CN103592954B - Based on the movable device control method of Hall element location - Google Patents
Based on the movable device control method of Hall element location Download PDFInfo
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- CN103592954B CN103592954B CN201310529189.9A CN201310529189A CN103592954B CN 103592954 B CN103592954 B CN 103592954B CN 201310529189 A CN201310529189 A CN 201310529189A CN 103592954 B CN103592954 B CN 103592954B
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Abstract
Based on the movable device control method of Hall element location, belong to aerospace operations mechanism controls technical field, the method comprises: connected system controller, two Hall elements, movable device, stepper motor and motor-drive circuits; Determine the corresponding relation of the effective start signal of Hall element and movable device position; If two Hall elements corresponding to the current location of movable device are all invalid, so select the Hall element nearer with the target location of movable device as steady arm; If current location certain Hall element corresponding is effective, so select this Hall element as steady arm; If current location certain Hall element corresponding is effective, and this Hall element fault, so select another Hall element as steady arm; If two Hall elements corresponding to current location are all invalid, and the Hall element fault nearer with the target location of movable device, so select another Hall element as steady arm.
Description
Technical field
The present invention relates to a kind of movable device control method based on Hall element location, belong to aerospace operations mechanism controls technical field.
Background technology
Movable device is more and more applied at aerospace field, such as focusing, bias current adjusting, turning table control, mechanical arm control etc.In order to accurately movable device be adjusted to assigned address, except requiring rational mechanism design, accurate geocoded activity mechanism position and rational movable device control method become the gordian technique that can aerospace field realize accurately controlling movable device.Hall element is little with own vol, lightweight, low in energy consumption, reliability high, is used widely at aerospace field, becomes the critical elements of geocoded activity mechanism position.The usual movable device of current aerospace field adopts a Hall element as steady arm, if Hall element fault, movable device cannot accurately be located; After Hall element geocoded activity mechanism position; usual movable device is not reorientated; movable device is controlled under the effective condition of Hall element; if moved to the spacing direction of mechanism; and moving range is larger; easily cause movable device to bump against mechanism spacing, cause movable device damage or stuck.
Summary of the invention
In order to solve existing movable device control method Problems existing, the present invention proposes a kind of movable device control method based on Hall element location.
Technical scheme of the present invention is:
Based on the movable device control method of Hall element location, comprise the following steps:
Step one, respectively places a Hall element at the two ends of the controlled scope of movable device; System controller is connected with Hall element, gathers the effective of Hall element or invalid signals; System controller is connected with motor driver, controls motor driver and produces motor control signal; Motor driver is connected with motor, controls electric machine rotation; Motor is connected with movable device, drives movable device to move; Movable device is connected with Hall element, and Hall element produces effectively or invalid signals according to movable device position;
Step 2, in movable device moving range, determine the corresponding relation of the effective start signal of Hall element and movable device position, deterministic process is: in movable device moving range, first movable device is moved to certain invalid position of Hall element, then control movable device and shift to Hall element, when Hall element becomes effectively from invalid, movable device stops mobile, the current location of record movable device;
Step 3, if two Hall elements corresponding to the current location of movable device are all invalid, so select the Hall element relatively near with the target location of movable device as the steady arm of movable device, control movable device to move to steady arm, when steady arm is from invalid to effective, controlling movable device stops mobile, and computational activity mechanism needs the scope of movement, controls movable device and moves to target location;
Step 4, if the current location of movable device certain Hall element corresponding is effective, so select this Hall element as steady arm, control movable device to move to another one Hall element direction, when steady arm from effectively become invalid after, controlling movable device stops mobile, control movable device again to move to steady arm, when steady arm becomes effectively from invalid, controlling movable device stops mobile, computational activity mechanism needs the scope of movement, control movable device and move to target location, if movable device does not arrive target location, and another one Hall element becomes effectively from invalid, so controlling movable device stops mobile, recalculate the scope that movable device needs movement, control movable device and move to target location,
Step 5, if the current location of movable device certain Hall element corresponding is effective, and this Hall element fault, so select another Hall element as steady arm, control movable device to move to another one Hall element direction, when steady arm becomes effectively from invalid, control movable device and stop mobile, computational activity mechanism needs the scope of movement, controls movable device and moves to target location;
Step 6, if two Hall elements corresponding to the current location of movable device are all invalid, and with the Hall element fault that the target location of movable device is relatively near, so select another Hall element as the steady arm of movable device, control movable device to move to steady arm, when steady arm is from invalid to effective, controls movable device and stop mobile, computational activity mechanism needs the scope of movement, controls movable device and moves to target location.
Determine described in step 2 that the process of the corresponding relation of the effective start signal of Hall element and movable device position is: in movable device moving range, first movable device is moved to certain invalid position of Hall element, then control movable device and shift to Hall element, when Hall element becomes effectively from invalid, movable device stops mobile, the current location of record move mechanism.
Beneficial effect of the present invention: the movable device control method that the present invention is based on Hall element location, the reliability of movable device location can be improved, two Hall elements backup each other, any one Hall element fault, do not affect the accuracy that movable device controls; Each control of movable device, first accurately determines movable device position by Hall element, then controls movable device and arrives target location, improve the accuracy of movable device position control; When movable device current location is in Hall element effective range, first control movable device and move to Hall element inactive area, then located by Hall element, finally movable device is controlled to target location, can effectively prevent movable device from moving to mechanism spacing, avoid movable device damage or stuck.
Accompanying drawing explanation
Fig. 1 is the movable device control method block diagram that the present invention is based on Hall element location.
Fig. 2 is the system architecture diagram of the luffing mechanism control method that the present invention is based on Hall element location.
Fig. 3 is effective range and the movable device location diagram of Hall element.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1, based on the movable device control method of Hall element location, comprise the following steps:
Step one, respectively places a Hall element at the two ends of the controlled scope of movable device; System controller is connected with Hall element, gathers the effective of Hall element or invalid signals; System controller is connected with motor driver, controls motor driver and produces motor control signal; Motor driver is connected with motor, controls electric machine rotation; Motor is connected with movable device, drives movable device to move; Movable device is connected with Hall element, and Hall element produces effectively or invalid signals according to movable device position.
Step 2, in movable device moving range, determine the corresponding relation of the effective start signal of Hall element and movable device position, deterministic process is: in movable device moving range, first movable device is moved to certain invalid position of Hall element, then control movable device and shift to Hall element, when Hall element becomes effectively from invalid, movable device stops mobile, the current location of record movable device.
Step 3, if two Hall elements corresponding to the current location of movable device are all invalid, so select the Hall element relatively near with the target location of movable device as the steady arm of movable device, control movable device to move to steady arm, when steady arm is from invalid to effective, controlling movable device stops mobile, and computational activity mechanism needs the scope of movement, controls movable device and moves to target location.
Step 4, if the current location of movable device certain Hall element corresponding is effective, so select this Hall element as steady arm, control movable device to move to another one Hall element direction, when steady arm from effectively become invalid after, controlling movable device stops mobile, control movable device again to move to steady arm, when steady arm becomes effectively from invalid, controlling movable device stops mobile, computational activity mechanism needs the scope of movement, control movable device and move to target location, if movable device does not arrive target location, and another one Hall element becomes effectively from invalid, so controlling movable device stops mobile, recalculate the scope that movable device needs movement, control movable device and move to target location.
Step 5, if the current location of movable device certain Hall element corresponding is effective, and this Hall element fault, so select another Hall element as steady arm, control movable device to move to another one Hall element direction, when steady arm becomes effectively from invalid, control movable device and stop mobile, computational activity mechanism needs the scope of movement, controls movable device and moves to target location.
Step 6, if two Hall elements corresponding to the current location of movable device are all invalid, and with the Hall element fault that the target location of movable device is relatively near, so select another Hall element as the steady arm of movable device, control movable device to move to steady arm, when steady arm is from invalid to effective, controls movable device and stop mobile, computational activity mechanism needs the scope of movement, controls movable device and moves to target location.
Movable device control method based on Hall element location of the present invention is applied to space camera, controls for the luffing mechanism of space camera, introduce specific embodiment of the invention in detail.
As shown in Figure 2, first, a Hall element is respectively placed at the two ends of the controlled scope of luffing mechanism; System controller is connected with Hall element, and gather the effective of Hall element or invalid signals, calculated step motor operation step number and traffic direction, system controller is connected with motor driver, controls motor driver and produces motor control signal; Motor driver is connected with stepper motor, control step electric machine rotation; Stepper motor is connected with luffing mechanism, drives luffing mechanism to move to target location; Luffing mechanism is connected with Hall element, and Hall element produces effectively according to luffing mechanism position or invalid signals feeds back to system controller.
System controller adopts model to be the microprocessor of SMJ320C30; Model is adopted to be the stepper motor of 42BYG020G; Model is adopted to be the stepper motor driver of SJ-2H042MC.
As shown in Figure 3, the effective range of Hall element and the corresponding relation of luffing mechanism position, luffing mechanism range of control is 15 ° to 90 °, 15 ° to 21.9 ° low-angle Hall elements are effective, 21.9 ° is low-angle Hall element critical angle from invalid to effective, 79.7 ° to 90 ° wide-angle Hall elements are effective, and 79.7 ° is wide-angle Hall element critical angle from invalid to effective, and 50.8 ° is the intermediate angle of 21.9 ° and 79.7 °.
The control flow of the luffing mechanism of Hall element location, comprises the following steps:
Step 1: if two Hall elements are all invalid, two non-faults of Hall element, and luffing mechanism angle on target is not more than 50.8 °, so control luffing mechanism to move to low-angle direction, low-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, run step number and traffic direction according to low-angle Hall element determination luffing mechanism current angular 21.9 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 2: if two Hall elements are all invalid, two non-faults of Hall element, and luffing mechanism angle on target is greater than 50.8 °, so control luffing mechanism to move to wide-angle direction, wide-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, run step number and traffic direction according to wide-angle Hall element determination luffing mechanism current angular 79.7 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 3: if low-angle Hall element is effective, the non-fault of low-angle Hall element, and luffing mechanism angle on target is greater than 79.7 °, so control luffing mechanism to move to wide-angle direction, low-angle Hall element from effectively become invalid after, controlling luffing mechanism stops mobile, control luffing mechanism to move to low-angle direction, low-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, step number and traffic direction is run according to low-angle Hall element determination luffing mechanism current angular 21.9 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location, if wide-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, recalculate stepper motor according to wide-angle Hall element determination luffing mechanism current angular 79.7 ° and luffing mechanism angle on target and run step number and traffic direction, control step motor drives luffing mechanism to arrive target location.
Step 4: if low-angle Hall element is effective, the non-fault of low-angle Hall element, and luffing mechanism angle on target is not more than 79.7 °, so control luffing mechanism to move to wide-angle direction, low-angle Hall element from effectively become invalid after, controlling luffing mechanism stops mobile, control luffing mechanism to move to low-angle direction, low-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, step number and traffic direction is run according to low-angle Hall element determination luffing mechanism current angular 21.9 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 5: if wide-angle Hall element is effective, the non-fault of wide-angle Hall element, and luffing mechanism angle on target is less than 21.9 °, so control luffing mechanism to move to low-angle direction, wide-angle Hall element from effectively become invalid after, controlling luffing mechanism stops mobile, control luffing mechanism to move to wide-angle direction, wide-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, step number and traffic direction is run according to wide-angle Hall element determination luffing mechanism current angular 79.7 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location, if low-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, recalculate stepper motor according to low-angle Hall element determination luffing mechanism current angular 21.9 ° and luffing mechanism angle on target and run step number and traffic direction, control step motor drives luffing mechanism to arrive target location.
Step 6: if wide-angle Hall element is effective, the non-fault of wide-angle Hall element, and luffing mechanism angle on target is not less than 21.9 °, so control luffing mechanism to move to low-angle direction, wide-angle Hall element from effectively become invalid after, controlling luffing mechanism stops mobile, control luffing mechanism to move to wide-angle direction, wide-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, step number and traffic direction is run according to wide-angle Hall element determination luffing mechanism current angular 79.7 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 7: if low-angle Hall element is effective, and low-angle Hall element fault, control luffing mechanism to move to wide-angle direction, wide-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, run step number and traffic direction according to wide-angle Hall element determination luffing mechanism current angular 79.7 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 8: if wide-angle Hall element is effective, and wide-angle Hall element fault, control luffing mechanism to move to low-angle direction, low-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, run step number and traffic direction according to low-angle Hall element determination luffing mechanism current angular 21.9 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 9: if two Hall elements are all invalid, and wide-angle Hall element fault, control luffing mechanism to move to low-angle direction, low-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, run step number and traffic direction according to low-angle Hall element determination luffing mechanism current angular 21.9 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Step 10: if two Hall elements are all invalid, and low-angle Hall element fault, control luffing mechanism to move to wide-angle direction, wide-angle Hall element is become effectively from invalid, controlling luffing mechanism stops mobile, run step number and traffic direction according to wide-angle Hall element determination luffing mechanism current angular 79.7 ° and luffing mechanism angle on target calculated step motor, control step motor drives luffing mechanism to arrive target location.
Claims (1)
1., based on the movable device control method of Hall element location, it is characterized in that, comprise the following steps:
Step one, respectively places a Hall element at the two ends of the controlled scope of movable device; System controller is connected with Hall element, gathers the effective of Hall element or invalid signals; System controller is connected with motor driver, controls motor driver and produces motor control signal; Motor driver is connected with motor, controls electric machine rotation; Motor is connected with movable device, drives movable device to move; Movable device is connected with Hall element, and Hall element produces effectively or invalid signals according to movable device position;
Step 2, in movable device moving range, determine the corresponding relation of the effective start signal of Hall element and movable device position, deterministic process is: in movable device moving range, first movable device is moved to certain invalid position of Hall element, then control movable device and shift to Hall element, when Hall element becomes effectively from invalid, movable device stops mobile, the current location of record movable device;
Step 3, if two Hall elements corresponding to the current location of movable device are all invalid, so select the Hall element relatively near with the target location of movable device as the steady arm of movable device, control movable device to move to steady arm, when steady arm is from invalid to effective, controlling movable device stops mobile, and computational activity mechanism needs the scope of movement, controls movable device and moves to target location;
Step 4, if the current location of movable device certain Hall element corresponding is effective, so select this Hall element as steady arm, control movable device to move to another one Hall element direction, when steady arm from effectively become invalid after, controlling movable device stops mobile, control movable device again to move to steady arm, when steady arm becomes effectively from invalid, controlling movable device stops mobile, computational activity mechanism needs the scope of movement, control movable device and move to target location, if movable device does not arrive target location, and another one Hall element becomes effectively from invalid, so controlling movable device stops mobile, recalculate the scope that movable device needs movement, control movable device and move to target location,
Step 5, if the current location of movable device certain Hall element corresponding is effective, and this Hall element fault, so select another Hall element as steady arm, control movable device to move to another one Hall element direction, when steady arm becomes effectively from invalid, control movable device and stop mobile, computational activity mechanism needs the scope of movement, controls movable device and moves to target location;
Step 6, if two Hall elements corresponding to the current location of movable device are all invalid, and with the Hall element fault that the target location of movable device is relatively near, so select another Hall element as the steady arm of movable device, control movable device to move to steady arm, when steady arm is from invalid to effective, controls movable device and stop mobile, computational activity mechanism needs the scope of movement, controls movable device and moves to target location.
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| CN201310529189.9A CN103592954B (en) | 2013-10-31 | 2013-10-31 | Based on the movable device control method of Hall element location |
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| CN201310529189.9A CN103592954B (en) | 2013-10-31 | 2013-10-31 | Based on the movable device control method of Hall element location |
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| US9564843B2 (en) * | 2012-04-23 | 2017-02-07 | Infineon Technologies Americas Corp. | Reverse rotation of a motor configured for operation in a forward direction |
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