CN105946965A - Steering mechanism idle stroke compensation method based on direct-current motor current variance rolling calculation - Google Patents
Steering mechanism idle stroke compensation method based on direct-current motor current variance rolling calculation Download PDFInfo
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- CN105946965A CN105946965A CN201610294855.9A CN201610294855A CN105946965A CN 105946965 A CN105946965 A CN 105946965A CN 201610294855 A CN201610294855 A CN 201610294855A CN 105946965 A CN105946965 A CN 105946965A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a steering mechanism idle stroke compensation method based on direct-current motor current variance rolling calculation and belongs to the field of control over a mechanical steering system driven by a direct-current motor. Based on the fact that the problem about control over the steering system of the direct-current motor when the large mechanical idle stroke exists cannot be solved through a traditional method, the steering mechanism large idle stroke compensation method based on direct-current motor current variance rolling calculation is provided, and a good solution effect is obtained. The steering mechanism large idle stroke compensation method based on direct-current motor current variance rolling calculation includes the steps that firstly, a current variance value is calculated in a rolled manner through a current measured value, then the variable quantity is converted into a mechanical system turning angle according to the incremental encoder variable quantity corresponding to a variance data calculation motor operated in a mechanical idle stroke section, an expected control turning angle is compensated by the turning angle to achieve compensation for the large mechanical idle stroke, and the control performance for the direct-current motor to drive the steering system is improved.
Description
Technical field
The invention belongs to the mechanical steering system control field of DC motor Driver, relate to a kind of based on direct current generator electric current
Steering mechanism's big null-space compensation method of variance rolling calculation.
Background technology
The mechanical steering device of DC motor Driver is a kind of widely used equipment, in experimental barrier-exceeding vehicle, automatization
Many engineering fields such as production line, all-direction propeller peculiar to vessel are all widely used.This equipment is set by motor drive machinery
Standby, it is achieved the course changing control of plant equipment, its design cost can be high or low according to demand, has extremely strong motility.But,
The application scenario of some low costs, due to machining accuracy and Design of Mechanical Structure problem, it may appear that motor drive terminal and machine
There is bigger idle running between tool linkage end, corner measuring apparatus is the most only mounted with the relative coding of lower cost in motor side
Device, significantly impacts course changing control precision, the most even cannot complete course changing control.The appearance of this problem is to how
Under appointed condition limited situation, the course changing control completing degree of precision proposes new demand.
Document [1-2] extensively study null-space compensation problem, it is proposed that the change according to measuring signal carries out null-space compensation
Method, but do not elaborate, be also not directed to the design of dynamo-electric steering.Currently, motor is used to overcome machinery empty
The research of journey all concentrates on bi-motor method, and the research overcoming idle running problem for single motor is less, and wherein, major part is studied into
Fruit is all to be designed to, for less idle running, the single motor controller that overcomes dead band affect, this type of method for designing complexity, and not
It is applicable to the situation of bigger idle running.
Documents
[1] null-space compensation of actuator. Wang Min, Xi Lihua. a weight technology. 2005 (3): 56-57.
[2] null-space compensation of actuator. Wang Jinbiao, Wu Weilin. detection and instrument. 2000 (3): 31-33.
It it is more than documents.
Summary of the invention
What when the present invention is cannot to solve to exist big mechanical clearance based on traditional method, direct current generator steering controlled asks
Topic, it is proposed that a kind of steering mechanism based on direct current generator electric current variance rolling calculation big null-space compensation method, and achieve good
Good solution effect.
A kind of steering mechanism based on direct current generator electric current variance rolling calculation big null-space compensation method, the method include with
Lower step:
Step one: measure the electric current real time data of steering mechanism's direct-drive motor, and choose electric current number in set time span
According to calculating variance；
Step 2: set electric current variance threshold values, calculates, according to variance data, the increment that motor is corresponding when mechanical clearance section is run
Encoder variable quantity；
Step 3: incremental encoder variable quantity corresponding for mechanical clearance section is converted into mechanical system corner, and this corner is mended
Repay to desired control corner, to realize the compensation of big mechanical clearance.
A kind of steering mechanism based on direct current generator electric current variance rolling calculation of the present invention big null-space compensation method,
Measured value based on increment sensor, calculates the idle running turned over during motor controls and is compensated by, overcoming big idle running
For the impact of this type of FC effect, greatly improve the control performance of system.
A kind of steering mechanism based on direct current generator electric current variance rolling calculation of the present invention big null-space compensation method,
Algorithm design process is simple, it is not necessary to carries out complicated derivation, ensure that simultaneously and preferably control effect.The present invention is applicable to direct current
Motor-driven steering control system field, and unrestricted to the frame for movement that steering is concrete.
Accompanying drawing explanation
Fig. 1 is to survey without the corner of motor current measurement, electric current variance value of calculation and incremental encoder during null-space compensation
Value；
Fig. 2 is without steering actual rotational angle during null-space compensation；
The outer corner measurement value of motor current measurement, electric current variance value of calculation and incremental encoder when Fig. 3 is to have null-space compensation；
Steering actual rotational angle when Fig. 4 is for there being null-space compensation；
Fig. 5 is a kind of steering mechanism based on direct current generator electric current variance rolling calculation of the present invention big null-space compensation method
Flow chart.
Detailed description of the invention
Detailed description of the invention one: a kind of based on direct current generator electric current variance rolling calculation described in present embodiment turns to
Mechanism's big null-space compensation method, the method comprises the following steps:
Step one: measure the electric current real time data of steering mechanism's direct-drive motor, and choose electric current number in set time span
According to calculating variance；
Step 2: set electric current variance threshold values, calculates, according to variance data, the increment that motor is corresponding when mechanical clearance section is run
Encoder variable quantity；
Step 3: incremental encoder variable quantity corresponding for mechanical clearance section is converted into mechanical system corner, and this corner is mended
Repay to desired control corner, to realize the compensation of big mechanical clearance.
Detailed description of the invention two: present embodiment is based on direct current generator electric current to the one described in detailed description of the invention one
Steering mechanism's big null-space compensation method of variance rolling calculation is described further, and in present embodiment, measures described in step one
The method of steering mechanism's direct-drive motor electric current real time data is:
Current acquisition card with electric drilling match is installed, and is connected with controlling computer, measure current of electric by current acquisition card
Real time data, and it is conveyed into computer.
Detailed description of the invention three: present embodiment is based on direct current generator electric current to the one described in detailed description of the invention one
Steering mechanism's big null-space compensation method of variance rolling calculation is described further, and in present embodiment, chooses described in step one
In set time span, the method for current data calculating variance is:
The electric current real-time measurement values in the moment is, for nonnegative integer, for the number of data during rolling calculation, at that time, electric current
The computing formula of expected value is as follows:
At that time, the computing formula of current expected value was:
The computing formula of the electric current variance in moment is:
Detailed description of the invention four: present embodiment is based on direct current generator electric current variance to the one described in detailed description of the invention one
Steering mechanism's big null-space compensation method of rolling calculation is described further, and in present embodiment, sets electric current described in step 2
The method of variance threshold values is:
Utilize step one, carry out a course changing control for the DC motor Driver steering with big idle running, it is desirable to turn to
System mechanics mechanism rotates, owing to motor-driven mechanical steering device idle running is relatively big, so whole control process can be divided
Even running after starting for empty load of motor, and cross even running two parts after air-service rear motor distal process loading.Analyze this rank
The electric current variance data of section, current peak when choosing electric current variance peak value and shock load when starting less than empty load of motor, and greatly
The value of the electric current variance peak value caused in other noise factor is as electric current variance threshold values.
Detailed description of the invention five: present embodiment is based on direct current generator electric current to the one described in detailed description of the invention one
Steering mechanism's big null-space compensation method of variance rolling calculation is described further, in present embodiment, and machinery described in step 2
Incremental encoder variable quantity computational methods corresponding during the operation of idle running section are:
The motor start-up stage, when electric current variance occurs firstTime, record current time is；When turning to dress
Putting after slipping over idle running section, will have the effect of a unexpected loading to motor, now armature supply can second time occur
Situation, the record time is, incremental encoder when steering is in idle running section operation in this running becomes
Change amount is,ForThe measured value of moment incremental encoder.
Detailed description of the invention six: present embodiment is based on direct current generator electric current to the one described in detailed description of the invention one
Steering mechanism's big null-space compensation method of variance rolling calculation is described further, in present embodiment, by machine described in step 3
Incremental encoder variable quantity corresponding to tool idle running section is converted into the method for mechanical system corner:
For the corner of mechanical steering system,Measurement gain for encoder measurement to steering corner.
Detailed description of the invention seven: present embodiment is based on direct current generator electric current to the one described in detailed description of the invention one
Steering mechanism's big null-space compensation method of variance rolling calculation is described further, the sky in present embodiment, described in step 3
Journey compensation method is:
The control target of steering is set to, after obtaining the incremental encoder measurement corner that idle running process is corresponding, with idle running
The control target compensatedFor:
System withCompleting control task as new target diversion angle, the compensation i.e. completing idle running part controls.
Embodiment
A kind of steering mechanism based on direct current generator electric current variance rolling calculation of the present invention big null-space compensation method, for
The electric current of one quasi-representative, rotating speed double-closed-loop control direct current generator carry out simulating, verifying.Described direct current generator simulation parameter such as table 1
Shown in:
Table 1 direct current generator simulation parameter
By Fig. 1, Fig. 2 it can be seen that in the case of without null-space compensation, steering angle error is relatively big, is only less than 10 degree；Fig. 3,
Fig. 4 shows, in the case of without null-space compensation, steering mechanism can admirably achieve 15 degree of corners.
Claims (7)
1. steering mechanism based on a direct current generator electric current variance rolling calculation big null-space compensation method, it is characterised in that should
Method comprises the following steps:
Step one: measure the electric current real time data of steering mechanism's direct-drive motor, and choose electric current number in set time span
According to calculating variance；
Step 2: set electric current variance threshold values, calculates, according to variance data, the increment that motor is corresponding when mechanical clearance section is run
Encoder variable quantity；
Step 3: incremental encoder variable quantity corresponding for mechanical clearance section is converted into mechanical system corner, and this corner is mended
Repay to desired control corner, to realize the compensation of big mechanical clearance.
A kind of big null-space compensation of steering mechanism based on direct current generator electric current variance rolling calculation the most according to claim 1
Method, it is characterised in that the method measuring steering mechanism's direct-drive motor electric current real time data described in step one is:
Current acquisition card with electric drilling match is installed, and is connected with controlling computer, measure current of electric by current acquisition card
Real time data, and it is conveyed into computer.
A kind of big null-space compensation of steering mechanism based on direct current generator electric current variance rolling calculation the most according to claim 1
Method, it is characterised in that choose current data in set time span described in step one and calculate the method for variance and be:
The electric current real-time measurement values in the moment is,For nonnegative integer, for data during rolling calculation
Number, whenTime, the computing formula of current expected value is as follows:
WhenTime, the computing formula of current expected value is:
The electric current variance in momentComputing formula be:
。
A kind of big null-space compensation of steering mechanism based on direct current generator electric current variance rolling calculation the most according to claim 1
Method, it is characterised in that set described in step 2 the method for electric current variance threshold values as:
Utilize step one, carry out a course changing control for the DC motor Driver steering with big idle running, it is desirable to turn to
System mechanics mechanism rotates, owing to motor-driven mechanical steering device idle running is relatively big, so whole control process can be divided
Even running after starting for empty load of motor, and cross even running two parts after air-service rear motor distal process loading, analyze this rank
The electric current variance data of section, current peak when choosing electric current variance peak value and shock load when starting less than empty load of motor, and greatly
The value of the electric current variance peak value caused in other noise factor is as electric current variance threshold values。
A kind of big null-space compensation of steering mechanism based on direct current generator electric current variance rolling calculation the most according to claim 1
Method, it is characterised in that incremental encoder variable quantity computational methods corresponding during the operation of mechanical clearance section described in step 2 are:
The motor start-up stage, when electric current variance occurs firstTime, record current time is；Work as transfer
After slipping over idle running section, will have the effect of a unexpected loading to motor, now armature supply can second time occur
Situation, the record time is, steering is in incremental encoder change during idle running section operation in this running
Amount is,ForThe measured value of moment incremental encoder.
A kind of big null-space compensation method of direct current generator based on current data Variance feature the most according to claim 1, its
It is characterised by, the method described in step 3, incremental encoder variable quantity corresponding for mechanical clearance section being converted into mechanical system corner
For:
For the corner of mechanical steering system,Measurement gain for encoder measurement to steering corner.
A kind of big null-space compensation method of direct current generator based on current data Variance feature the most according to claim 1, its
Being characterised by, the null-space compensation method described in step 3 is:
The control target of steering is set to, after obtaining the incremental encoder measurement corner that idle running process is corresponding, with idle running
The control target compensatedFor:
System withCompleting control task as new target diversion angle, the compensation i.e. completing idle running part controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610294855.9A CN105946965B (en) | 2016-05-06 | 2016-05-06 | A kind of big null-space compensation method of steering mechanism based on direct current generator electric current variance rolling calculation |
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| CN201610294855.9A CN105946965B (en) | 2016-05-06 | 2016-05-06 | A kind of big null-space compensation method of steering mechanism based on direct current generator electric current variance rolling calculation |
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| CN105946965A true CN105946965A (en) | 2016-09-21 |
| CN105946965B CN105946965B (en) | 2018-10-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106712604A (en) * | 2017-02-21 | 2017-05-24 | 哈尔滨理工大学 | Method for eliminating idle stroke of DC motor according to current integration |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080306655A1 (en) * | 2007-06-11 | 2008-12-11 | National University Corporation Nagoya Institute Of Technology | Control apparatus for electric power steering system |
| CN101330269A (en) * | 2007-06-20 | 2008-12-24 | 株式会社捷太格特 | Motor controller and electric power steering apparatus |
| DE102011001109A1 (en) * | 2010-03-09 | 2011-09-15 | Denso Corporation | Engine control method and apparatus and electric power steering system |
| CN104843055A (en) * | 2014-02-18 | 2015-08-19 | 株式会社捷太格特 | Electric power steering apparatus |
| CN105501289A (en) * | 2014-10-13 | 2016-04-20 | 株式会社万都 | Method and apparatus for controlling electric power steering |
-
2016
- 2016-05-06 CN CN201610294855.9A patent/CN105946965B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080306655A1 (en) * | 2007-06-11 | 2008-12-11 | National University Corporation Nagoya Institute Of Technology | Control apparatus for electric power steering system |
| CN101330269A (en) * | 2007-06-20 | 2008-12-24 | 株式会社捷太格特 | Motor controller and electric power steering apparatus |
| DE102011001109A1 (en) * | 2010-03-09 | 2011-09-15 | Denso Corporation | Engine control method and apparatus and electric power steering system |
| CN104843055A (en) * | 2014-02-18 | 2015-08-19 | 株式会社捷太格特 | Electric power steering apparatus |
| CN105501289A (en) * | 2014-10-13 | 2016-04-20 | 株式会社万都 | Method and apparatus for controlling electric power steering |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106712604A (en) * | 2017-02-21 | 2017-05-24 | 哈尔滨理工大学 | Method for eliminating idle stroke of DC motor according to current integration |
| CN106712604B (en) * | 2017-02-21 | 2019-01-15 | 哈尔滨理工大学 | A method of direct current generator idle running is eliminated according to current integration |
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| CN105946965B (en) | 2018-10-26 |
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Granted publication date: 20181026 Termination date: 20190506 |