the current setting value Ir of current controller 3; Six, current setting value Ir and current feedback value Ib subtract each other, and its difference electric current ei power transmission stream controller 3 is proofreaied and correct, and finally by the amplification of power amplifier 4, control the rotation of direct current generator 9-1, thereby produce needed power output.
The described DSP of the present embodiment has the position limitation protection function; described DSP reads spacing status information by digital interface 17; the output of power ratio control amplifier 4; guarantee that force actuator is after arriving spacing position; in time stop the rotation of direct current generator 9-1, avoid the power output of force actuator to exceed the safe range of regulation.
Adjustment process described in the present embodiment, comprise that power is controlled, power speed is controlled, Current Control is all completed automatically by the mode of closed-loop control, when force actuator 9 power outputs satisfy the requirement of setting power, when being power error amount ef less than certain threshold value, the output of switch-off power amplifier 4, thereby reduce direct current generator 9-1 and the thermal value of power amplifier 4 own, reduce force actuator to the impact of optical system, the actual 5mN that chooses of native system threshold value, in the power of assurance control accuracy and stability, effectively avoided the frequent adjusting of force actuator.
The device of the present embodiment is identical with the connected mode of the described device of embodiment two and device;
Described power interface 11 access ± 15V or+the 5V power supply, process through power-supply filter 13, for described control system 16 provides stable dc power supply; DSP is as system's control core, and its model is TMS320F2812, mainly completes with PERCOM peripheral communication, reads force feedback value Fb, control algolithm correction, aanalogvoltage output, and can read spacing state by digital interface 17; Wherein, control algolithm realizes by software, (force controller 1 and power speed control 2), thus make force actuator become a three closed-loop control system 16; Described analog to digital converter 8-2 and digital to analog converter 18 adopt respectively AD7656 and AD7744, are 16 bit resolutions; Power collecting unit 8 provides force feedback signal for described control system 16, and wherein, analog signal conditioner unit 8-1 mainly adopts instrument amplifier AD620, and described sensor interface 15 is used for connecting outside LoadCell 9-2; Stabilized voltage supply 14 is selected LT1764, requires the high-precision 10V voltage signal of output, for use in driving voltage being provided for LoadCell 9-2; Described current controller 3, current sampling unit 6, power amplifier 4 consist of the hardware electric current loop, drive the running of direct current generator 9-1, wherein, current controller 3 is used for realizing the correction of current error signal, select suitable resistance, capacitance, can realize the fast and stable output of current signal; Described current sampling unit 6 mainly is converted to voltage signal by current sampling resistor with current signal, and amplifies processing through operational amplifier, for described current controller 3 provides current feedback signal; Described power amplifier 4 sampling linear power amplifiers 4, have good linearity, dead band little, without advantages such as high-frequency harmonics; DSP is by digital to analog converter 18 output analog voltage signals, and described analog voltage signal has directly reflected the size of direct current generator 9-1 armature supply as the input signal of current controller 3; Serial communication converter 12 adopts the VP485 chip, mainly realize the RS485 agreement, DSP carries out data communication by VP485 chip and the outside of serial communication converter 12, the main command information that receives from host computer, and the current state information that sends described control system 16 to host computer, as current power output value, spacing state value etc.
Principle of the present invention: the present invention adopts three close-loop control modes, be respectively interior ring, adapter ring and outer shroud, described interior ring is electric current loop, mainly by current controller 3, power amplifier 4, current sampling unit 6 forms, and the control mode of electric current loop adopts hardware circuit to realize; Adapter ring is the power speed ring, mainly formed by power speed control 2, divider 5, delay cell 7, power collecting unit 8, outer shroud is the power control loop, mainly formed by force controller 1 and power collecting unit 8, wherein, force controller 1, power speed control 2, divider 5 and delay cell 7 all realize by software in control system 16.The design of described power speed ring is to make power output to change according to the requirement of appointment, avoids too fast motion to bring impact to system, perhaps crosses and adjusts slowly the control requirement that does not reach system; Electric current loop is used for controlling the armature supply of direct current generator, guarantees quick, the stable output of electric current, improves torque rigidity, suppresses simultaneously external disturbance; The effect of power control loop is to guarantee the quick, accurate and stable of power output.
The present invention is specifically according to first electric current loop, and rear power speed ring is that the order of power control loop is adjusted successively at last.Wherein, when the scale-up factor of selection current controller 3 and integral coefficient, be complementary with armature resistance, the inductance value of direct current generator 9-1, purpose is to guarantee the fast and stable tracking of electric current loop; Power speed control 2 is selected suitable scale-up factor and integral coefficients, and purpose is that the variation that guarantees the force actuator power output wants quick and stable; Force controller 1 is selected suitable scale-up factor, and purpose is to guarantee the Stability and veracity of force actuator power output.In realization, control system 16 gathers force feedback value Fb by power collecting unit 8 with the 1kHz sample frequency, delay cell 7 is realized by storer, stored the force feedback value Fb1 that a upper sampling period obtains, power speed feedback value Vb was that the force feedback value Fb1 by current force feedback value Fb and a upper sampling period carries out the backward difference computing and obtains, and the power speed ring adopts the PI control algolithm on controlling.Consider that there is an integral element in the power speed ring to the power ring, adopt a proportional controller just can realize the floating of step response is followed the tracks of, therefore, the power control loop can adopt simple proportional controller, also can adoption rate-integration control algorithm, the present invention is actual, and what adopt is proportional controller; When the force actuator power output satisfies the requirement of setting power, but the output of the electric current of switch-off power amplifier 4, thus reduce direct current generator 9-1 and the thermal value of power amplifier 4 own, to reduce force actuator to the impact of optical system; When changing that setting power requires or force actuator when being subject to external disturbance, the power output of force actuator can depart from setting value, control system 16 will be opened power amplifier 4, automatically adjust by force controller 1, power speed control 2 and current controller 3 simultaneously, guarantee the Stability and veracity of power output.
Claims (8)
1. the electric control gear of a direct current motor type force actuator, comprise communication unit (20), power module (21), control system (16), digital to analog converter (18), sensor interface (15), direct current generator interface (19), digital interface (17); It is characterized in that, it also comprises power collecting unit (8), power amplifier (4), current controller (3) and current sampling unit (6);
Described control system (16) input end is connected 8 with the output terminal of communication unit (20), the output terminal of digital interface (17), the input end of power amplifier (4) with the power collecting unit respectively) output terminal be connected; Control system (16) reads the power setting value by communication unit (20) respectively, reads the force feedback value by power collecting unit (8) and operates, and reads the spacing status information of the power output of force actuator by digital interface (17); The input end of digital to analog converter (18) is connected with the output terminal of control system (16), and described digital to analog converter (18) is converted to simulating signal with the current setting value of control system (16) output by digital signal, to offer current controller (3); The output terminal of described current controller (3) is connected with another input end of power amplifier (4), and the output terminal of power amplifier (4) is connected 6 with direct current generator interface (19) with current sampling unit respectively) be connected; Described current sampling unit (6) is used for gathering the current feedback value that current controller (3) provides, described current controller (3) also is used for controlling the armature supply of direct current generator, power amplifier (4) is used for current drive signal is amplified, to drive the rotation of direct current generator; The output terminal of digital interface (17) is connected with the described input end of power amplifier (4), and digital interface (17) is used for the spacing status information of insertion force actuator; The input end of described power collecting unit (8) is connected with sensor interface (15), and power collecting unit (8) obtains the power output of force actuator by sensor interface (15); Sensor interface (15) is connected with power module (21).
2. the electric control gear of a kind of direct current motor type force actuator according to claim 1, is characterized in that, described power collecting unit (8) is comprised of analog to digital converter (8-2) and analog signal conditioner unit (8-1); The input end of described analog to digital converter (8-2) is connected with the analog signal output of analog signal conditioner unit (8-1); The input end of analog signal of described analog signal conditioner unit (8-1) is as the signal input part of power collecting unit (8), and the output terminal of analog to digital converter (8-2) is as the signal output part of power collecting unit (8); Described analog signal conditioner unit (8-1) amplifies the weak voltage signals of force cell LoadCell output, and analog to digital converter (8-2) is sampled to the voltage signal after amplifying, and offers control system (16) as the force feedback value.
3. the electric control gear of a kind of direct current motor type force actuator according to claim 2, is characterized in that, described analog signal conditioner unit (8-1) adopts instrument amplifier AD620.
4. the electric control gear of a kind of direct current motor type force actuator according to claim 1, is characterized in that, described control system (16) comprises force controller (1), delay cell (7), divider (5) and power speed control (2), the output terminal of described force controller (1) is connected with the input end of power speed control (2), the input end of force controller (1) is connected 5 with the input end of delay cell (7) with divider respectively) input end be connected, the output terminal of delay cell (7) is connected with another input end of divider (5), delay cell (7) is used for the force feedback value that reserve force collecting unit (8) gathers, divider (5) is used for the computing power speed feedback value, the output terminal of divider 5 is connected with another input end of power speed control (2), the output terminal of described power speed control (2) is as the output terminal of control system (16).
5. the electric control gear of a kind of direct current motor type force actuator according to claim 1, is characterized in that, control system (16) is microprocessor or industrial computer.
6. the electric control gear of a kind of direct current motor type force actuator according to claim 5, is characterized in that, described microprocessor is DSP or single-chip microcomputer.
7. the electric control gear of a kind of direct current motor type force actuator according to claim 1, is characterized in that, the analog proportional-plus-integral controller that described current controller (3) is comprised of NPO electric capacity, resistance and amplifier OPA277.
8. the electric control gear of a kind of direct current motor type force actuator according to claim 1, is characterized in that, described current sampling unit (6) is comprised of resistance and operational amplifier.
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| CN104868812B (en) * | 2015-04-28 | 2018-01-16 | 中国科学院国家天文台南京天文光学技术研究所 | Large-scale spliced arc electric motor rotor exact position detecting system and its detection method |
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