CN106953578B - Rotation becomes the transposition control system of location information combination hall position sensor - Google Patents

Rotation becomes the transposition control system of location information combination hall position sensor Download PDF

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Publication number
CN106953578B
CN106953578B CN201710308333.4A CN201710308333A CN106953578B CN 106953578 B CN106953578 B CN 106953578B CN 201710308333 A CN201710308333 A CN 201710308333A CN 106953578 B CN106953578 B CN 106953578B
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indexing
motor
processing unit
speed
location information
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CN106953578A (en
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丁承华
付培华
王有波
常鑫刚
张永杰
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Shanghai Aerospace Control Technology Institute
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Shanghai Aerospace Control Technology Institute
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

Abstract

A kind of rotation becomes the transposition control system of location information combination hall position sensor, applied in the transposition control system of space station, the control signal of indexing mechanism motor is output to according to the adjustment of the feedback information of indexing mechanism, include: position processing unit acquires the location information of indexing mechanism;Hall sensor is set on indexing mechanism motor;Revolving speed processing unit calculates the rotor speed of indexing mechanism motor;Information process unit generates the first control signal of driving indexing mechanism motor in conjunction with other systems control instruction according to the processing result of position processing unit and revolving speed processing unit;Indexing mechanism electric-motor drive unit generates the second control signal of driving indexing mechanism motor according to the first control signal.The present invention can become location information in conjunction with rotation and hall position sensor state realizes and real-time survey calculation accurate to final indexing mechanism position, realize the feedback control to space station indexing mechanism based on the survey calculation.

Description

Rotation becomes the transposition control system of location information combination hall position sensor
Technical field
The present invention relates to space technology fields, and in particular to rotation becomes the indexing control of location information combination hall position sensor System processed.
Background technique
The final control object of space station transposition control system is that indexing mechanism needs to adopt for such large corporation With the servo-control system for having feedback control.In servo-control system, need to be arranged sensor for the phase of control target Close information and feed back to control system, and these information are compared with input control, control system can to these information into Row analysis, and combine the subsequent action of input instruction control actuating motor.Therefore, in the servo-system of feedback control, sensing The accuracy and real-time of device are most important two factors.Sensor measurement inaccurately will lead to biggish error, cannot The working condition of true reflection control object;And system delay can be brought if the information of sensor feedback 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 indirectly Detection.
The sensor of indirect detection mode is typically mounted at the unsupported position of motor crankshaft, passes through detection rotor The information indirects such as corner reflect the relevant parameters such as displacement or the rotation of control object mechanism.The mode of this detection has simple Can strong real-time the advantages of, but due to being indirect test format, the disadvantage is that being moved between motor and control target Transformed error is not accounted for into, probably due to the problem of machine error leads to accuracy.
For directly detecting, sensor is mounted in final control object mechanism.Its accuracy is mainly by carrying out The sensor of monitoring determines, is not influenced by other machine errors.It should be understood that if control target mechanism Displacement it is very slow, influenced by sensor resolution, sensor may not be able to differentiate object mechanism within a short period of time Change in displacement, the real-time of whole system may be will affect.
Summary of the invention
The purpose of the present invention is to provide the transposition control system that rotation becomes location information combination hall position sensor, applications In the indexing mechanism of space station, the control to the high-precision, high real-time of indexing mechanism is realized.
A kind of rotation becomes the transposition control system of location information combination hall position sensor, is applied to space station transposition control In system, it is output to the control signal of indexing mechanism motor according to the adjustment of the feedback information of indexing mechanism, includes:
Position processing unit acquires the location information of indexing mechanism;
Hall sensor is set on indexing mechanism motor;
Revolving speed processing unit receives the collected information of the Hall sensor, calculates the rotor of indexing mechanism motor Revolving speed;
Information process unit, according to the processing result of position processing unit and revolving speed processing unit, in conjunction with other systems Control instruction generates the first control signal of driving indexing mechanism motor;
Indexing mechanism electric-motor drive unit generates the second control of driving indexing mechanism motor according to the first control signal Signal processed.
Above-mentioned rotation becomes the transposition control system of location information combination hall position sensor, wherein a default standard value, When the calculated rotor speed of revolving speed processing unit is higher than standard value, it is determined as high-speed mode, is otherwise low-speed mode.
Above-mentioned rotation becomes the transposition control system of location information combination hall position sensor, wherein the standard value takes It is the 1/5 of the rotor rated speed of indexing mechanism motor.
Above-mentioned rotation becomes the transposition control system of location information combination hall position sensor, wherein is in high-speed mode When, information process unit generates described first according to the location information combination other systems control instruction that position processing unit exports Control signal.
Above-mentioned rotation becomes the transposition control system of location information combination hall position sensor, wherein is in low-speed mode When, information process unit generates described first according to the rotary speed information combination other systems control instruction that revolving speed processing unit exports Control signal.
Above-mentioned rotation becomes the transposition control system of location information combination hall position sensor, wherein also includes:
Indexing mechanism motor, input terminal are controlled by indexing mechanism electric-motor drive unit, output motor driving moment;
Retarder, input terminal are the motor driving moment of indexing mechanism motor output;
Indexing mechanism is controlled by the indexing mechanism driving moment that the retarder exports, and drives the rotation of space station cabin;
Rotary transformer exports different voltage values according to the difference of angles and positions locating for the indexing mechanism, output End is connect with the position processing unit.
A method of driving indexing mechanism rotation, steps are as follows:
The location information of S1, position processing unit acquisition indexing mechanism;
The rotor speed of S2, revolving speed processing unit acquisition indexing mechanism motor;
S3, determine that operating mode is high-speed mode or low-speed mode instantly, is such as in high speed mould according to the resulting revolving speed of S2 Formula is then based on the resulting data of S1 and generates first control signal, and the resulting data of S2 are based on if being in low-speed mode and generate first Control signal;
S4, second control signal is generated according to the resulting first control signal of S3, to drive indexing mechanism motor to work;
The driving force that S5, indexing mechanism motor export moves indexing mechanism rotation through retarder processing rear-guard.
Novel assembled standalone architecture proposed by the present invention, a point high low speed different mode are taken different control modes, are had In high precision, the advantages of high real-time.
Detailed description of the invention
Fig. 1 is system block diagram of the invention.
Fig. 2 is the schematic illustration of position processing unit in the present invention.
Fig. 3 is the schematic illustration of revolving speed processing unit in the present invention.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, being divided into the contents of the present invention inside dotted line frame.The present invention passes through the position fed back to indexing mechanism 8 The analysis of information, generate 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 location information combination hall position sensor includes:
Position processing unit 1 acquires the location information of indexing mechanism 8;
Hall sensor 6 is set on indexing mechanism motor 7;
Revolving speed processing unit 2 receives the collected information of the Hall sensor 6, calculates turning for indexing mechanism motor 7 Rotor speed;
Information process unit 3 is in conjunction with other according to the processing result of position processing unit 1 and revolving speed processing unit 2 Control instruction of uniting generates the first control signal of driving indexing mechanism motor 7;
Indexing mechanism electric-motor drive unit 4 generates the second of driving indexing mechanism motor 7 according to the first control signal Control signal;
Indexing mechanism motor 7, input terminal are controlled by indexing mechanism electric-motor drive unit 4, output motor driving moment;
Retarder 9, input terminal are the motor driving moment of the indexing mechanism motor 7 output, are exported as indexing mechanism drive Kinetic moment;
Indexing mechanism 8 is controlled by the indexing mechanism driving moment that the retarder 9 exports, and drives the rotation of space station cabin;
Rotary transformer 5 exports different voltage values according to the difference of angles and positions locating for the indexing mechanism 8, defeated Outlet is connect with the position processing unit 1.
The present invention presets a standard value, for compared with rotor actual speed, when the calculated rotor of revolving speed processing unit 2 When revolving speed is higher than standard value, it is determined as high-speed mode, is otherwise low-speed mode.This standard value is generally taken as indexing mechanism electricity The 1/5 of the rotor rated speed of machine 7.
When in high-speed mode, information process unit 3 is in conjunction with other according to the location information that position processing unit 1 exports Control instruction of uniting generates the first control signal, for driving indexing mechanism electric-motor drive unit 4.
When in low-speed mode, the rotary speed information and retarder that information process unit 3 is exported according to revolving speed processing unit 2 are consolidated There is the product of rotating ratio to obtain 8 location information of indexing mechanism, generate the first control signal in conjunction with 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 inputs End is the excited signal that exciting circuit generates, and output end is positive/cosinusoidal voltage signal, this signal follows rotor angular displacement to become Change;Rotary digital conversion chip input terminal be it is above-mentioned just/cosinusoidal voltage signal, output end be by digital coding just/it is remaining String voltage signal indicates the location information of indexing mechanism 8.
As shown in figure 3, revolving 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, the signal transmission filtering of filter capacitor C2 and the signal shaping output digit signals of bus driver U1.
A method of driving indexing mechanism rotation, steps are as follows:
S1, position processing unit 1 acquire the location information of indexing mechanism 8;
S2, revolving speed processing unit 2 acquire the rotor speed of indexing mechanism motor 7;
S3, determine that operating mode is high-speed mode or low-speed mode instantly, is such as in high speed mould according to the resulting revolving speed of S2 Formula is then based on the resulting data of S1 and generates first control signal, and the resulting data of S2 are based on if being in low-speed mode and generate first Control signal;
S4, second control signal is generated according to the resulting first control signal of S3, to drive indexing mechanism motor 7 to work;
For the driving moment that S5, indexing mechanism motor 7 export after the processing of retarder 9, torque is slow and steady, driving indexing Mechanism 8 stablizes rotation.
It is discussed in detail although the contents of the present invention have passed through 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 above content, for of the invention 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 (2)

1. a kind of rotation becomes the transposition control system of location information combination hall position sensor, it is applied to space station transposition control system In system, the control signal of indexing mechanism motor (7) is output to according to the adjustment of the feedback information of indexing mechanism (8), which is characterized in that Include:
Position processing unit (1) acquires the location information of indexing mechanism (8);
Hall sensor (6) is set on indexing mechanism motor (7);
Revolving speed processing unit (2) receives the Hall sensor (6) collected information, calculates indexing mechanism motor (7) Rotor speed;
Information process unit (3), according to the processing result of position processing unit (1) and revolving speed processing unit (2), in conjunction with other System control instruction generates the first control signal of driving indexing mechanism motor (7);
Indexing mechanism electric-motor drive unit (4) generates the second of driving indexing mechanism motor (7) according to the first control signal Control signal;
Retarder (9), input terminal are the motor driving moment of the indexing mechanism motor (7) output;
Rotary transformer (5) exports different voltage values according to the difference of angles and positions locating for the indexing mechanism (8), defeated Outlet is connect with the position processing unit (1);
A default standard value is determined as high speed mould when revolving speed processing unit (2) calculated rotor speed is higher than standard value Otherwise formula is low-speed mode;The standard value is taken as the 1/5 of the rotor rated speed of indexing mechanism motor (7);
When in high-speed mode, information process unit (3) is in conjunction with other according to the location information that position processing unit (1) exports Control instruction of uniting generates the first control signal;When in low-speed mode, information process unit (3) is according to revolving speed processing unit (2) product of the intrinsic rotating ratio of rotary speed information and retarder exported obtains indexing mechanism (8) location information, in conjunction with other systems Control instruction generates the first control signal;
Wherein, position processing unit (1) includes exciting circuit and rotary digital conversion chip;Rotary transformer (5) input terminal is The excited signal that exciting circuit generates, output end are the just/cosinusoidal voltage signal for following rotor angular displacement to change;Rotary digital turns Change chip input terminal be it is described just/cosinusoidal voltage signal, output end be by digital coding just/cosinusoidal voltage signal, refer to The location information of indexing mechanism (8) is shown;
Revolving speed processing unit (2) includes isolating diode V1, isolating diode V2, pull-up resistor R1, pull-up resistor R2, transmission electricity Hinder R3, transmission resistance R4, filter capacitor C1, filter capacitor C2 and bus driver U1;Hall sensor (6) output follows position The Hall voltage signal of variation;Hall voltage signal by the isolating diode V1, isolating diode V2 signal isolation at Reason, the voltage lifting of pull-up resistor R1, pull-up resistor R2, transmission resistance R3, transmission resistance R4, filter capacitor C1, filter capacitor The signal transmission filtering of C2 and the signal shaping output digit signals of bus driver U1.
2. a kind of method of driving indexing mechanism rotation, which is characterized in that become location information by rotation described in claim 1 and combine The step of transposition control system realization of hall position sensor, the method, is as follows:
S1, position processing unit (1) acquire the location information of indexing mechanism (8);
S2, revolving speed processing unit (2) acquire the rotor speed of indexing mechanism motor (7);
S3, determine that operating mode is high-speed mode or low-speed mode instantly according to the resulting revolving speed of S2, if being in high-speed mode First control signal is generated based on the resulting data of S1, the resulting data of S2 are based on if being in low-speed mode and retarder is intrinsic The product of rotating ratio obtains indexing mechanism (8) location information and generates first control signal;
Wherein, a standard value is preset, when revolving speed processing unit (2) calculated rotor speed is higher than standard value, is determined as height Otherwise fast mode is low-speed mode;The standard value is taken as the 1/5 of the rotor rated speed of indexing mechanism motor (7);
S4, second control signal is generated according to the resulting first control signal of S3, to drive indexing mechanism motor (7) to work;
The driving force that S5, indexing mechanism motor (7) export moves indexing mechanism (8) rotation through retarder (9) processing rear-guard.
CN201710308333.4A 2017-05-04 2017-05-04 Rotation becomes the transposition control system of location information combination hall position sensor Active CN106953578B (en)

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CN107742997B (en) * 2017-10-20 2020-08-07 北京航天发射技术研究所 Control system and control method of double-shaft indexing mechanism and strapdown inertial measurement unit self-calibration method

Citations (3)

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Publication number Priority date Publication date Assignee Title
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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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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