CN105159087A - Zero current feedback stabilized platform controlling means and method - Google Patents
Zero current feedback stabilized platform controlling means and method Download PDFInfo
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- CN105159087A CN105159087A CN201510579135.2A CN201510579135A CN105159087A CN 105159087 A CN105159087 A CN 105159087A CN 201510579135 A CN201510579135 A CN 201510579135A CN 105159087 A CN105159087 A CN 105159087A
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Abstract
The invention provides a zero current feedback stabilized platform controlling means and a method, wherein, the apparatus comprises a measure module, a processor module and a correction execution module; the measure module is used to measure a relative angle speed on two ends of a rotating shaft and an angular velocity of a stabilized platform load relative to an inertia space; the processor module is used to obtain a back electromotive force output value and a correction output value based on the relative angle speed on two ends of the rotating shaft and the angular velocity of a stabilized platform load relative to the inertia space; and a correction value is obtained based on the back electromotive force output value and the correction output value. The invention has the advantages of simplified hardware design, improved control system reliability and low cost.
Description
Technical field
The present invention relates to automatic control technology field, particularly belong to stable platform control device and the method for a kind of no current feedback.
Background technology
Stable platform is used for making load (as optical device) can isolate rocking of carrier, and the pedestal of stable platform is arranged on (as car, ship, aircraft etc.) on carrier, and pedestal can rock along with rocking of carrier; Rotating shaft other end stable connection platform load; The stator of motor is connected on stable platform pedestal, rotor is arranged in stable platform load, motor makes stable platform load produce the motion contrary with pedestal direction for providing moment, makes load can ignore the various of carrier and rocks, thus reach the object of stability contorting.
In prior art, generally all can adopt in Control System of Stable Platform the control structure of " electric current loop-speed ring " reach opposing back electromotive force and disturbance torque on the object of the impact of load Angle Position; Wherein, electric current loop inbound pacing ring exports as instruction, exports responsive back electromotive force by Hall current sensor, offsets pedestal rotate the back electromotive force of generation to the interference of load with this; Speed ring take external control signal as instruction, is exported offset the interference of mechanical link disturbance torque to load by gyro, and in this process, rotary transformer is in systems in which only for measuring load Angle Position, does not participate in circuit controls.
Further, in order to reach better control effects and realize more controlling functions, the way in reality is by using mimic channel to build electric current loop, then setting up speed ring with digital circuit; Although this kind of way improves control effects to a certain extent, because the antijamming capability of mimic channel is poor, whole system stability and accuracy can be made to be affected; And the pattern of this digital circuit, mimic channel mixing can bring many restrictions and inconvenience to hardware design, causes the defect making it have low reliability, high cost.
Summary of the invention
In view of this, the stable platform control device that fundamental purpose of the present invention is to provide a kind of no current to feed back and method, to solve digital circuit in prior art, mimic channel mixes the low and high in cost of production defect of the poor anti jamming capability, the reliability that cause.
For achieving the above object, technical scheme of the present invention is achieved in that
A stable platform control device for no current feedback, comprising:
Measurement module, processor module and correction execution module;
Described measurement module, for measuring the relative angle speed at rotating shaft two ends and the stable platform load angular velocity relative to inertial space;
Described processor module, for obtaining back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, and obtain modified value by described back electromotive force output valve and described correction value output;
Described correction execution module, for adjusting stable platform load angular velocity according to described modified value.
Described measurement module, has rotary transformer unit and gyro unit;
Described rotary transformer unit, for measuring the relative angle speed at rotating shaft two ends, obtaining according to the relative angle speed at described rotating shaft two ends and exporting the magnitude of voltage corresponding with the relative angle speed at rotating shaft two ends;
Described gyro unit, for the angular velocity of Measurement sensibility platform load relative to inertial space, to obtain relative to the angular velocity of inertial space according to described stable platform load and stable output platform load relative to the magnitude of angular velocity of inertial space.
Described processor module comprises: back electromotive force computing unit, correction output unit and arithmetic element;
Described back electromotive force computing unit, has the first reception subelement and computation subunit; Described first receives subelement for receiving described corresponding with the relative angle speed at rotating shaft two ends magnitude of voltage, and described magnitude of voltage is scaled relative angle velocity amplitude; Described computation subunit calculates back electromotive force output valve according to described relative angle velocity amplitude;
Described correction output unit, has the second reception subelement and numerical scale integral differential PID subelement; Described second receives subelement for receiving the magnitude of angular velocity of stable platform load relative to inertial space, and described digital PID subelement is used for carrying out control to described stable platform load relative to the magnitude of angular velocity of inertial space and exports, and obtains correction value output;
Described arithmetic element, for obtaining modified value according to described back electromotive force output valve and described correction value output computing.
Described back electromotive force computing unit is the negative feedback channel of described correction output unit;
The subtraction that described arithmetic element performs described electromotive force output valve and described correction value output obtains modified value.
Described correction execution module comprises: power amplifier and topworks, and described power amplifier connects described topworks;
Described power amplifier, exports for receiving described modified value and producing predetermined power, operates or adjustment to drive topworks.
Preferably, described topworks is motor.
A stable platform control method for no current feedback, described method comprises:
Measure the relative angle speed at rotating shaft two ends and the stable platform load angular velocity relative to inertial space;
Obtain back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, and obtain modified value by described back electromotive force output valve and described correction value output;
According to described modified value, stable platform load angular velocity is adjusted.
After the relative angle speed at described measurement rotating shaft two ends and the angular velocity of stable platform load relative to inertial space, also comprise:
Obtain according to the relative angle speed at described rotating shaft two ends and export the magnitude of voltage corresponding with the relative angle speed at described rotating shaft two ends;
To obtain relative to the angular velocity of inertial space according to described stable platform load and stable output platform load relative to the magnitude of angular velocity of inertial space.
Describedly obtain modified value by described back electromotive force output valve and described correction value output and comprise:
Receive described corresponding with the relative angle speed at rotating shaft two ends magnitude of voltage, described magnitude of voltage is scaled relative angle velocity amplitude, calculates back electromotive force output valve according to described relative angle velocity amplitude;
Receive the magnitude of angular velocity of stable platform load relative to inertial space, relative to the magnitude of angular velocity of inertial space, control is carried out to described stable platform load and exports, obtain correction value output;
Modified value is obtained according to described back electromotive force output valve and described correction value output computing.
Describedly according to described modified value, stable platform load angular velocity to be adjusted, comprising: described modified value is carried out power amplification, drive topworks to carry out operating or adjusting
In the stable platform control device of the no current feedback provided in the embodiment of the present invention and method, the relative angle speed at rotating shaft two ends and the stable platform load angular velocity relative to inertial space is measured with measurement module, and processor module obtains back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, obtain modified value further by described back electromotive force output valve and described correction value output; And then can adjust stable platform load angular velocity according to described modified value.Said process eliminates analog electric current loop of the prior art and controls, and whole process, by digital circuit, has the good effect simplifying hardware design, improve reliability control system and reduce costs.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows the stable platform control device structural representation of a kind of no current feedback that the embodiment of the present invention provides;
Fig. 2 shows the stable platform control device processor module signal flow diagram of a kind of no current feedback that the embodiment of the present invention provides;
Fig. 3 shows the stable platform control device signal flow diagram of a kind of no current feedback that the embodiment of the present invention provides;
Fig. 4 shows the stable platform control method schematic flow sheet of a kind of no current feedback that the embodiment of the present invention provides;
Description of reference numerals is as follows:
110, measurement module; 120, processor module; 130, execution module is revised; 210, output unit is corrected; 220, arithmetic element; 230, back electromotive force computing unit; 301, rotary transformer unit; 302, first subelement is received; 303, computation subunit; 304, gyro unit; 305, second subelement is received; 306, digital PID (ratio proportion, integration integration, differential differentiation controller) unit; 307, power amplifier; 308, topworks.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Embodiments provide stable platform control device and the method for a kind of no current feedback, be described below by embodiment.
As shown in Figure 1, the stable platform control device of a kind of no current feedback that the embodiment of the present invention provides, comprising: measurement module 110, processor module 120 and correction execution module 130;
Described measurement module 110, for measuring the relative angle speed at rotating shaft two ends and the stable platform load angular velocity relative to inertial space;
Above-mentioned inertial space refers to, Newton's law describe motion or static are all reference system-inertial spaces special relative to, as in a kind of application scenarios, inertial space used in the present invention can using ground as reference.
Described processor module 120, for obtaining back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, and obtain modified value by described back electromotive force output valve and described correction value output;
Due to the existence of processor module, the above-mentioned relative angle speed according to described rotating shaft two ends and stable platform load is made to obtain back electromotive force output valve and correction value output relative to the angular velocity of inertial space, all complete in processor with the course of work being obtained modified value by described back electromotive force output valve and described correction value output, use can be reduced thus and even do not use mimic channel, avoid needing carrying out simulating signal as far as possible and convert the work that digital signal or digital signal convert simulating signal to, further avoid because mimic channel and digital circuit use the complicacy of brought hardware circuit design and there is many circumscribed shortcomings jointly, improve the antijamming capability of control system, and improve the Stability and dependability of control system, and reduce cost.
Described correction execution module 130, for adjusting stable platform load angular velocity according to described modified value.
As shown in Figure 2 and Figure 3, above-mentioned measurement module 110, has rotary transformer unit 301 and gyro unit 304;
Described rotary transformer unit 301, for measuring the relative angle speed at rotating shaft two ends, obtaining according to the relative angle speed at described rotating shaft two ends and exporting the magnitude of voltage corresponding with the relative angle speed at rotating shaft two ends.
At this, further rotary transformer is described, rotary transformer is a kind of electromagnetic sensor, be made up of stators and rotators, wherein stator winding is as the former limit of transformer, accept field voltage, rotor windings is as the secondary of transformer, induced voltage is obtained by electromagnetic coupled, the former limit of rotary transformer, vice-side winding is with the change of the angular displacement generation relative position of rotary transformer rotor, thus the size of its output voltage changes with rotor angular displacement, the magnitude of voltage exported becomes sinusoidal with rotor relative angular displacement, cosine function relationship, or keep a certain proportionate relationship, or it is linear, therefore, after the magnitude of voltage obtaining rotary transformer output, the relative angle speed at rotating shaft two ends is namely obtained.
Described gyro unit 304, for the angular velocity of Measurement sensibility platform load relative to inertial space, and to obtain relative to the angular velocity of inertial space according to described stable platform load and export and the magnitude of angular velocity of stable platform load relative to inertial space, inertial space can select ground as reference herein; Described gyroscope also referred to as motion sensor, for measured angular speed to distinguish the motion state of object.
As shown in Figure 2 and Figure 3, described processor module 120 comprises: back electromotive force computing unit 230, correction output unit 210 and arithmetic element 220;
Described back electromotive force computing unit 230, has the first reception subelement 302 and computation subunit 303;
Described first receives subelement 302 for receiving described corresponding with the relative angle speed at rotating shaft two ends magnitude of voltage, and described magnitude of voltage is scaled relative angle velocity amplitude; Described computation subunit 303 obtains the relative angle velocity amplitude of the first reception subelement, and calculates back electromotive force output valve according to this relative angle velocity amplitude further.
Above-mentioned computation subunit 303 calculates back electromotive force output valve according to above-mentioned relative angle velocity amplitude, concrete, can be obtained by following computation process:
For given system, back EMF coefficient Ke is determined in motor both end voltage change that can be corresponding by the unit angular velocity change of measuring motor reel two ends, that is:
Ke＝△U/△ω①
Determine described to after the back EMF coefficient Ke of fixed system, further, again according to formula 1., both can have been calculated the size of back electromotive force △ U by the relative angle speed △ ω recording rotating shaft two ends, and the relative angle speed △ ω at these rotating shaft two ends is corresponding with the magnitude of voltage that rotary transformer exports.
Described correction output unit 210, has the second reception subelement 305 and digital PID subelement 306; Described second to receive subelement 305 described with the magnitude of angular velocity of stable platform load relative to inertial space for receiving, described digital PID subelement 306 exports for carrying out control to described and stable platform load relative to the magnitude of angular velocity of inertial space, obtain correction value output, above-mentioned digital PID subelement is ratio, integration, differential control module.
Described arithmetic element 220, for obtaining modified value according to described back electromotive force output valve and described correction value output computing.
Further, described back electromotive force computing unit is the negative feedback channel of described correction output unit;
Further, the subtraction that described arithmetic element 220 performs described electromotive force output valve and described correction value output obtains modified value.
Described correction execution module 130 comprises: power amplifier 307 and topworks, and described power amplifier connects described topworks 308;
Described power amplifier 307, exports for receiving described modified value and producing predetermined power, operates or adjustment to drive topworks.
Further, above-mentioned topworks 308 is motor, and above-mentioned power amplifier accepts modified value also produces maximum power output, carries out operating or adjusting with drive motor.
Wherein, modified value is presented as the PWM voltage signal that a dutycycle is adjustable physically, this voltage signal is exported to power amplifier and makes it have enough driving forces, and the output of power amplifier just drives it have rotated by connecting motor.
As shown in Figure 3, above-mentioned rotary transformer 301 is the relative angle speed for measuring rotating shaft two ends, and obtains according to the relative angle speed at described rotating shaft two ends and export the magnitude of voltage corresponding with the relative angle speed at rotating shaft two ends;
The output voltage of rotary transformer and its angle of rotor are specific funtcional relationship, can obtain the relative angle speed at rotating shaft two ends after obtaining the corresponding magnitude of voltage of the relative angle speed at above-mentioned rotating shaft two ends, and the two is in funtcional relationship.
Give the back EMF coefficient Ke of fixed system described in determining at first after, further, according to formula Ke=△ U/ △ ω, both can calculate back electromotive force size by the relative angle velocity amplitude recording rotating shaft two ends, the relative angle speed at above-mentioned rotating shaft two ends is calculated by the magnitude of voltage that the relative angle speed with rotating shaft two ends is corresponding by rotary transformer; Servo control loop can reach the effect similar with electric current loop with this, but but can be avoided the use of artificial circuit part, there is the good effect that hardware circuit design is simple, cost is low, control procedure is reliable and stable.
As shown in Figure 4, embodiments provide the stable platform control method of a kind of no current feedback, described method comprises:
S401, the relative angle speed measuring rotating shaft two ends and stable platform load are relative to the angular velocity of inertial space;
After the relative angle speed at above-mentioned measurement rotating shaft two ends and the angular velocity of stable platform load relative to inertial space, also comprise:
The magnitude of voltage corresponding with the relative angle speed at described rotating shaft two ends is obtained according to the relative angle speed at described rotating shaft two ends;
Obtain and the magnitude of angular velocity of described stable platform load relative to inertial space relative to the angular velocity of inertial space according to described stable platform load.
S402, obtain back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, and obtain modified value by described back electromotive force output valve and described correction value output;
Obtain modified value above by described back electromotive force output valve and described correction value output to comprise:
Receive described corresponding with the relative angle speed at rotating shaft two ends magnitude of voltage, described magnitude of voltage is scaled relative angle velocity amplitude, calculates back electromotive force output valve according to described relative angle velocity amplitude;
Receive described with stable platform load relative to the magnitude of angular velocity of inertial space, relative to the magnitude of angular velocity of inertial space, control is carried out to described and stable platform load and exports, obtain correction value output;
Modified value is obtained according to described back electromotive force output valve and described correction value output computing;
S403, according to described modified value, fixed platform load angular velocity to be adjusted.
According to described modified value, stable platform load angular velocity is adjusted, comprising: described modified value is carried out power amplification, drive topworks to carry out operating or adjusting.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. a stable platform control device for no current feedback, is characterized in that, comprising:
Measurement module, processor module and correction execution module;
Described measurement module, for measuring the relative angle speed at rotating shaft two ends and the stable platform load angular velocity relative to inertial space;
Described processor module, for obtaining back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, and obtain modified value by described back electromotive force output valve and described correction value output;
Described correction execution module, for adjusting stable platform load angular velocity according to described modified value.
2. the stable platform control device of no current feedback according to claim 1, is characterized in that described measurement module has rotary transformer unit and gyro unit;
Described rotary transformer unit, for measuring the relative angle speed at rotating shaft two ends, obtaining according to the relative angle speed at described rotating shaft two ends and exporting the magnitude of voltage corresponding with the relative angle speed at rotating shaft two ends;
Described gyro unit, for the angular velocity of Measurement sensibility platform load relative to inertial space, to obtain relative to the angular velocity of inertial space according to described stable platform load and stable output platform load relative to the magnitude of angular velocity of inertial space.
3. the stable platform control device of no current feedback according to claim 1, it is characterized in that, described processor module comprises: back electromotive force computing unit, correction output unit and arithmetic element;
Described back electromotive force computing unit, has the first reception subelement and computation subunit; Described first receives subelement for receiving described corresponding with the relative angle speed at rotating shaft two ends magnitude of voltage, and described magnitude of voltage is scaled relative angle velocity amplitude; Described computation subunit calculates back electromotive force output valve according to described relative angle velocity amplitude;
Described correction output unit, has the second reception subelement and numerical scale integral differential PID subelement; Described second receives subelement for receiving the magnitude of angular velocity of stable platform load relative to inertial space, and described digital PID subelement is used for carrying out control to described stable platform load relative to the magnitude of angular velocity of inertial space and exports, and obtains correction value output;
Described arithmetic element, for obtaining modified value according to described back electromotive force output valve and described correction value output computing.
4. the stable platform control device of no current feedback according to claim 3, it is characterized in that, described back electromotive force computing unit is the negative feedback channel of described correction output unit; The subtraction that described arithmetic element performs described electromotive force output valve and described correction value output obtains modified value.
5. the stable platform control device of no current feedback according to claim 1, it is characterized in that, described correction execution module comprises: power amplifier and topworks, and described power amplifier connects described topworks;
Described power amplifier, exports for receiving described modified value and producing predetermined power, operates or adjustment to drive topworks.
6. the stable platform control device of no current feedback according to claim 5, it is characterized in that, described topworks is motor.
7. a stable platform control method for no current feedback, it is characterized in that, described method comprises:
Measure the relative angle speed at rotating shaft two ends and the stable platform load angular velocity relative to inertial space;
Obtain back electromotive force output valve and correction value output according to the relative angle speed at described rotating shaft two ends and stable platform load relative to the angular velocity of inertial space, and obtain modified value by described back electromotive force output valve and described correction value output;
According to described modified value, stable platform load angular velocity is adjusted.
8. the stable platform control method of no current according to claim 7 feedback, is characterized in that, after the relative angle speed at described measurement rotating shaft two ends and the angular velocity of stable platform load relative to inertial space, also comprises:
Obtain according to the relative angle speed at described rotating shaft two ends and export the magnitude of voltage corresponding with the relative angle speed at described rotating shaft two ends;
To obtain relative to the angular velocity of inertial space according to described stable platform load and stable output platform load relative to the magnitude of angular velocity of inertial space.
9. the stable platform control method of no current according to claim 8 feedback, is characterized in that, describedly obtains modified value by described back electromotive force output valve and described correction value output and comprises:
Receive described corresponding with the relative angle speed at rotating shaft two ends magnitude of voltage, described magnitude of voltage is scaled relative angle velocity amplitude, calculates back electromotive force output valve according to described relative angle velocity amplitude;
Receive the magnitude of angular velocity of stable platform load relative to inertial space, relative to the magnitude of angular velocity of inertial space, control is carried out to described stable platform load and exports, obtain correction value output;
Modified value is obtained according to described back electromotive force output valve and described correction value output computing.
10. the stable platform control method of no current feedback according to claim 7, it is characterized in that, describedly according to described modified value, stable platform load angular velocity to be adjusted, comprising: described modified value is carried out power amplification, drive topworks to carry out operating or adjusting.
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| CN201510579135.2A CN105159087B (en) | 2015-09-11 | 2015-09-11 | A kind of stabilized platform control device and method of no current feedback |
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| CN201510579135.2A CN105159087B (en) | 2015-09-11 | 2015-09-11 | A kind of stabilized platform control device and method of no current feedback |
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