CN106953578A - Rotation becomes the transposition control system of positional information combination hall position sensor - Google Patents
Rotation becomes the transposition control system of positional information combination hall position sensor Download PDFInfo
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- CN106953578A CN106953578A CN201710308333.4A CN201710308333A CN106953578A CN 106953578 A CN106953578 A CN 106953578A CN 201710308333 A CN201710308333 A CN 201710308333A CN 106953578 A CN106953578 A CN 106953578A
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- indexing mechanism
- processing unit
- positional information
- control signal
- motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
It is a kind of to revolve the transposition control system for becoming positional information combination hall position sensor, applied in the transposition control system of space station, the control signal for being output to indexing mechanism motor is adjusted according to the feedback information of indexing mechanism, comprising：Position processing unit, gathers the positional information of indexing mechanism；Hall sensor, is arranged on indexing mechanism motor；Rotating speed processing unit, calculates the rotor speed of indexing mechanism motor；Information process unit, according to the result of position processing unit and rotating speed processing unit, the first control signal for driving indexing mechanism motor is generated in conjunction with other systems control instruction；Indexing mechanism electric-motor drive unit, the second control signal for driving indexing mechanism motor is produced according to first control signal.The present invention can combine rotation change positional information and hall position sensor state realizes and real-time survey calculation accurate to final indexing mechanism position, and the feedback control to space station indexing mechanism is realized based on the survey calculation.
Description
Technical field
The present invention relates to space technology field, and in particular to rotation becomes the indexing control of positional information combination hall position sensor
System processed.
Background technology
The final control object of space station transposition control system is indexing mechanism, for such large corporation, it is necessary to adopt
With the servo-control system for possessing feedback control., it is necessary to set sensor by the phase of control target in servo-control system
Feedback of the information is closed to control system, and these information are compared with input control, control system can be entered to these information
Row analysis, and combine the subsequent action that input instruction controls actuating motor.Therefore, in the servo-drive system of feedback control, sensing
The accuracy and real-time of device are most important two factors.Sensor measurement inaccurately may result in larger error, it is impossible to
The working condition of true reflection control object；And system delay can be brought if the feedback of the information of sensor is too slow, control system
The information received of uniting may be mismatched with input instruction, cause the job failure of system.
According to installation site and coupled modes, the feedback-type sensor of servo-control system can be divided into directly detection and indirect
Detection.
The sensor of indirect detection mode is typically mounted at the unsupported position of motor crankshaft, by detecting rotor
The relevant parameters such as the displacement or rotation of the information indirects such as corner reflection control object mechanism.The mode of this detection has simple
Advantage that can be real-time, but be due to indirect test format, it has the disadvantage what is moved between motor and control target
Transformed error is not accounted for into, probably due to the problem of machine error causes accuracy.
For directly detecting, its sensor is mounted in final control object mechanism.Its accuracy is main by carrying out
The sensor of monitoring is determined, is not influenceed by other machine errors.It should be understood that, if control target mechanism
Displacement it is very slow, influenceed by sensor resolution, sensor may not differentiate object mechanism within a short period of time
Change in displacement, the real-time of whole system may be influenceed.
The content of the invention
It is an object of the invention to provide the transposition control system that rotation becomes positional information combination hall position sensor, application
In the indexing mechanism of space station, realization is to the high accuracy of indexing mechanism, the control of high real-time.
It is a kind of to revolve the transposition control system for becoming positional information combination hall position sensor, applied to space station transposition control
In system, the control signal for being output to indexing mechanism motor is adjusted according to the feedback information of indexing mechanism, comprising：
Position processing unit, gathers the positional information of indexing mechanism；
Hall sensor, is arranged on indexing mechanism motor；
Rotating speed processing unit, receives the information that the Hall sensor is collected, calculates the rotor speed of indexing mechanism motor；
Information process unit, according to the result of position processing unit and rotating speed processing unit, in conjunction with other systems control
First control signal of instruction generation driving indexing mechanism motor；
Indexing mechanism electric-motor drive unit, produces according to first control signal and drives the second control of indexing mechanism motor to believe
Number.
Above-mentioned rotation becomes the transposition control system of positional information combination hall position sensor, wherein, a standard value is preset,
When the rotor speed that rotating speed processing unit is calculated is higher than standard value, it is determined as fast mode, is otherwise low-speed mode.
Above-mentioned rotation becomes the transposition control system of positional information combination hall position sensor, wherein, the standard value takes
For the 1/5 of the rotor rated speed of indexing mechanism motor.
Above-mentioned rotation becomes the transposition control system of positional information combination hall position sensor, wherein, in fast mode
When, the positional information combination other systems control instruction that information process unit is exported according to position processing unit produces described first
Control signal.
Above-mentioned rotation becomes the transposition control system of positional information combination hall position sensor, wherein, in low-speed mode
When, the rotary speed information combination other systems control instruction that information process unit is exported according to rotating speed processing unit produces described first
Control signal.
Above-mentioned rotation becomes the transposition control system of positional information combination hall position sensor, wherein, also include：
Indexing mechanism motor, input is controlled by indexing mechanism electric-motor drive unit, output motor driving moment；
Decelerator, input is the motor driving moment that the indexing mechanism motor is exported；
Indexing mechanism, the indexing mechanism driving moment exported by the decelerator is controlled, and drives the rotation of space station nacelle；
Rotary transformer, the difference of angles and positions according to residing for the indexing mechanism exports different magnitudes of voltage, output end with
The position processing unit connection.
A kind of method for driving indexing mechanism rotation, step is as follows：
S1, position processing unit gather the positional information of indexing mechanism；
S2, rotating speed processing unit gather the rotor speed of indexing mechanism motor；
S3, the rotating speed according to obtained by S2 determine that mode of operation is fast mode or low-speed mode instantly, if being in fast mode
The first control signal is produced based on the data obtained by S1, producing first based on the data obtained by S2 if being in low-speed mode controls
Signal；
S4, the first control signal according to obtained by S3 produce the second control signal, to drive indexing mechanism motor to work；
Driving indexing mechanism rotates after S5, the driving force of indexing mechanism motor output are handled through decelerator.
Novel assembled standalone architecture proposed by the present invention, a point high low speed different mode takes different control modes, has
High accuracy, the advantage of high real-time.
Brief description of the drawings
Fig. 1 is the system block diagram of the present invention.
Fig. 2 is the principle schematic of position processing unit in the present invention.
Fig. 3 is the principle schematic of rotating speed processing unit in the present invention.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As shown in figure 1, being divided into present disclosure inside dotted line frame.Position of the invention by being fed back to indexing mechanism 8
The analysis of information, produce control signal, to space station indexing mechanism carry out in real time, be accurately controlled.
The transposition control system that rotation of the present invention becomes positional information combination hall position sensor is included：
Position processing unit 1, gathers the positional information of indexing mechanism 8；
Hall sensor 6, is arranged on indexing mechanism motor 7；
Rotating speed processing unit 2, receives the information that the Hall sensor 6 is collected, and the rotor for calculating indexing mechanism motor 7 turns
Speed；
Information process unit 3, according to the result of position processing unit 1 and rotating speed processing unit 2, in conjunction with other systems control
First control signal of system instruction generation driving indexing mechanism motor 7；
Indexing mechanism electric-motor drive unit 4, the second control of driving indexing mechanism motor 7 is produced according to first control signal
Signal；
Indexing mechanism motor 7, input is controlled by indexing mechanism electric-motor drive unit 4, output motor driving moment；
Decelerator 9, input is the motor driving moment that the indexing mechanism motor 7 is exported, and is output as indexing mechanism driving force
Square；
Indexing mechanism 8, the indexing mechanism driving moment exported by the decelerator 9 is controlled, and drives the rotation of space station nacelle；
Rotary transformer 5, the difference of angles and positions exports different magnitudes of voltage, output end according to residing for the indexing mechanism 8
It is connected with the position processing unit 1.
The default standard value of the present invention, for being compared with rotor actual speed, the rotor calculated when rotating speed processing unit 2
When rotating speed is higher than standard value, it is determined as fast mode, is otherwise low-speed mode.This standard value, is typically taken as indexing mechanism electricity
The 1/5 of the rotor rated speed of machine 7.
During in fast mode, the positional information that information process unit 3 is exported according to position processing unit 1 is with reference to other
Control instruction of uniting produces first control signal, for driving indexing mechanism electric-motor drive unit 4.
During in low-speed mode, the rotary speed information and decelerator that information process unit 3 is exported according to rotating speed processing unit 2 are consolidated
The product for having rotating ratio obtains the positional information of indexing mechanism 8, and first control signal is produced with reference to other systems control instruction,
To drive indexing mechanism electric-motor drive unit 4.
As shown in Fig. 2 position processing unit 1 includes exciting circuit and rotary digital conversion chip.Rotary transformer 5 is inputted
The excited signal produced for exciting circuit is held, output end is just/cosinusoidal voltage signal, and this signal follows rotor angular displacement to become
Change；Rotary digital conversion chip input for it is above-mentioned just/cosinusoidal voltage signal, output end be by digital coding just/it is remaining
String voltage signal, indicates the positional information of indexing mechanism 8.
As shown in figure 3, rotating speed processing unit 2 includes isolating diode V1, isolating diode V2, pull-up resistor R1, pull-up
Resistance R2, transmission resistance R3, transmission resistance R4, filter capacitor C1, filter capacitor C2 and bus driver U1.Hall sensor 6
Output follows the Hall voltage signal of change in location；Hall voltage signal passes through the isolating diode V1, isolating diode V2
Signal isolation processing, pull-up resistor R1, pull-up resistor R2 voltage lifting, transmission resistance R3, transmission resistance R4, filter capacitor
C1, filter capacitor C2 signal transmission filtering and bus driver U1 signal shaping output digit signals.
A kind of method for driving indexing mechanism rotation, step is as follows：
S1, position processing unit 1 gather the positional information of indexing mechanism 8；
S2, the collection indexing mechanism of rotating speed processing unit 2 motor 7 rotor speed；
S3, the rotating speed according to obtained by S2 determine that mode of operation is fast mode or low-speed mode instantly, if being in fast mode
The first control signal is produced based on the data obtained by S1, producing first based on the data obtained by S2 if being in low-speed mode controls
Signal；
S4, the first control signal according to obtained by S3 produce the second control signal, to drive indexing mechanism motor 7 to work；
After the driving moment that S5, indexing mechanism motor 7 are exported is handled through decelerator 9, torque is slow and steady, drives indexing mechanism
8 stable rotations.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
1. a kind of revolve the transposition control system for becoming positional information combination hall position sensor, applied to space station transposition control system
In system, according to indexing mechanism（8）Feedback information adjustment be output to indexing mechanism motor（7）Control signal, it is characterised in that
Comprising：
Position processing unit（1）, gather indexing mechanism（8）Positional information；
Hall sensor（6）, it is arranged at indexing mechanism motor（7）On；
Rotating speed processing unit（2）, receive the Hall sensor（6）The information collected, calculates indexing mechanism motor（7）'s
Rotor speed；
Information process unit（3）, according to position processing unit（1）With rotating speed processing unit（2）Result, in conjunction with other
System control instruction generation driving indexing mechanism motor（7）The first control signal；
Indexing mechanism electric-motor drive unit（4）, driving indexing mechanism motor is produced according to first control signal（7）Second
Control signal.
2. rotation as claimed in claim 1 becomes the transposition control system of positional information combination hall position sensor, its feature exists
In a default standard value, when rotating speed processing unit（2）When the rotor speed calculated is higher than standard value, it is determined as fast mode,
Otherwise it is low-speed mode.
3. rotation as claimed in claim 2 becomes the transposition control system of positional information combination hall position sensor, its feature exists
In the standard value is taken as indexing mechanism motor（7）Rotor rated speed 1/5.
4. rotation as claimed in claim 2 becomes the transposition control system of positional information combination hall position sensor, its feature exists
In, during in fast mode, information process unit（3）According to position processing unit（1）The positional information of output is with reference to other
Control instruction of uniting produces first control signal.
5. rotation as claimed in claim 2 becomes the transposition control system of positional information combination hall position sensor, its feature exists
In, during in low-speed mode, information process unit（3）According to rotating speed processing unit（2）The rotary speed information of output is with reference to other
Control instruction of uniting produces first control signal.
6. rotation as claimed in claim 1 becomes the transposition control system of positional information combination hall position sensor, its feature exists
In also including：
Decelerator（9）, input is the indexing mechanism motor（7）The motor driving moment of output；
Rotary transformer（5）, according to the indexing mechanism（8）The difference of residing angles and positions exports different magnitudes of voltage, defeated
Go out end and the position processing unit（1）Connection.
7. a kind of method for driving indexing mechanism rotation, it is characterised in that step is as follows：
S1, position processing unit（1）Gather indexing mechanism（8）Positional information；
S2, rotating speed processing unit（2）Gather indexing mechanism motor（7）Rotor speed；
S3, the rotating speed according to obtained by S2 determine that mode of operation is fast mode or low-speed mode instantly, if being in fast mode
The first control signal is produced based on the data obtained by S1, producing first based on the data obtained by S2 if being in low-speed mode controls
Signal；
S4, the first control signal according to obtained by S3 produce the second control signal, to drive indexing mechanism motor（7）Work；
S5, indexing mechanism motor（7）The driving force of output is through decelerator（9）Indexing mechanism is driven after processing（8）Rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710308333.4A CN106953578B (en) | 2017-05-04 | 2017-05-04 | Rotation becomes the transposition control system of location information combination hall position sensor |
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|---|---|---|---|
| CN201710308333.4A CN106953578B (en) | 2017-05-04 | 2017-05-04 | Rotation becomes the transposition control system of location information combination hall position sensor |
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| CN106953578A true CN106953578A (en) | 2017-07-14 |
| CN106953578B CN106953578B (en) | 2019-11-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107742997A (en) * | 2017-10-20 | 2018-02-27 | 北京航天发射技术研究所 | Twin shaft indexing mechanism control system, control method and strapdown inertial measurement unit self-calibrating method |
| CN107844084A (en) * | 2017-12-14 | 2018-03-27 | 九江精密测试技术研究所 | A kind of twin shaft indexing mechanism control board system |
| CN111103478A (en) * | 2019-11-22 | 2020-05-05 | 中国人民解放军总参谋部第六十研究所 | Steering wheel automatic checkout equipment for unmanned helicopter |
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| JP2003274623A (en) * | 2002-03-14 | 2003-09-26 | Mitsuba Corp | Brushless motor and control method therefor |
| CN101008839A (en) * | 2007-01-16 | 2007-08-01 | 北京航空航天大学 | Finite angle driving controller of direct-drive triple redundant brushless DC torque motor |
| CN101174811A (en) * | 2007-10-19 | 2008-05-07 | 奇瑞汽车有限公司 | Electric motor control method and device adopting space vector pulse width modulation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107742997A (en) * | 2017-10-20 | 2018-02-27 | 北京航天发射技术研究所 | Twin shaft indexing mechanism control system, control method and strapdown inertial measurement unit self-calibrating method |
| CN107844084A (en) * | 2017-12-14 | 2018-03-27 | 九江精密测试技术研究所 | A kind of twin shaft indexing mechanism control board system |
| CN111103478A (en) * | 2019-11-22 | 2020-05-05 | 中国人民解放军总参谋部第六十研究所 | Steering wheel automatic checkout equipment for unmanned helicopter |
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| CN106953578B (en) | 2019-11-29 |
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