CN102570945A - Permanent magnet synchronization gyro motor control and device - Google Patents
Permanent magnet synchronization gyro motor control and device Download PDFInfo
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- CN102570945A CN102570945A CN2011103622845A CN201110362284A CN102570945A CN 102570945 A CN102570945 A CN 102570945A CN 2011103622845 A CN2011103622845 A CN 2011103622845A CN 201110362284 A CN201110362284 A CN 201110362284A CN 102570945 A CN102570945 A CN 102570945A
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Abstract
The invention discloses a permanent magnet synchronization gyro motor control and device. The control method comprises the following steps of: a, rapid starting based on sliding mode control; b, real-time phase detection and digital dynamic correction; and c, active rapid braking. According to the invention, the autonomous aimed collimation time is shortened, the aimed collimation precision is improved, and the system survivability, rapid response capacity and precision are improved. Due to the adoption of a sliding mode control technology, the starting time of a permanent magnet synchronization gyro motor is greatly shortened, a dynamic damping is applied to the motor by using a digital dynamic correction technology, thus the dynamic speed stabilizing characteristic of the magnet synchronization gyro motor is effectively improved; by adopting an active rapid braking technology, the braking time of the magnet synchronization gyro motor is shortened; and by adopting a programmable logic device and a computer technology, the real-time phase detection and alarm of the magnet synchronization gyro motor are realized while the miniaturization of a motor drive plate is realized by simplifying a circuit.
Description
Technical field
The present invention relates to inertial technology, particularly a kind of permanent-magnet synchronous gyro motor control method and equipment.
Background technology
At present, quick high accuracy gyroscope is sought the key equipment that northern appearance is the autonomous heading aiming, for effectively shortening the directional sighting time, improves the directional sighting precision, must break through quick high accuracy and seek the north technology.Novel gyro motor control technology is one of technological difficulties that quick high accuracy is sought north, this control technology have start fast, good, the active fast braking of speed stabilizing characteristic and real-time phase detects and characteristics such as warning.Fewer companies such as existing abroad German DMT have this technology; And at home, this Study on Technology is started late, at present; The domestic over-damp control mode that adopts is adjusted the gyro feedback signal more, and its toggle speed and stability all do not reach desirable requirement.
Summary of the invention
Technical problem to be solved by this invention provides a kind of start quick, that the speed stabilizing characteristic is good permanent-magnet synchronous gyro motor control method and equipment.
To achieve these goals, the invention provides a kind of permanent-magnet synchronous gyro motor control method, wherein, comprise the steps:
A, based on the quick setting up procedure of Sliding-Mode Control Based;
B, real-time phase detect and the digital dynamic aligning step;
C, active fast braking step.
Above-mentioned permanent-magnet synchronous gyro motor control method, wherein, said active fast braking step comprises: use the start-up control loop gyro motor is implemented the revertive control rule, apply big damping to gyro motor, make the motor fast braking.
Above-mentioned permanent-magnet synchronous gyro motor control method, wherein, said quick setting up procedure based on Sliding-Mode Control Based comprises: start the dead band and overcome step, high pressure accelerating step and PWM dynamic voltage adjustment lock step mutually.
Above-mentioned permanent-magnet synchronous gyro motor control method, wherein, said startup dead band overcomes step and comprises with positive and negative two-way rocking and overcome the permanent magnetism gyro motor and start the dead band, and carries out effectively start and detect, and guarantees the reliability that gyro motor starts.
Above-mentioned permanent-magnet synchronous gyro motor control method, wherein, said high pressure accelerating step comprises input+24V is boosted to 30V, quickens to start with the 30V high pressure simultaneously, makes gyro motor accelerate to sliding formwork fast and switches the plane.
Above-mentioned permanent-magnet synchronous gyro motor control method wherein, after said PWM dynamic voltage adjustment lock phase step comprises that the plane is switched in entering, starts the phase-locked loop, carries out the PWM dynamic voltage adjustment, makes motor lock phase fast.
Above-mentioned permanent-magnet synchronous gyro motor control method, wherein, said real-time phase detects and comprises with the digital dynamic aligning step fundamental frequency generator is set, and by computer technology, detects the phase difference of gyro motor 4 frequency-doubled signals and fundamental frequency in real time; The digital dynamic correcting controller is set, and serves as that input is carried out dynamic antivibration control to gyro motor with the phase difference of gyro motor 4 frequency-doubled signals and fundamental frequency, shortens the phaselock acquisition time of phase step, improves gyro motor speed stabilizing characteristic.
In order to realize above-mentioned purpose better, the present invention also provides a kind of permanent-magnet synchronous gyro motor control appliance, wherein, comprises that quick startup module, the real-time phase based on Sliding-Mode Control Based detects and digital dynamic correction module and active fast braking module.
Above-mentioned permanent-magnet synchronous gyro motor control appliance, wherein, said real-time phase detects with the digital dynamic correction module and comprises fundamental frequency generator and digital dynamic correcting controller.
Above-mentioned permanent-magnet synchronous gyro motor control appliance, wherein, said quick startup module based on Sliding-Mode Control Based comprises: start the dead band and overcome unit, high pressure accelerator module and PWM dynamic voltage adjustment phase locking unit.
Technique effect of the present invention is: the present invention has shortened the autonomous heading aiming time, has improved the directional sighting precision, has improved system survival ability, quick reaction capability and precision.The Sliding-Mode Control Based technology has significantly shortened the start-up time of permanent-magnet synchronous gyro motor; Apply dynamic antivibration through the digital dynamic alignment technique to motor; Effectively improved the dynamic speed stabilizing characteristic of gyro motor; Active fast braking technology has shortened the braking time of gyro motor, adopts programmable logic device and computer technology, when simplifying the miniaturization of circuit realization plate drive motor, has realized that the gyro motor real-time phase detects and warning.
Describe the present invention below in conjunction with accompanying drawing and specific embodiment, but not as to qualification of the present invention.
Description of drawings
Fig. 1 is a permanent-magnet synchronous gyro motor control method flow chart of the present invention;
Fig. 2 is a permanent-magnet synchronous gyro motor control appliance block diagram of the present invention;
Fig. 3 is a dynamic calibration controller of the present invention;
Fig. 4 is the functional block diagram of dynamic corrector of the present invention;
Fig. 5 is a booster circuit schematic diagram of the present invention.
Wherein, Reference numeral
S1～S3, S11～S13 step
1 quick startup module based on Sliding-Mode Control Based
11 startup dead bands overcome the unit
12 high pressure accelerator modules
13PWM dynamic voltage adjustment phase locking unit
2 real-time phases detect and the digital dynamic correction module
3 active fast braking modules
Embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and operation principle are done concrete description:
Referring to Fig. 1, Fig. 1 permanent-magnet synchronous gyro motor of the present invention control method flow chart.Permanent-magnet synchronous gyro motor control method of the present invention wherein, comprises the steps:
A, based on the quick setting up procedure S1 of Sliding-Mode Control Based;
B, real-time phase detect and digital dynamic aligning step S2;
C, active fast braking step S3.
Wherein, said active fast braking step S3 comprises: use the start-up control loop gyro motor is implemented the revertive control rule, apply big damping to gyro motor, make the motor fast braking.
Said quick setting up procedure S1 based on Sliding-Mode Control Based comprises: start the dead band and overcome step S11, high pressure accelerating step S12 and PWM dynamic voltage adjustment lock step S13 mutually.
Said startup dead band overcomes step S11 and comprises with positive and negative two-way rocking and overcome the permanent magnetism gyro motor and start the dead band, and carries out effectively start and detect, and guarantees the reliability that gyro motor starts.
Said high pressure accelerating step S12 comprises input+24V is boosted to 30V, quickens to start with the 30V high pressure simultaneously, makes gyro motor accelerate to sliding formwork fast and switches the plane.
After said PWM dynamic voltage adjustment lock phase step S13 comprises that the plane is switched in entering, start the phase-locked loop, carry out the PWM dynamic voltage adjustment, make motor lock phase fast.
Said real-time phase detects and comprises with digital dynamic aligning step S2 the fundamental frequency generator is set, and by computer technology, detects the phase difference of gyro motor 4 frequency-doubled signals and fundamental frequency in real time; The digital dynamic correcting controller is set, and serves as that input is carried out dynamic antivibration control to gyro motor with the phase difference of gyro motor 4 frequency-doubled signals and fundamental frequency, shortens the phaselock acquisition time of phase step, improves gyro motor speed stabilizing characteristic.
Referring to Fig. 2, Fig. 2 is a permanent-magnet synchronous gyro motor control appliance block diagram of the present invention.Permanent-magnet synchronous gyro motor control appliance of the present invention wherein, comprises that quick startup module 1, the real-time phase based on Sliding-Mode Control Based detects and digital dynamic correction module 2 and active fast braking module 3.
Said real-time phase detects with digital dynamic correction module 2 and comprises fundamental frequency generator and digital dynamic correcting controller.Referring to Fig. 3, Fig. 4; Fig. 3 is a dynamic calibration controller of the present invention; Fig. 4 is the functional block diagram of dynamic corrector; Dynamic corrector mainly comprises pre-filtering, correction link and high drive control, and the gyro motor phase signal is exported the high drive control signal behind pre-filtering, correction link, the high drive of control gyro motor.
Said quick startup module 1 based on Sliding-Mode Control Based comprises: start the dead band and overcome unit 11, high pressure accelerator module 12 and PWM dynamic voltage adjustment phase locking unit 13.
Permanent-magnet synchronous gyro motor control technology has mainly adopted technology such as Sliding-Mode Control Based, digital dynamic correction and active fast braking.Concrete technical scheme comprises:
In permanent-magnet synchronous gyro motor control loop, adopt quick start-up technique first based on Sliding-Mode Control Based, shorten gyro motor start-up time 50%;
In permanent-magnet synchronous gyro motor control loop, detect the gyro motor phase place in real time, adopt the digital dynamic alignment technique, realized the dynamic antivibration of gyro motor, improved the dynamic speed stabilizing characteristic of gyro motor;
Make full use of gyro motor and start the loop, adopt active fast braking technology, realized the fast braking of gyro motor;
Adopt programmable logic device,, effectively simplified circuit, realize the miniaturization of plate drive motor by computer technology.
The Sliding-Mode Control Based technology has significantly shortened the start-up time of permanent-magnet synchronous gyro motor; Apply dynamic antivibration through the digital dynamic alignment technique to motor; Effectively improved the dynamic speed stabilizing characteristic of gyro motor; Active fast braking technology has shortened the braking time of gyro motor, adopts programmable logic device and computer technology, when simplifying the miniaturization of circuit realization plate drive motor, has realized that the gyro motor real-time phase detects and warning.
1. based on the quick start-up technique of Sliding-Mode Control Based
Start-up course based on Sliding-Mode Control Based comprises that mainly the startup dead band overcomes, the 30V high pressure quickens, PWM dynamic voltage adjustment lock phase three phases.So-called Sliding-Mode Control Based, promptly to the progressively mobile process of poised state, the major control characteristics are following along the switching line of system for control system:
Through positive and negative two-way the rocking of control command control permanent magnetism gyro motor; Make its rotor exist respective phase poor; Avoid gyro motor and start the dead band; Simultaneously motor drive signal is detected, guarantee the validity of gyro motor start-up control signal, and guarantee the reliability that gyro motor starts through effective software control;
Referring to Fig. 5, Fig. 5 is a booster circuit schematic diagram of the present invention.This circuit adopts the DC-DC translative mode, will import+24V boosts to+30V, quickens to start with the 30V high pressure simultaneously, makes gyro motor accelerate to 90% of expectation rotating speed fast, i.e. sliding formwork switching plane;
After getting into the switching plane, start the phase-locked loop, with gyro motor 4 frequency-doubled signals and fundamental frequency signal input phase-locked loop, the phase signal input digit dynamic corrector that the phase-locked loop produces carries out the PWM dynamic voltage adjustment to gyro motor.Control through phase-locked loop, digital dynamic adjuster is drawn close gyro motor 4 frequency-doubled signals to the frequency of fundamental frequency signal, until making gyro motor lock phase fast;
Optimize circuit design parameter, promptly add the dynamic calibration link, the gyro motor start-up control was optimized for underdamping control by former over-damp control, reduced the instantaneous maximum power dissipation of start-up course;
2. real-time phase detects and the digital dynamic alignment technique
Real-time phase detects with the main feature of digital dynamic alignment technique following:
Adopt programmable logic device, through the hardware logic programming, autonomous Design high accuracy fundamental frequency generator, and, detect gyro motor 4 frequency-doubled signals of input and the phase difference of fundamental frequency signal in real time by computer technology;
Adopt real-time phase to detect and digital dynamic correcting control module 2; Be about to gyro motor 4 frequency-doubled signals input phase-locked loop; The phase-locked loop compares gyro motor 4 frequency-doubled signals and fundamental frequency signal, and the phase signal input digit dynamic corrector of generation carries out dynamic antivibration control to gyro motor; Shorten the phaselock acquisition time of phase step, improve gyro motor speed stabilizing characteristic;
Adopt the programming of programmable logic device and hardware logic to realize the logical circuit function, simplified hardware circuit design.
3. active fast braking technology
The main feature of active fast braking technology is following:
Use the start-up control loop gyro motor is implemented the revertive control rule, promptly through program control instruction, the control figure dynamic corrector applies big damping to gyro motor, makes the motor fast braking.
The present invention has shortened the autonomous heading aiming time, has improved the directional sighting precision, has improved system survival ability, quick reaction capability and precision.The Sliding-Mode Control Based technology has significantly shortened the start-up time of permanent-magnet synchronous gyro motor; Apply dynamic antivibration through the digital dynamic alignment technique to motor; Effectively improved the dynamic speed stabilizing characteristic of gyro motor; Active fast braking technology has shortened the braking time of gyro motor, adopts programmable logic device and computer technology, when simplifying the miniaturization of circuit realization plate drive motor, has realized that the gyro motor real-time phase detects and warning.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection range of the appended claim of the present invention.
Claims (10)
1. a permanent-magnet synchronous gyro motor control method is characterized in that, comprises the steps:
A, based on the quick setting up procedure of Sliding-Mode Control Based;
B, real-time phase detect and the digital dynamic aligning step;
C, active fast braking step.
2. permanent-magnet synchronous gyro motor control method as claimed in claim 1 is characterized in that, said active fast braking step comprises: use the start-up control loop gyro motor is implemented the revertive control rule, apply big damping to gyro motor, make the motor fast braking.
3. permanent-magnet synchronous gyro motor control method as claimed in claim 1 is characterized in that, said quick setting up procedure based on Sliding-Mode Control Based comprises: start the dead band and overcome step, high pressure accelerating step and PWM dynamic voltage adjustment lock step mutually.
4. permanent-magnet synchronous gyro motor control method as claimed in claim 3; It is characterized in that; Said startup dead band overcomes step and comprises with positive and negative two-way rocking and overcome the permanent magnetism gyro motor and start the dead band, and carries out effectively start and detect, and guarantees the reliability that gyro motor starts.
5. permanent-magnet synchronous gyro motor control method as claimed in claim 3 is characterized in that, said high pressure accelerating step comprises input+24V is boosted to 30V, quickens to start with the 30V high pressure simultaneously, makes gyro motor accelerate to sliding formwork fast and switches the plane.
6. permanent-magnet synchronous gyro motor control method as claimed in claim 3 is characterized in that, after said PWM dynamic voltage adjustment lock phase step comprises that the plane is switched in entering, carries out the PWM dynamic voltage adjustment, and starts the phase-locked loop, makes motor lock phase fast.
7. permanent-magnet synchronous gyro motor control method as claimed in claim 1; It is characterized in that; Said real-time phase detects and comprises with the digital dynamic aligning step fundamental frequency generator is set, and by computer technology, detects the phase difference of gyro motor 4 frequency-doubled signals and fundamental frequency in real time; The digital dynamic correcting controller is set, and serves as that input is carried out dynamic antivibration control to gyro motor with the phase difference of gyro motor 4 frequency-doubled signals and fundamental frequency, shortens the phaselock acquisition time of phase step, improves gyro motor speed stabilizing characteristic.
8. a permanent-magnet synchronous gyro motor control appliance is characterized in that, comprises that quick startup module, the real-time phase based on Sliding-Mode Control Based detects and digital dynamic correction module and active fast braking module.
9. permanent-magnet synchronous gyro motor control appliance as claimed in claim 9 is characterized in that, said real-time phase detects with the digital dynamic correction module and comprises fundamental frequency generator and digital dynamic correcting controller.
10. permanent-magnet synchronous gyro motor control appliance as claimed in claim 9 is characterized in that, said quick startup module based on Sliding-Mode Control Based comprises: start the dead band and overcome unit, high pressure accelerator module and PWM dynamic voltage adjustment phase locking unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110362284.5A CN102570945B (en) | 2010-11-15 | 2011-11-15 | Permanent magnet synchronization gyro motor control and equipment |
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| CN201010546519 | 2010-11-15 | ||
| CN201010546519.1 | 2010-11-15 | ||
| CN201110362284.5A CN102570945B (en) | 2010-11-15 | 2011-11-15 | Permanent magnet synchronization gyro motor control and equipment |
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| CN102570945A true CN102570945A (en) | 2012-07-11 |
| CN102570945B CN102570945B (en) | 2016-01-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108702109A (en) * | 2017-05-24 | 2018-10-23 | 华为技术有限公司 | A kind of driving method of flat motor, driving circuit and electronic equipment |
| WO2018214380A1 (en) * | 2017-05-24 | 2018-11-29 | 华为技术有限公司 | Drive method and drive circuit for flat motor, and electronic apparatus |
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| US4266432A (en) * | 1978-04-24 | 1981-05-12 | The Singer Company | Gyro motor control |
| CN1558547A (en) * | 2004-01-18 | 2004-12-29 | 桂林星辰电力电子有限公司 | Non-linear dynamic calibration method for permanent magnetic synchronous motor |
| CN1794560A (en) * | 2004-12-20 | 2006-06-28 | 三菱电机株式会社 | Controlling device of permanent-magnet synchro motor |
| CN101398304A (en) * | 2007-09-28 | 2009-04-01 | 北京航天发射技术研究所 | Pendulum type gyroscope north searching instrument measurement method |
| CN101621272A (en) * | 2009-08-14 | 2010-01-06 | 天津大学 | Circuit for realizing accurate braking of gyro motor by utilizing remanence |
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2011
- 2011-11-15 CN CN201110362284.5A patent/CN102570945B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4266432A (en) * | 1978-04-24 | 1981-05-12 | The Singer Company | Gyro motor control |
| CN1558547A (en) * | 2004-01-18 | 2004-12-29 | 桂林星辰电力电子有限公司 | Non-linear dynamic calibration method for permanent magnetic synchronous motor |
| CN1794560A (en) * | 2004-12-20 | 2006-06-28 | 三菱电机株式会社 | Controlling device of permanent-magnet synchro motor |
| CN101398304A (en) * | 2007-09-28 | 2009-04-01 | 北京航天发射技术研究所 | Pendulum type gyroscope north searching instrument measurement method |
| CN101621272A (en) * | 2009-08-14 | 2010-01-06 | 天津大学 | Circuit for realizing accurate braking of gyro motor by utilizing remanence |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108702109A (en) * | 2017-05-24 | 2018-10-23 | 华为技术有限公司 | A kind of driving method of flat motor, driving circuit and electronic equipment |
| WO2018214380A1 (en) * | 2017-05-24 | 2018-11-29 | 华为技术有限公司 | Drive method and drive circuit for flat motor, and electronic apparatus |
| US11264864B2 (en) | 2017-05-24 | 2022-03-01 | Honor Device Co., Ltd. | Flat-motor driving method and drive circuit, and electronic device |
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| CN102570945B (en) | 2016-01-13 |
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