CN103112576B - A kind of servos control method - Google Patents
A kind of servos control method Download PDFInfo
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- CN103112576B CN103112576B CN201310005797.XA CN201310005797A CN103112576B CN 103112576 B CN103112576 B CN 103112576B CN 201310005797 A CN201310005797 A CN 201310005797A CN 103112576 B CN103112576 B CN 103112576B
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Abstract
The present invention relates to a kind of steering engine controller, comprise power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; Described steering engine actuator is provided with position transduser; Wherein, power module is connected with control module and motor drive module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module; Described control module comprises Signal-regulated kinase, AD conversion module, D/A conversion module, control algorithm processing module, communication module, protection module; Shown steering engine controller independently controls two steering wheels by a control algorithm processing module, can reduce system bulk simultaneously, reduces system power dissipation, economizes on resources.
Description
Technical field
The present invention relates to a kind of steering engine controller, particularly a kind of steering engine controller that simultaneously independently can control two steering wheels, belongs to Brushless DC Motor Position Control technical field.
Background technology
At present, in steering gear control system, be that a steering engine controller controls a steering wheel mostly.In actual applications, a system needs to use two even multiple steering wheels usually, the demand controlled with satisfied two dimension or multi-dimensional movement.The conventional rudder machine controller quantity used in such systems is more, and system bulk is larger, takes up room also larger, and waste resource.
Summary of the invention
A steering wheel can only be controlled to overcome existing steering engine controller, need to use multiple steering engine controller in the system using multiple independent steering wheel, take up room large and waste the problem of resource, the invention provides one and simultaneously independently can control two steering wheels, practical, compact steering engine controller.
For solving the problem, technical scheme of the present invention is as follows:
A kind of steering engine controller, comprising: power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; Described steering engine actuator is provided with position transduser;
Wherein, power module is connected with control module and motor drive module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module;
Wherein, acting as of power module, isolates the vdc of input and is converted to the magnitude of voltage needed for each module, for driver module and motor drive module provide direct supply;
Acting as of control module, realizes the closed loop control to rudder placement of foot, and control signal is exported to motor drive module;
Acting as of motor drive module, the direct supply provided by power module changes the three phase mains that motor needs into; Motor is protected, and controls the mode of operation of steering engine actuator; The built-in H-bridge circuit of described motor drive module;
Acting as of upper computer, sends servos control instruction, limits the target location of steering wheel, and accepts the location information of steering engine controller feedback;
Acting as of steering engine actuator, accepts the instruction of steering engine controller, drives steering wheel motion;
Described control module, comprising: Signal-regulated kinase, AD conversion module, D/A conversion module, control algorithm processing module, communication module, protection module;
Wherein, Signal-regulated kinase is connected with AD conversion module, and D/A conversion module is connected with protection module; AD conversion module, communication module, D/A conversion module, protection module are connected with control algorithm processing module respectively; Signal-regulated kinase is connected with the position transduser on steering engine actuator; Motor drive module is connected with control algorithm processing module and protection module respectively; Communication module is connected with upper computer;
Wherein, acting as of Signal-regulated kinase, the position signal inputted by position transduser, through conversion, exports to AD conversion module;
Acting as of AD conversion module, is converted to digital signal by the analog voltage signal that Signal-regulated kinase exports, and digital signal is outputted to control algorithm processing module;
Acting as of D/A conversion module, is converted to analog voltage signal by the digital signal that control algorithm processing module exports, and analog voltage signal is exported to protection module;
Acting as of protection module, the input voltage of the motor drive module obtained from control algorithm processing module and output current signal are detected, and compare with the input voltage of motor drive module and outgoing current threshold value, and control algorithm processing module is exported in under-voltage, the overvoltage obtained and overcurrent protection signal;
Acting as of communication module, realizes the bidirectional transmission of control command between upper computer and control algorithm processing module and feedback information;
Acting as of control algorithm processing module, receive the control command of upper computer on the one hand, detect current rudder angle position by the position transduser on steering engine actuator and compare with target location, if miss the mark position, then controlling motor drive module by instruction makes motor be rotated further, until arrive target rudder angle position in error allowed band, and feed back final rudder angle to upper computer, to form the closed loop control to rudder angle position.Be on the other hand for protection module setting is under-voltage, the threshold value of overvoltage and overcurrent protection, under-voltage, the overvoltage detecting that protection module exports and overcurrent protection signal; When there is under-voltage, overvoltage or over current fault, being turned off the output of motor drive module by instruction, realizing the protection to steering engine controller;
Further, when motor used is brshless DC motor, acting as of described motor drive module, receive the control command of control algorithm processing module, produce the PWM waveform meeting command request, drive built-in H-bridge circuit through bootstrap circuit boost and power amplification circuit, power module is supplied to the three phase mains of direct supply inversion needed for brshless DC motor that motor drive module is used for electric machine rotation;
Described motor drive module, Signal-regulated kinase, AD conversion module, D/A conversion module and protection module all comprise two passages, can drive two independently steering wheels respectively.
A kind of servos control method, the method adopts steering engine controller of the present invention, and concrete steps are as follows:
Step one, to power on to power module, the vdc of input is converted to each module required voltage value, for control module and motor drive module provide direct supply;
Step 2, by control algorithm processing module, initialization is carried out to AD conversion module, communication module, D/A conversion module, protection module; Control algorithm processing module, to the given digital voltage current threshold of D/A conversion module, after by D/A conversion module digital voltage current threshold being converted to the electric current and voltage threshold value of simulation, outputs to protection module;
The current location of position transduser on step 3, steering engine actuator to steering wheel detects, and current location information is converted into electric signal, is transferred to Signal-regulated kinase and processes; Signal-regulated kinase by process after Signal transmissions to AD conversion module;
Step 4, upper computer send servos control instruction, limit the target location of steering wheel; Servos control instruction is transferred to control algorithm processing module through communication module;
Step 5, control algorithm processing module send instruction to AD conversion module, make AD conversion module by the digital data transmission after conversion to control algorithm processing module;
Step 6, in control algorithm processing module, the current location of steering wheel and target location to be compared; According to comparison result, carry out situation judgement;
If current location is consistent with target location, connect step 7;
If current location and target location inconsistent, connect step 8;
Step 7, control algorithm processing module feed back current steering wheel position by communication module to upper computer, terminate this working process;
Step 8, control algorithm processing module calculate steering wheel and move to parameter needed for target location by current location, and movement instruction is exported to steering engine actuator by motor drive module, drive steering wheel motion;
Step 9, motor drive module by the Signal transmissions of outgoing current and inner H-bridge circuit input voltage to protection module, after the signal conditioning circuit process that protection module is built-in, compare with the electric current and voltage threshold value simulated in protection module, and comparison result is transferred to control algorithm processing module; According to comparison result, carry out situation judgement;
If there is overcurrent, overvoltage or undervoltage condition, connect step 10;
If there is not overcurrent, overvoltage or undervoltage condition, connect step 11;
Step 10, control algorithm processing module send instruction to motor drive module, turn off the H-bridge circuit of motor drive module inside, protect H-bridge circuit and steering wheel;
Step 11, repetition step 3 ~ nine, until steering wheel moves to target location.
Beneficial effect
The invention provides a kind of steering engine controller, can independently control two steering wheels by a control algorithm processing module, can system bulk be reduced simultaneously, reduce system power dissipation, economize on resources.
Accompanying drawing explanation
Fig. 1 is the comprising modules figure of steering engine controller of the present invention;
Fig. 2 is the comprising modules figure of control module.
Detailed description of the invention
Below by embodiment, the present invention is described in more detail.
Embodiment
Steering engine controller as shown in Figure 1, comprising: power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; Described steering engine actuator is provided with position transduser;
Wherein, power module is connected with control module and motor drive module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module;
Wherein, acting as of power module, isolates the vdc of input and is converted to the magnitude of voltage needed for each module, for driver module and motor drive module provide direct supply;
Acting as of control module, realizes the closed loop control to rudder placement of foot, and control signal is exported to motor drive module;
Acting as of motor drive module, the direct supply provided by power module changes the three phase mains that motor needs into; Motor is protected, and controls the mode of operation of steering engine actuator; The built-in H-bridge circuit of described motor drive module;
Acting as of upper computer, sends servos control instruction, limits the target location of steering wheel, and accepts the location information of steering engine controller feedback;
Acting as of steering engine actuator, accepts the instruction of steering engine controller, drives steering wheel motion;
Control module as shown in Figure 2, comprising: Signal-regulated kinase, AD conversion module, D/A conversion module, control algorithm processing module, communication module, protection module;
Wherein, Signal-regulated kinase is connected with AD conversion module, and D/A conversion module is connected with protection module; AD conversion module, communication module, D/A conversion module, protection module are connected with control algorithm processing module respectively; Signal-regulated kinase is connected with the position transduser on steering engine actuator; Motor drive module is connected with control algorithm processing module and protection module respectively; Communication module is connected with upper computer;
Wherein, acting as of Signal-regulated kinase, by photoelectric encoder or potentiometer, the position signal inputted by position transduser, through conversion, exports to AD conversion module;
Acting as of AD conversion module, is converted to digital signal by the analog voltage signal that Signal-regulated kinase exports, and digital signal is outputted to control algorithm processing module;
Acting as of D/A conversion module, is converted to analog voltage signal by the digital signal that control algorithm processing module exports, and analog voltage signal is exported to protection module;
Acting as of protection module, the input voltage of the motor drive module obtained from control algorithm processing module and output current signal are detected, and compare with the input voltage of motor drive module and outgoing current threshold value, and control algorithm processing module is exported in under-voltage, the overvoltage obtained and overcurrent protection signal;
Acting as of communication module, by the RS232 interface of light-coupled isolation or the CAN communication interface of light-coupled isolation, realizes the bidirectional transmission of control command between upper computer and control algorithm processing module and feedback information;
Acting as of control algorithm processing module, by built-in general processor, digital signal processor or field programmable logic array, receive the control command of upper computer on the one hand, detect current rudder angle position by the position transduser on steering engine actuator and compare with target location, if miss the mark position, then controlling motor drive module by instruction makes motor be rotated further, until arrive target rudder angle position in error allowed band, and feed back final rudder angle to upper computer, to form the closed loop control to rudder angle position.Be on the other hand for protection module setting is under-voltage, the threshold value of overvoltage and overcurrent protection, under-voltage, the overvoltage detecting that protection module exports and overcurrent protection signal; When there is under-voltage, overvoltage or over current fault, being turned off the output of motor drive module by instruction, realizing the protection to steering engine controller;
Further, when motor used is brshless DC motor, acting as of described motor drive module, receive the control command of control algorithm processing module, produce the PWM waveform meeting command request, drive built-in H-bridge circuit through bootstrap circuit boost and power amplification circuit, power module is supplied to the three phase mains of direct supply inversion needed for brshless DC motor that motor drive module is used for electric machine rotation;
Described power module is made up of two pieces of isolation modules, a road isolation module input voltage is isolated into a road after as the output on an other road, power distribution, after isolation, becomes four tunnels to export by an other road.Described motor drive module, Signal-regulated kinase, AD conversion module, D/A conversion module and protection module all comprise two passages, can drive two independently steering wheels respectively.
A kind of servos control method, the method adopts steering engine controller of the present invention, and concrete steps are as follows:
Step one, to power on to power module, the vdc of input is converted to each module required voltage value, for control module and motor drive module provide direct supply;
Step 2, by control algorithm processing module, initialization is carried out to AD conversion module, communication module, D/A conversion module, protection module; Control algorithm processing module, to the given digital voltage current threshold of D/A conversion module, after by D/A conversion module digital voltage current threshold being converted to the electric current and voltage threshold value of simulation, outputs to protection module;
The current location of position transduser on step 3, steering engine actuator to steering wheel detects, and current location information is converted into electric signal, is transferred to Signal-regulated kinase and processes; Signal-regulated kinase by process after Signal transmissions to AD conversion module;
Step 4, upper computer send servos control instruction, limit the target location of steering wheel; Servos control instruction is transferred to control algorithm processing module through communication module;
Step 5, control algorithm processing module send instruction to AD conversion module, make AD conversion module by the digital data transmission after conversion to control algorithm processing module;
Step 6, in control algorithm processing module, the current location of steering wheel and target location to be compared; According to comparison result, carry out situation judgement;
If current location is consistent with target location, connect step 7;
If current location and target location inconsistent, connect step 8;
Step 7, control algorithm processing module feed back current steering wheel position by communication module to upper computer, terminate this working process;
Step 8, control algorithm processing module calculate steering wheel and move to parameter needed for target location by current location, and movement instruction is exported to steering engine actuator by motor drive module, drive steering wheel motion;
Step 9, motor drive module by the Signal transmissions of outgoing current and inner H-bridge circuit input voltage to protection module, after the signal conditioning circuit process that protection module is built-in, compare with the electric current and voltage threshold value simulated in protection module, and comparison result is transferred to control algorithm processing module; According to comparison result, carry out situation judgement;
If there is overcurrent, overvoltage or undervoltage condition, connect step 10;
If there is not overcurrent, overvoltage or undervoltage condition, connect step 11;
Step 10, control algorithm processing module send instruction to motor drive module, turn off the H-bridge circuit of motor drive module inside, protect H-bridge circuit and steering wheel;
Step 11, repetition step 3 ~ nine, until steering wheel moves to target location.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. a servos control method, is characterized in that: adopt steering engine controller to control steering wheel, described steering engine controller comprises power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; Described steering engine actuator is provided with position transduser;
Wherein, power module is connected with control module and motor drive module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module;
Wherein, acting as of power module, isolates the vdc of input and is converted to the magnitude of voltage needed for each module, for control module and motor drive module provide direct supply;
Acting as of control module, realizes the closed loop control to rudder placement of foot, and control signal is exported to motor drive module;
Acting as of motor drive module, the direct supply provided by power module changes the three phase mains that motor needs into; Motor is protected, and controls the mode of operation of steering engine actuator;
Acting as of upper computer, sends servos control instruction, limits the target location of steering wheel, and accepts the location information of steering engine controller feedback;
Acting as of steering engine actuator, accepts the instruction of steering engine controller, drives steering wheel motion;
Control method workflow is as follows:
Step one, to power on to power module, the vdc of input is converted to each module required voltage value, for control module and motor drive module provide direct supply;
Step 2, by control algorithm processing module, initialization is carried out to AD conversion module, communication module, D/A conversion module, protection module; Control algorithm processing module, to the given digital voltage current threshold of D/A conversion module, after by D/A conversion module digital voltage current threshold being converted to the electric current and voltage threshold value of simulation, outputs to protection module;
The current location of position transduser on step 3, steering engine actuator to steering wheel detects, and current location information is converted into electric signal, is transferred to Signal-regulated kinase and processes; Signal-regulated kinase by process after Signal transmissions to AD conversion module;
Step 4, upper computer send servos control instruction, limit the target location of steering wheel; Servos control instruction is transferred to control algorithm processing module through communication module;
Step 5, control algorithm processing module send instruction to AD conversion module, make AD conversion module by the digital data transmission after conversion to control algorithm processing module;
Step 6, in control algorithm processing module, the current location of steering wheel and target location to be compared; According to comparison result, carry out situation judgement;
If current location is consistent with target location, connect step 7;
If current location and target location inconsistent, connect step 8;
Step 7, control algorithm processing module feed back current steering wheel position by communication module to upper computer, terminate this working process;
Step 8, control algorithm processing module calculate steering wheel and move to parameter needed for target location by current location, and movement instruction is exported to steering engine actuator by motor drive module, drive steering wheel motion;
Step 9, motor drive module by the Signal transmissions of outgoing current and inner H-bridge circuit input voltage to protection module, after the signal conditioning circuit process that protection module is built-in, compare with the electric current and voltage threshold value simulated in protection module, and comparison result is transferred to control algorithm processing module; According to comparison result, carry out situation judgement;
If there is overcurrent, overvoltage or undervoltage condition, connect step 10;
If there is not overcurrent, overvoltage or undervoltage condition, connect step 11;
Step 10, control algorithm processing module send instruction to motor drive module, turn off the H-bridge circuit of motor drive module inside, protect H-bridge circuit and steering wheel;
Step 11, repetition step 3 ~ nine, until steering wheel moves to target location.
2. a kind of servos control method according to claim 1, is characterized in that: described control module, comprising: Signal-regulated kinase, AD conversion module, D/A conversion module, control algorithm processing module, communication module, protection module;
Wherein, Signal-regulated kinase is connected with AD conversion module, and D/A conversion module is connected with protection module; AD conversion module, communication module, D/A conversion module, protection module are connected with control algorithm processing module respectively; Signal-regulated kinase is connected with the position transduser on steering engine actuator; Motor drive module is connected with control algorithm processing module and protection module respectively; Communication module is connected with upper computer;
Wherein, acting as of Signal-regulated kinase, the position signal inputted by position transduser, through conversion, exports to AD conversion module;
Acting as of AD conversion module, is converted to digital signal by the analog voltage signal that Signal-regulated kinase exports, and digital signal is outputted to control algorithm processing module;
Acting as of D/A conversion module, is converted to analog voltage signal by the digital signal that control algorithm processing module exports, and analog voltage signal is exported to protection module;
Acting as of protection module, the input voltage of the motor drive module obtained from control algorithm processing module and output current signal are detected, and compare with the input voltage of motor drive module and outgoing current threshold value, and control algorithm processing module is exported in under-voltage, the overvoltage obtained and overcurrent protection signal;
Acting as of communication module, realizes the bidirectional transmission of control command between upper computer and control algorithm processing module and feedback information;
Acting as of control algorithm processing module, receive the control command of upper computer on the one hand, detect current rudder angle position by the position transduser on steering engine actuator and compare with target location, if miss the mark position, then controlling motor drive module by instruction makes motor be rotated further, until arrive target rudder angle position in error allowed band, and feed back final rudder angle to upper computer, to form the closed loop control to rudder angle position; Be on the other hand for protection module setting is under-voltage, the threshold value of overvoltage and overcurrent protection, under-voltage, the overvoltage detecting that protection module exports and overcurrent protection signal; When there is under-voltage, overvoltage or over current fault, being turned off the output of motor drive module by instruction, realizing the protection to steering engine controller.
3. a kind of servos control method according to claim 2, is characterized in that: described motor drive module, Signal-regulated kinase, AD conversion module, D/A conversion module and protection module all comprise two passages, can drive two independently steering wheels respectively.
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| CN105607526A (en) * | 2014-11-14 | 2016-05-25 | 中国航空工业第六一八研究所 | High-precision small servo controller for electric steering gears |
| CN104536310A (en) * | 2014-11-27 | 2015-04-22 | 哈尔滨金都太阳能科技有限公司 | Rotating speed controller of driving motor of submersible propeller |
| CN104597801A (en) * | 2014-11-27 | 2015-05-06 | 哈尔滨金都太阳能科技有限公司 | Rotating speed monitoring device with wireless monitoring alarming function for main shaft of propeller |
| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| CN106564587B (en) * | 2016-10-12 | 2019-10-11 | 天津远度科技有限公司 | Steering engine protects system and method, unmanned plane |
| CN108227537B (en) * | 2016-12-14 | 2020-10-20 | 中国航空工业集团公司西安航空计算技术研究所 | RVDT position feedback-based aircraft stepping motor servo control system and method |
| CN106899239A (en) * | 2017-03-28 | 2017-06-27 | 哈尔滨工业大学 | A kind of motor remote parameter control system and its method |
| CN107024346A (en) * | 2017-05-19 | 2017-08-08 | 深圳市靖洲科技有限公司 | Unmanned vehicle steering wheel integrated test system |
| CN107965494A (en) * | 2017-10-12 | 2018-04-27 | 武汉船用机械有限责任公司 | A kind of rotary vane type steering gear failure detector and method |
| CN111376245B (en) * | 2018-12-27 | 2022-02-22 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN112230668A (en) * | 2020-10-14 | 2021-01-15 | 四川航天烽火伺服控制技术有限公司 | Drive circuit and system |
| CN114413957A (en) * | 2021-12-24 | 2022-04-29 | 中国航天空气动力技术研究院 | Digital universal testing device and system for steering engine |
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