CN102495645A - Gyro-stabilized platform for high-speed rolling carrier and control method thereof - Google Patents
Gyro-stabilized platform for high-speed rolling carrier and control method thereof Download PDFInfo
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- CN102495645A CN102495645A CN2011103856833A CN201110385683A CN102495645A CN 102495645 A CN102495645 A CN 102495645A CN 2011103856833 A CN2011103856833 A CN 2011103856833A CN 201110385683 A CN201110385683 A CN 201110385683A CN 102495645 A CN102495645 A CN 102495645A
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Abstract
The invention discloses a gyro-stabilized platform for a high-speed rolling carrier and a control method thereof. The platform body is provided with a stabilized object and a gyroscope; the gyroscope measures the angular motion information of the platform body; an encoder measures the information of a rotor of a servo motor relative to a stator of the servo motor; and a servo drive controller analyzes the angular motion state of the platform body relative to a reference plane according to the angular motion information, performs space vector transformation on current by use of the angle information provided by the encoder and the phase current of the servo motor detected in real time according to a PID control strategy, and controls the output torque of the servo motor to counteract the corresponding rotation of the platform body. The gyro-stabilized platform disclosed by the invention is applied to a high-speed rolling carrier, and can accurately ensure the attitude reference in severe operation conditions.
Description
Technical field
The present invention relates to a kind of gyrostabilized platform.
Background technology
Gyrostabilized platform can be isolated the carrier disturbance, under the carrier movement state, sets up and stablize reference field, make the equipment that is installed on the platform not can because of the shake and the rolling of carrier movement generation can't operate as normal.Its principal character is to adopt Inertial Measurement Unit as the angular motion sensitive element, and constantly the variation of measuring table posture position makes the angular motion of platform stage body and carrier isolated through servo actuation mechanism, accurately keeps platform stage body attitude reference.
Gyrostabilized platform integrates inertial navigation, data acquisition and signal Processing, precision optical machinery Dynamic Modeling and multinomial technology such as emulation, motor movement control; Be to be the main body with electromechanical integration and Target Recognition automatic control technology; The product that a plurality of subjects organically combine, demand is widely used.For example: in the drilling well mining operations; The gyrostabilized platform of rotary steering drilling tool is the key component in the whole steering tool; Stable platform can not receive the influence of drilling rod rotation and relatively stable a given angle; Thereby make the rotary steering system can be when the rotation of drilling tool and orienting lug, wellbore trace be preset in the stable tracking of drilling tool, realizes the drilling of well.
Publication number is that the patent " directional stabilizing platform of gyro " of CN1305091 has provided a kind of directional stabilizing platform of gyro, when motion carrier jolts when making platform stage body deflection, through drive unit the platform stage body is corrected back to horizontal attitude.Publication number is that the patent " two antenna assemblies of gyrostabilized platform " of CN2204069 has provided two antenna assemblies of a kind of gyrostabilized platform; When hull waves; Utilize rotary flyweights forms on the gyrostabilized platform gyroscopic couple and disturbance torque in the opposite direction, reach and keep the former horizontality of antenna assembly.Publication number is that the patent " a kind of Aerophotography gyrostabilized platform with three freedom degrees and large load " of CN101619971 provides a kind of Aerophotography gyrostabilized platform with three freedom degrees and large load; The platform stage body angular motion information that angular motion causes according to airframe, drive systems platform stage body rotates the isolation that realizes the airframe angular motion.Publication number is that the patent " rate gyro stabilizing platform type antenna followup system " of CN101382805 provides a kind of high-precision two-degrees-of-freedom stable platform, under different sea situations, realizes rotating, rotating two degree of freedom motions around the Y axle around the X axle.For high speed lift-over carrier, carrier can be around the axle high speed rotating, and their roll angle acceleration is very big, therefore needs stable platform to have good dynamic quality.Carrier big overload can occur in operational process, moment needs the bigger moment overcome friction of drive motor output.Shafting structure inhomogeneous makes stable platform stuck phenomenon might occur, causes the platform can't operate as normal, needs stable platform to have the uneven ability of the physical construction of overcoming.Stable platform is installed in the high speed lift-over carrier, and the space is limited, and work under bad environment need be born harsh conditions such as high low temperature, strong vibration, big centrifugal force.Above-mentioned several kinds of stable platform methods for designing can't be applied to high speed lift-over carrier.Document " based on the single axis stable platform servo-control system design of DSP " has provided a kind of single axis stable platform servo-control system method for designing.The controller of this method and driver do not adopt the electrical isolation design, and the work of drive motor produces serious electromagnetic interference (EMI) to the work of controller and gyro, and the document does not propose corresponding control method according to high speed lift-over carrier operation characteristic.
Summary of the invention
In order to overcome the deficiency of prior art; The present invention provides a kind of gyrostabilized platform and control method thereof that is used for high speed lift-over carrier; Make the platform stage body in high speed lift-over carrier operational process; Accurately keep attitude reference, be applicable to the stable reference field problem of various lift-over carriers, overcome electromagnetic interference (EMI) simultaneously.
The technical solution adopted for the present invention to solve the technical problems is: a kind of gyrostabilized platform that is used for high speed lift-over carrier, comprise platform stage body, servomotor, scrambler and servo-drive controller, and be equipped with on the platform stage body and stablized object and gyro.Gyro is as the angular motion information sensor, and the angular motion information on measuring table stage body relative datum plane provides Control and Feedback information for the servo-drive controller.Scrambler is measured the angle information of servo motor rotor relative stator, and controlling for the high precision tracking of servo-drive controller provides angle information.The angular motion information that the servo-drive controller sends according to gyro; The analysis platform stage body is with respect to the angular motion state of reference plane; As feedback information, adopt the PID control strategy with this angular motion information, utilize scrambler angle information that provides and the servomotor phase current that detects in real time that electric current is carried out the space vector conversion; Through turning on and off of space vector pulse width modulation power controlling switching tube, realize control to servomotor.The servomotor output torque overcomes the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load, offsets corresponding platform stage body rotation, makes the platform stage body isolate the motion of carrier, highly keeps dynamic attitude reference.
Described servomotor adopts permagnetic synchronous motor.
Described servo-drive controller is made up of control circuit and motor-driven two parts.Control circuit with the TMS320F2812 dsp chip as CPU.Motor-driven adopts three-phase full-controlled bridge that DC bus-bar voltage is transformed into symmetrical three-phase alternating current, gives the stator power supply of servomotor, makes servomotor have good performances such as wide speed regulating range, high steady speed precision, fast dynamic response.The control circuit of servo-drive controller and motor-driven partly adopt the firm and hard existing function corresponding of different circuits; And the design of three-phase full-controlled bridge adopts discrete component to make up, and makes compact overall structure, and volume takies little; Quality is little, adapts to high speed lift-over carrier narrow space.
The control circuit of described servo-drive controller and motor-driven adopt the electrical isolation design, reduce owing to adopt chopping way control permagnetic synchronous motor to carry out the electromagnetic interference (EMI) that can cause that turns on and off of power switch pipe.The 27V power supply that system provides directly offers servomotor.The power supply that the control circuit of servo-drive controller and the power supply of gyro adopt the 27V of system power supply to obtain through isolated variable; Adopt Hall current sensor to carry out the phase current sampling of servomotor.Thereby realize the complete electrical isolation of motor-driven part and control circuit.
The present invention also provides the control method of said apparatus, comprises following link:
1) the angular motion information of gyro to measure is carried out Filtering Processing, to reduce the influence of vibratory impulse and space electromagnetic interference (EMI) to gyro to measure.Then the angle of filtered angle information as platform stage body relative datum plane in the controlling unit; Filtered angular velocity information is as the angular velocity on platform stage body relative datum plane in the controlling unit.
2) adopt segmentation PI control strategy.Electric current loop is adopted in interior ring control, and the intermediate controlled link is a speed ring, and outer shroud control is position ring.The angle that is fed back to platform stage body relative datum plane of position ring; Being given as of position ring is zero.The feedback of speed ring be position ring output with platform stage body relative datum plane angle speed with; Being given as of speed ring is zero.The output that is given as speed ring of electric current loop; The phase current that is fed back to servomotor of electric current loop.
Position ring and speed ring PI control strategy increase anti-integration saturation element in this link, can operate as normal after making the stable platform stuck phenomenon that inhomogeneous and axially big overload reason occurs because of shafting structure disappear.
Electric current loop output direct-axis current and of the speed decision of the threshold value of handing over shaft current in this link by the servo motor rotor relative stator; Suppress the rising rapidly of phase current; Avoid direct-axis current that high acceleration in the carrier operational process and axial big overload cause and hand over shaft current to raise rapidly and burn out the power switch pipe phenomenon; Protect power switch pipe, improved the control performance and the reliability of system.Hand over shaft current max-thresholds (i
Q-max) can confirm according to following formula:
i
q-max＝a
11+v·a
12
Wherein, a
11Be the 0.1 times operation of permagnetic synchronous motor, the friendship shaft current of correspondence during the output nominal torque with rated speed.V is the speed of permanent-magnetic synchronous motor rotor relative stator, and value is more than or equal to 0 and smaller or equal to rated speed.a
12Be rate factor, value does
a
12＝(i
qN-a
11)/v
N
Wherein, i
QNThe friendship shaft current of correspondence when exporting nominal torque with the rated speed operation for permagnetic synchronous motor; v
NBe the permagnetic synchronous motor rated speed.The direct-axis current max-thresholds is identical with friendship shaft current max-thresholds.Direct-axis current minimum threshold and the opposite number of handing over shaft current minimum threshold difference cut-off shaft current max-thresholds and friendship shaft current max-thresholds.
3) adopt vector controlled to drive the permagnetic synchronous motor output torque based on the space vector pulse width modulation technology.According to the output of electric current loop, produce different modulating waves, turn on and off power switch pipe corresponding in the three-phase full-controlled bridge, make the different moment of permagnetic synchronous motor output, overcome the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load.
The invention has the beneficial effects as follows: 1) adopt permagnetic synchronous motor to drive stable platform and segmentation PID control strategy, have higher angle dynamically, the stable state lasting accuracy, and higher angular velocity dynamically, the stable state lasting accuracy; 2) can adapt to the carrier that high lift-over speed is moved; 3) can adapt to high acceleration lift-over carrier movement; 4) can overcome since machining inhomogeneous moment of causing stuck; 5) can be under big axially overload, operate as normal.Therefore, apparatus of the present invention are applied in the high speed lift-over carrier, can guarantee under abominable service condition, accurately to guarantee attitude reference.
Description of drawings
Fig. 1 is the gyrostabilized platform composition frame chart.
Among the figure, 1-platform stage body, 2-servomotor, 3-scrambler, 4-servo-drive controller.
Fig. 2 is the servo controller structured flowchart.
Among the figure, 5-imports power supply, the 6-power conversion, and the 7-current sample, the 8-isolated variable, the 9-gyro, 10-CPU, 11-isolates output, the 12-power drive.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The structure of apparatus of the present invention embodiment is made up of platform stage body 1, servomotor 2, scrambler 3 and servo-drive controller 4 with reference to Fig. 1.Servo motor rotor, scrambler rotor and the coaxial connection of platform stage body; And servo motor stator, the scrambler stator then links to each other with carrier shell.Servomotor is installed in the carrier end location.The control circuit of servo-drive controller and driving circuit discrete design are installed in the servomotor afterbody.Scrambler adopts axle sleeve and servo motor rotor axle to connect, and is convenient and reliable.The device compact overall structure, volume takies little, is convenient between different carriers, transplant, and is convenient to the integrated electromagnetic shielding, improves Electromagnetic Compatibility.
This device servomotor 2 is selected permagnetic synchronous motor for use, has advantages such as volume is little, simple in structure, regulating and controlling convenient, speed adjustable range is wide, dynamic response is fast, satisfies lasting accuracy height, the fast requirement of dynamic response.Its main performance is following: brushless, and rated voltage 27V, rated speed 1800rpm, working temperature-40 ℃～+ 80 ℃, the design of electrical motor magnet steel is selected Nd-Fe-B for use, and core material is selected DW360 for use.
This device code device 3 adopts the Hall magnetism encoder as position detecting element, and volume is little, and is in light weight, and precision is high, and controlling for the high-precision servo of permagnetic synchronous motor provides angle information.The Hall magnetism encoder is installed to after the servo motor rotor, with aluminium foil the scrambler body shield is got up, and reduces the influence of outside electromagnetic interference to scrambler.
The gyro 9 that is installed on this apparatus platform stage body adopts rate gyros, and range is-250 °/s～250 °/s, and the angular velocity information of platform stage body is provided.
Isolate and export 11, prevent that permagnetic synchronous motor from producing interference, assurance device reliability of operation to the work of DSP control section and the isolation each other of motor driving part branch.Consider the volume and the reliability of device, isolating chip adopts ADUM1401.
This device circuit plate bulk is less, and is low-power circuit, and power drive 12 adopts discrete component to build.Select power MOSFET IRFR3412 for use, have that input impedance height, switching frequency are high, on state voltage is low, a Heat stability is good, advantage such as the conducting resistance is low, volume is little, thermal value is little, low price, holding circuit are simple, be convenient to the densification design.The maximum input current of this power switch pipe can be avoided in the stable platform operational process because current spikes produces the phenomenon of damaging power switch pipe up to 40A.Take all factors into consideration selected capacity motor and switching frequency demand, chip for driving is selected high-speed power FET chip for driving IR2103S for use.
This device servo-drive controller CPU 10 adopts the TMS320F2812 dsp chip; Clock frequency is 150MHz; Make full use of the high speed signal processing power of dsp chip and the peripheral circuit that Electric Machine Control is optimized; And advantage such as control accuracy is high, antijamming capability is strong and cost is lower, for high-performance servo tracking control provides reliably, signal Processing and hardware controls efficiently.The needed peripheral circuit of DSP is made up of power interface, supply voltage conversion chip, clock circuit, jtag interface circuit, SCI interface circuit, AD interface circuit, CAP interface circuit, EV interface circuit and holding circuit.For reduced in size, adopt four layers of pcb board, and power supply ground has been carried out cutting apart to reduce interference.
The output signal of servo-drive controller CPU analyzing and processing gyro, the angular velocity signal that gyro is exported carries out the angle signal that integration obtains platform relative datum plane, as the feedback of position ring; Being given as of position ring is zero.The feedback of speed ring is made up of the output of position ring and the angular velocity of gyro output, and the two matees through weighting factor, decision loop feedback value.The electric current loop part is according to the output of speed ring, and the phase current of the positional information of permanent-magnetic synchronous motor rotor and rotor, carries out the space vector conversion, sends steering order.Steering order is sent into IR2103S after ADUM1401 isolates, 6 MOSFET IRFR3412 of control turn on and off, and drives the permagnetic synchronous motor operation, keeps the high-precision attitude of platform stage body stable.
Control method in apparatus of the present invention embodiment is described below.
1) adopts the average value filtering method in this embodiment, the angular velocity information of gyro to measure is carried out filtering.Filtered angular velocity information is as the angular velocity on platform stage body relative datum plane in the controlling unit.The angle information that filtered angular velocity integration obtains is as the angle on platform stage body relative datum plane in the controlling unit.This embodiment also can adopt middle position value filtering method, median average filter method.
2) adopt segmentation PI control strategy in this embodiment.Electric current loop is adopted in interior ring control, and the intermediate controlled link is a speed ring, and outer shroud control is position ring.The electric current loop performance period is 100 microseconds; The performance period of speed ring is 1 millisecond; The performance period of position ring is 5 milliseconds.The position ring performance period in this embodiment can also be 10 milliseconds.
The angle that is fed back to platform stage body relative datum plane of position ring; Being given as of position ring is zero.The feedback of speed ring be position ring output with platform stage body relative datum plane angle speed with; Being given as of speed ring is zero.The output that is given as speed ring of electric current loop; The phase current that is fed back to servomotor of electric current loop.
Position ring and speed ring are different according to error, and different scale factors and integrating factor are set, and improve the response speed and the control accuracy of system.The parameter of respectively encircling in the segmentation PI control strategy is set to: in the position ring, when site error was spent less than 2, scale factor was 0.8, integrating factor 0.01; When site error was spent greater than 2, scale factor was 0.6, integrating factor 0.005.In the speed ring, when error during less than 20 degree/seconds, scale factor is 8, integrating factor 0.05; When site error during greater than 20 degree/seconds, scale factor is 3, integrating factor 0.01.The electric current loop scale factor of direct-axis current is 0.7, integrating factor 0.01; Handing over the electric current loop scale factor of shaft current is 0.5, integrating factor 0.045.
The anti-integration saturation element of position ring max-thresholds is 180, and minimum threshold is-180.When the position ring output quantity greater than 180, negative error only adds up; When the position ring output quantity less than-180, positive error only adds up.The anti-integration saturation element of position ring in this embodiment max-thresholds can also be 270,360, and minimum threshold can also be-270 ,-360.
The anti-integration saturation element of speed ring max-thresholds is 900, and minimum threshold is-900.When the speed ring output quantity greater than 900, negative error only adds up; When the speed ring output quantity less than-900, positive error only adds up.The anti-integration saturation element of speed ring in this embodiment max-thresholds can also be 1800,3600, and minimum threshold can also be-1800 ,-3600.
The maximum output of direct-axis current threshold value and the maximum output of friendship shaft current threshold value i in the electric current loop
Max=3+v0035, wherein v is the speed of permanent-magnetic synchronous motor rotor relative stator.Direct-axis current minimum threshold and the opposite number of handing over shaft current minimum threshold difference cut-off shaft current max-thresholds and friendship shaft current max-thresholds.
3) direct-axis current and friendship shaft current exported according to electric current loop; Produce different modulating waves; Turn on and off power switch pipe corresponding in the three-phase full-controlled bridge, make the different moment of permagnetic synchronous motor output, offset corresponding platform stage body rotation; Make the platform stage body isolate the motion of carrier, highly keep dynamic attitude reference.
Claims (7)
1. a gyrostabilized platform that is used for high speed lift-over carrier comprises platform stage body, servomotor, scrambler and servo-drive controller, it is characterized in that: be equipped with on the platform stage body and stablized object and gyro; Gyro is as the angular motion information sensor, and the angular motion information on measuring table stage body relative datum plane provides Control and Feedback information for the servo-drive controller; Scrambler is measured the angle information of servo motor rotor relative stator, for the servo-drive controller provides angle information; The angular motion information that the servo-drive controller sends according to gyro; The analysis platform stage body is with respect to the angular motion state of reference plane; As feedback information, adopt the PID control strategy with this angular motion information, utilize scrambler angle information that provides and the servomotor phase current that detects in real time that electric current is carried out the space vector conversion; Through turning on and off of space vector pulse width modulation power controlling switching tube, realize control to servomotor; The servomotor output torque overcomes the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load, offsets corresponding platform stage body rotation, makes the platform stage body isolate the motion of carrier, highly keeps dynamic attitude reference.
2. the gyrostabilized platform that is used for high speed lift-over carrier according to claim 1 is characterized in that: described servomotor adopts permagnetic synchronous motor.
3. the gyrostabilized platform that is used for high speed lift-over carrier according to claim 1; It is characterized in that: described servo-drive controller is made up of control circuit and motor-driven two parts; Control circuit with the TMS320F2812DSP chip as CPU; Motor-driven adopts three-phase full-controlled bridge that DC bus-bar voltage is transformed into symmetrical three-phase alternating current, gives the stator power supply of servomotor.
4. the gyrostabilized platform that is used for high speed lift-over carrier according to claim 1 is characterized in that: the control circuit of described servo-drive controller and motor-driven adopt the electrical isolation design; The 27V power supply that system provides directly offers servomotor, and the power supply that the control circuit of servo-drive controller and the power supply of gyro adopt the 27V of system power supply to obtain through isolated variable adopts Hall current sensor to carry out the phase current sampling of servomotor.
5. the said control method that is used for the gyrostabilized platform of high speed lift-over carrier of claim 1 is characterized in that comprising the steps:
1) the angular motion information of gyro to measure is carried out Filtering Processing; The angle of filtered angle information, the angular velocity of filtered angular velocity information as platform stage body relative datum plane in the controlling unit as platform stage body relative datum plane in the controlling unit;
2) adopt segmentation PI control strategy, electric current loop is adopted in interior ring control, and the intermediate controlled link is a speed ring, and outer shroud control is position ring; The angle that is fed back to platform stage body relative datum plane of position ring; Being given as of position ring is zero; The feedback of speed ring be position ring output with platform stage body relative datum plane angle speed with, speed ring be given as zero; The output that is given as speed ring of electric current loop, the phase current that is fed back to servomotor of electric current loop;
3) adopt vector controlled to drive the permagnetic synchronous motor output torque based on the space vector pulse width modulation technology; According to the output of electric current loop, produce different modulating waves, turn on and off power switch pipe corresponding in the three-phase full-controlled bridge, make the different moment of permagnetic synchronous motor output, overcome the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load.
6. the control method that is used for the gyrostabilized platform of high speed lift-over carrier according to claim 5 is characterized in that: position ring and speed ring PI control strategy increase anti-integration saturation element described step 2).
7. the control method that is used for the gyrostabilized platform of high speed lift-over carrier according to claim 5; It is characterized in that: electric current loop output direct-axis current and of the speed decision of the threshold value of handing over shaft current described step 2) by the servo motor rotor relative stator, hand over shaft current max-thresholds i
Q-max=a
11+ va
12Wherein, a
11Be the 0.1 times operation of permagnetic synchronous motor with rated speed, output corresponding friendship shaft current during nominal torque, v is the speed of permanent-magnetic synchronous motor rotor relative stator, value is more than or equal to 0 and smaller or equal to rated speed, a
12Be rate factor, a
12=(i
QN-a
11)/v
N, wherein, i
QNThe friendship shaft current of correspondence when exporting nominal torque with the rated speed operation for permagnetic synchronous motor; v
NBe the permagnetic synchronous motor rated speed; The direct-axis current max-thresholds is identical with friendship shaft current max-thresholds, direct-axis current minimum threshold and the opposite number of handing over shaft current minimum threshold difference cut-off shaft current max-thresholds and friendship shaft current max-thresholds.
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| CN103017790B (en) * | 2012-12-03 | 2015-05-20 | 西北工业大学 | Loading device for overload shock of gyro-stabilized platform |
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| CN104714407A (en) * | 2013-12-17 | 2015-06-17 | 北京自动化控制设备研究所 | PID/H-infinity control method for rotation mechanism |
| CN103823481B (en) * | 2014-02-19 | 2016-09-28 | 中国科学院光电技术研究所 | The compensation method of photoelectric follow-up imbalance disturbance torque on sloping platform |
| CN103823481A (en) * | 2014-02-19 | 2014-05-28 | 中国科学院光电技术研究所 | Compensation method of unbalanced disturbance torque of photoelectric tracking system on inclined platform |
| CN105159087A (en) * | 2015-09-11 | 2015-12-16 | 北京贯中精仪科技有限公司 | Zero current feedback stabilized platform controlling means and method |
| CN105159087B (en) * | 2015-09-11 | 2017-09-15 | 北京贯中精仪科技有限公司 | A kind of stabilized platform control device and method of no current feedback |
| CN105450130A (en) * | 2015-11-06 | 2016-03-30 | 连云港杰瑞电子有限公司 | Segmented-PI-control-based low-voltage direct-current servo driver |
| CN106843293A (en) * | 2017-01-06 | 2017-06-13 | 西北工业大学 | A kind of gyro-stabilized platform drift rejection method for high speed rolling carrier |
| CN107315340A (en) * | 2017-05-27 | 2017-11-03 | 中国科学院上海技术物理研究所 | It is a kind of that the steady as device and control method of feedback is measured based on micro electromechanical IMU |
| CN107796392A (en) * | 2017-09-11 | 2018-03-13 | 北京航天控制仪器研究所 | A kind of three-axle steady platform, Digital Control System and method |
| CN107796392B (en) * | 2017-09-11 | 2020-04-10 | 北京航天控制仪器研究所 | Three-axis stable platform, full-digital control system and method |
| CN108318017A (en) * | 2017-12-27 | 2018-07-24 | 中国船舶重工集团公司第七0研究所 | A kind of differential digital magnetic compass eliminates the data processing method of random magnetic disturbances |
| WO2024061016A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Single-encoder actuator for aircraft and power-on self-test method therefor |
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