CN102570945B - Permanent magnet synchronization gyro motor control and equipment - Google Patents
Permanent magnet synchronization gyro motor control and equipment Download PDFInfo
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- CN102570945B CN102570945B CN201110362284.5A CN201110362284A CN102570945B CN 102570945 B CN102570945 B CN 102570945B CN 201110362284 A CN201110362284 A CN 201110362284A CN 102570945 B CN102570945 B CN 102570945B
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Abstract
A kind of permanent magnet synchronization gyro motor control and equipment, the quick setting up procedure that this control method comprises the steps: a, controls based on sliding formwork; B, real-time phase detect and digital dynamic aligning step; C, active fast braking step.Present invention reduces autonomous heading pointing time, improve directional sighting precision, improve system survivability, quick reaction capability and precision.Sliding formwork control technology significantly shortens the start-up time of permanent magnet synchronization gyro motor, dynamic antivibration is applied to motor by digital dynamic alignment technique, effectively improve the dynamic speed stabilizing characteristic of gyro motor, active fast braking technology shortens the braking time of gyro motor, adopt programmable logic device and computer technology, while the miniaturization of simplification circuit realiration plate drive motor, achieve gyro motor real-time phase detect and report to the police.
Description
Technical field
The present invention relates to inertial technology, particularly a kind of permanent magnet synchronization gyro motor control and equipment.
Background technology
At present, quick high accuracy gyroscope north finder is the key equipment that autonomous heading aims at, and for effectively shortening the directional sighting time, improving directional sighting precision, must break through quick high accuracy and seek northern technology.Gyros motor control technique is one of technological difficulties that quick high accuracy seeks north, this control technology have start fast, good, the active fast braking of speed stabilizing characteristic and real-time phase detects and the feature such as warning.Have the fewer companies such as German DMT abroad and have this technology, and at home, the research of this technology is started late, at present, the domestic over-damp control mode that adopts adjusts spinning top rake signal more, and its toggle speed and stability all do not reach desirable.
Summary of the invention
Technical problem to be solved by this invention be to provide a kind ofly to start fast, permanent magnet synchronization gyro motor control that speed stabilizing characteristic is good and equipment.
To achieve these goals, the invention provides a kind of permanent magnet synchronization gyro motor control, wherein, comprise the steps:
A, the quick setting up procedure controlled based on sliding formwork;
B, real-time phase detect and digital dynamic aligning step;
C, active fast braking step.
Above-mentioned permanent magnet synchronization gyro motor control, wherein, described active fast braking step comprises: use and start control loop to gyro motor enforcement revertive control rule, apply large damping, make motor fast braking to gyro motor.
Above-mentioned permanent magnet synchronization gyro motor control, wherein, the described quick setting up procedure controlled based on sliding formwork comprises: start dead band and overcome step, high pressure accelerating step and the phase-locked step of PWM dynamic voltage adjustment.
Above-mentioned permanent magnet synchronization gyro motor control, wherein, described startup dead band overcomes step and comprises and overcome permanent magnetic gyromotor start dead band with positive and negative two-way rocking, and carries out effectively start detection, ensures the reliability that gyro motor starts.
Above-mentioned permanent magnet synchronization gyro motor control, wherein, described high pressure accelerating step comprises input+24V is boosted to 30V, accelerates to start simultaneously, make gyro motor accelerate to sliding formwork switching surface fast with 30V high pressure.
Above-mentioned permanent magnet synchronization gyro motor control, wherein, after the phase-locked step of described PWM dynamic voltage adjustment comprises and enters switching surface, starts phase-locked loop, carries out PWM dynamic voltage adjustment, make motor phase-locked fast.
Above-mentioned permanent magnet synchronization gyro motor control, wherein, described real-time phase detects to comprise with digital dynamic aligning step and arranges fundamental frequency generator, and computer technology, detect the phase difference of gyro motor 4 frequency-doubled signal and fundamental frequency in real time; Digital dynamic correcting controller being set, for inputting, dynamic antivibration control being carried out to gyro motor with the phase difference of gyro motor 4 frequency-doubled signal and fundamental frequency, shorten the phaselock acquisition time of phase step, improve gyro motor speed stabilizing characteristic.
In order to realize above-mentioned purpose better, present invention also offers a kind of permanent magnet synchronization gyro motor control appliance, wherein, comprise based on sliding formwork control quick startup module, real-time phase detect with digital dynamic correction module and active fast braking module.
Above-mentioned permanent magnet synchronization gyro motor control appliance, wherein, described real-time phase detects and comprises fundamental frequency generator and digital dynamic correcting controller with digital dynamic correction module.
Above-mentioned permanent magnet synchronization gyro motor control appliance, wherein, the described quick startup module controlled based on sliding formwork comprises: start dead band and overcome unit, high pressure accelerator module and PWM dynamic voltage adjustment phase locking unit.
Technique effect of the present invention is: present invention reduces autonomous heading pointing time, improves directional sighting precision, improves system survivability, quick reaction capability and precision.Sliding formwork control technology significantly shortens the start-up time of permanent magnet synchronization gyro motor, dynamic antivibration is applied to motor by digital dynamic alignment technique, effectively improve the dynamic speed stabilizing characteristic of gyro motor, active fast braking technology shortens the braking time of gyro motor, adopt programmable logic device and computer technology, while the miniaturization of simplification circuit realiration plate drive motor, achieve gyro motor real-time phase detect and report to the police.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Accompanying drawing explanation
Fig. 1 is permanent magnet synchronization gyro motor control flow chart of the present invention;
Fig. 2 is permanent magnet synchronization gyro motor control appliance block diagram of the present invention;
Fig. 3 is dynamic calibration controller of the present invention;
Fig. 4 is the functional block diagram of dynamic corrector of the present invention;
Fig. 5 is booster circuit schematic diagram of the present invention.
Wherein, Reference numeral
S1 ~ S3, S11 ~ S13 step
The 1 quick startup module controlled based on sliding formwork
11 start dead band overcomes unit
12 high pressure accelerator modules
13PWM dynamic voltage adjustment phase locking unit
2 real-time phases detect and 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 described in detail:
See Fig. 1, Fig. 1 permanent magnet synchronization gyro motor control flow chart of the present invention.Permanent magnet synchronization gyro motor control of the present invention, wherein, comprises the steps:
A, the quick setting up procedure S1 controlled based on sliding formwork;
B, real-time phase detect and digital dynamic aligning step S2;
C, active fast braking step S3.
Wherein, described active fast braking step S3 comprises: use and start control loop to gyro motor enforcement revertive control rule, apply large damping, make motor fast braking to gyro motor.
The described quick setting up procedure S1 controlled based on sliding formwork comprises: start dead band and overcome step S11, high pressure accelerating step S12 and the phase-locked step S13 of PWM dynamic voltage adjustment.
Described startup dead band overcomes step S11 and comprises and overcome permanent magnetic gyromotor start dead band with positive and negative two-way rocking, and carries out effectively start detection, ensures the reliability that gyro motor starts.
Described high pressure accelerating step S12 comprises input+24V is boosted to 30V, accelerates to start simultaneously, make gyro motor accelerate to sliding formwork switching surface fast with 30V high pressure.
After the phase-locked step S13 of described PWM dynamic voltage adjustment comprises and enters switching surface, start phase-locked loop, carry out PWM dynamic voltage adjustment, make motor phase-locked fast.
Described real-time phase detects to comprise with digital dynamic aligning step S2 and arranges fundamental frequency generator, and computer technology, detect the phase difference of gyro motor 4 frequency-doubled signal and fundamental frequency in real time; Digital dynamic correcting controller being set, for inputting, dynamic antivibration control being carried out to gyro motor with the phase difference of gyro motor 4 frequency-doubled signal and fundamental frequency, shorten the phaselock acquisition time of phase step, improve gyro motor speed stabilizing characteristic.
Be permanent magnet synchronization gyro motor control appliance block diagram of the present invention see Fig. 2, Fig. 2.Permanent magnet synchronization gyro motor control appliance of the present invention, wherein, comprise based on sliding formwork control quick startup module 1, real-time phase detect with digital dynamic correction module 2 and active fast braking module 3.
Described real-time phase detects and comprises fundamental frequency generator and digital dynamic correcting controller with digital dynamic correction module 2.See Fig. 3, Fig. 4, Fig. 3 is 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 and controls, gyro motor phase signal exports high drive control signal after pre-filtering, correction link, controls the high drive of gyro motor.
The described quick startup module 1 controlled based on sliding formwork comprises: start dead band and overcome unit 11, high pressure accelerator module 12 and PWM dynamic voltage adjustment phase locking unit 13.
Permanent magnet synchronization gyro motor control technology mainly have employed the technology such as sliding formwork control, digital dynamic correction and active fast braking.Concrete technical scheme comprises:
In permanent magnet synchronization gyro motor control loop, adopt the rapid starting technique controlled based on sliding formwork first, shorten gyro motor start-up time 50%;
In permanent magnet synchronization gyro motor control loop, detect gyro motor phase place in real time, adopt digital dynamic alignment technique, achieve the dynamic antivibration of gyro motor, improve the dynamic speed stabilizing characteristic of gyro motor;
Make full use of gyro motor starting-up later time, adopt active fast braking technology, achieve the fast braking of gyro motor;
Adopt programmable logic device, computer technology, effectively simplifies circuit, realizes the miniaturization of plate drive motor.
Sliding formwork control technology significantly shortens the start-up time of permanent magnet synchronization gyro motor, dynamic antivibration is applied to motor by digital dynamic alignment technique, effectively improve the dynamic speed stabilizing characteristic of gyro motor, active fast braking technology shortens the braking time of gyro motor, adopt programmable logic device and computer technology, while the miniaturization of simplification circuit realiration plate drive motor, achieve gyro motor real-time phase detect and report to the police.
1. based on the rapid starting technique that sliding formwork controls
Based on sliding formwork control start-up course mainly comprise start dead band overcome, 30V high pressure accelerate, the phase-locked three phases of PWM dynamic voltage adjustment.So-called sliding formwork controls, i.e. the process of control system along the switching line of system to poised state progressively movement, and major control feature is as follows:
Controlled by control command that permanent magnetic gyromotor is positive and negative two-wayly to be rocked, its rotor is made to there is respective phase difference, avoid gyro motor and start dead band, motor drive signal is detected simultaneously, ensure that gyro motor starts the validity of control signal, and ensure by effective software control the reliability that gyro motor starts;
Be booster circuit schematic diagram of the present invention see Fig. 5, Fig. 5.This circuit adopts DC-DC translative mode, and input+24V is boosted to+30V, accelerates to start with 30V high pressure simultaneously, gyro motor is accelerated to fast and expects 90% of rotating speed, i.e. sliding formwork switching surface;
After entering switching surface, start phase-locked loop, gyro motor 4 frequency-doubled signal and fundamental frequency signal are inputted phase-locked loop, the phase signal input digital dynamic adjuster that phase-locked loop produces, carries out PWM dynamic voltage adjustment to gyro motor.By the control of phase-locked loop, digital dynamic adjuster, gyro motor 4 frequency-doubled signal is drawn close to the frequency of fundamental frequency signal, until make gyro motor phase-locked fast;
Optimization Design of Electronic Circuits parameter, namely adds dynamic calibration link, gyro motor startup is controlled to be optimized for underdamping by former over-damp control and controls, reduce the instantaneous maximum power dissipation of start-up course;
2. real-time phase detects and digital dynamic alignment technique
Real-time phase detects with the main feature of digital dynamic alignment technique as follows:
Adopt programmable logic device, programmed by hardware logic, autonomous Design high accuracy fundamental frequency generator, and computer technology, detect gyro motor 4 frequency-doubled signal of input and the phase difference of fundamental frequency signal in real time;
Real-time phase is adopted to detect and digital dynamic Corrective control module 2, by gyro motor 4 frequency-doubled signal input phase-locked loop, gyro motor 4 frequency-doubled signal and fundamental frequency signal compare by phase-locked loop, the phase signal input digital dynamic adjuster produced, dynamic antivibration control is carried out to gyro motor, shorten the phaselock acquisition time of phase step, improve gyro motor speed stabilizing characteristic;
Adopt programmable logic device and hardware logic programming realization logical circuit function, simplify hardware circuit design.
3. active fast braking technology
The main feature of active fast braking technology is as follows:
Use and start control loop to gyro motor enforcement revertive control rule, namely by program control instruction, control figure dynamic corrector, applies large damping to gyro motor, makes motor fast braking.
Present invention reduces autonomous heading pointing time, improve directional sighting precision, improve system survivability, quick reaction capability and precision.Sliding formwork control technology significantly shortens the start-up time of permanent magnet synchronization gyro motor, dynamic antivibration is applied to motor by digital dynamic alignment technique, effectively improve the dynamic speed stabilizing characteristic of gyro motor, active fast braking technology shortens the braking time of gyro motor, adopt programmable logic device and computer technology, while the miniaturization of simplification circuit realiration plate drive motor, achieve gyro motor real-time phase detect and report to the police.
Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection range that all should belong to the claim appended by the present invention.
Claims (5)
1. a permanent magnet synchronization gyro motor control, is characterized in that, comprises the steps:
A, the quick setting up procedure controlled based on sliding formwork, comprise: start dead band and overcome step, high pressure accelerating step and the phase-locked step of PWM dynamic voltage adjustment, described startup dead band overcome step comprise with positive and negative two-way rock overcome permanent magnetic gyromotor start dead band, and carry out effectively start detection, ensure the reliability that gyro motor starts, described high pressure accelerating step comprises input+24V is boosted to 30V, accelerates to start simultaneously, make gyro motor accelerate to sliding formwork switching surface fast with 30V high pressure;
B, real-time phase detect and digital dynamic aligning step;
C, active fast braking step, comprise and use startup control loop to gyro motor enforcement revertive control rule, apply large damping, make motor fast braking to gyro motor.
2. permanent magnet synchronization gyro motor control as claimed in claim 1, is characterized in that, after the phase-locked step of described PWM dynamic voltage adjustment comprises and enters switching surface, carries out PWM dynamic voltage adjustment, and starts phase-locked loop, make motor phase-locked fast.
3. permanent magnet synchronization gyro motor control as claimed in claim 1, it is characterized in that, described real-time phase detects to comprise with digital dynamic aligning step and arranges fundamental frequency generator, and computer technology, detect the phase difference of gyro motor 4 frequency-doubled signal and fundamental frequency in real time; Digital dynamic correcting controller being set, for inputting, dynamic antivibration control being carried out to gyro motor with the phase difference of gyro motor 4 frequency-doubled signal and fundamental frequency, shorten the phaselock acquisition time of phase step, improve gyro motor speed stabilizing characteristic.
4. a permanent magnet synchronization gyro motor control appliance, it is characterized in that, comprise the quick startup module controlled based on sliding formwork, real-time phase detects and digital dynamic correction module and active fast braking module, the described quick startup module controlled based on sliding formwork comprises: start dead band and overcome unit, high pressure accelerator module and PWM dynamic voltage adjustment phase locking unit, described startup dead band overcomes unit for overcoming permanent magnetic gyromotor startup dead band with positive and negative two-way rocking, and carry out effectively start detection, ensure the reliability that gyro motor starts, described high pressure accelerator module is used for input+24V to boost to 30V, accelerate to start with 30V high pressure simultaneously, gyro motor is made to accelerate to sliding formwork switching surface fast, described active fast braking module is used for using startup control loop and implements revertive control rule to gyro motor, large damping is applied to gyro motor, make motor fast braking.
5. permanent magnet synchronization gyro motor control appliance as claimed in claim 4, is characterized in that, described real-time phase detects and comprises fundamental frequency generator and digital dynamic correcting controller with digital dynamic correction module.
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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 CN102570945A (en) | 2012-07-11 |
| CN102570945B true CN102570945B (en) | 2016-01-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11264864B2 (en) | 2017-05-24 | 2022-03-01 | Honor Device Co., Ltd. | Flat-motor driving method and drive circuit, and electronic device |
| 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 |
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 |
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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 |
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