CN107147341A - The vector control method and control system and stable head rotated for controlled motor - Google Patents
The vector control method and control system and stable head rotated for controlled motor Download PDFInfo
- Publication number
- CN107147341A CN107147341A CN201710456656.8A CN201710456656A CN107147341A CN 107147341 A CN107147341 A CN 107147341A CN 201710456656 A CN201710456656 A CN 201710456656A CN 107147341 A CN107147341 A CN 107147341A
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- angle
- current
- value
- axis voltage
- controlled variable
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
Abstract
The present invention relates to the vector control method rotated for controlled motor, comprise the following steps:Judge currently to whether there is the absolute initial value of electrical angle;During initial value absolute if there is no electrical angle, current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle are obtained under initialization pattern;During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, current electric angle angle value is definitely initially worth to according to the angle value and electrical angle of the absolute angular position sensor;Obtain exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable with the rotation of controlled motor.
Description
Technical field
The present invention relates to stablize head technical field, more particularly to a kind of vector control method rotated for controlled motor
And control system and stable head.
Background technology
In recent years, all kinds of moving bases imaging heads be widely used in take photo by plane, the field such as unmanned vehicle, robot, increasingly by
The concern of people.Taken photo by plane in particular with unmanned plane, with it is quick, flexible, clear, exactly obtain people's region of interest
The photo in domain, the important means of video information.But for the moving base carrier using unmanned plane as representative, in moving process not
Exist with can avoiding change, vibration of attitude of carrier etc. influence, cause video seriously to rock, photographic fog it is unclear.Stable head
Birth solve this problem.Motor and control electricity of the stable head on multivariant mechanical mechanism, each axle
Road is constituted.The steering wheel of common horizontal stage electric machine including model plane, the DC servo motor with reducing gear, stepper motor with
And brushless electric machine etc..But, in existing brushless head driving control system, some electric current for flowing through motor does not have
Effect ground participates in acting, causes high energy consumption, and be difficult to further lift lasting accuracy.
The content of the invention
Present invention seek to address that some electric current for flowing through motor is not actively engaged in acting in the prior art
There is provided a kind of vector controlled that controlled motor is rotated that is used for that the electric current for flowing through motor can be made to be actively engaged in acting for technical problem
Method and control system and stable head.
The present invention provides a kind of vector control method rotated for controlled motor, and the vector control method includes following
Step:
Judge currently to whether there is the absolute initial value of electrical angle;
During initial value absolute if there is no electrical angle, current electric angle angle value, quadrature axis electricity are obtained under initialization pattern
Press controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle;
During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to described absolute
The angle value and electrical angle of angular position pick up are definitely initially worth to current electric angle angle value, and obtain the quadrature-axis voltage
Controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable;
Obtain exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
With the rotation of controlled motor.
The present invention provides a kind of power stage numerical control system for being used to be controlled the gyration vector of motor, the work(
Rate level numerical control system includes:
Communication interface, the current mode of operation and control instruction for received power level controller;
Power level controller, for judging currently to whether there is the absolute initial value of electrical angle;It is exhausted if there is no electrical angle
During to initial value, current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and electricity are obtained under initialization pattern
The absolute initial value of angle;During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to institute
The angle value and electrical angle for stating absolute angular position sensor are definitely initially worth to current electric angle angle value, and obtain the friendship
Shaft voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable;Controlled according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage
Output PWM dutycycle is measured with the rotation of controlled motor;
Three phase bridge drivers, for the PWM exported according to power level controller dutycycle output driving current to control
The rotation of motor;
Current sensor, the two-phase-region casting current value in driving current for detecting Three phase bridge drivers;
Absolute angular position sensor, the angle value for detecting motor.
The present invention provides a kind of stable head, and the stable head includes above-mentioned power stage numerical control system
The present invention provides a kind of computer-readable recording medium, is stored thereon with computer program, the program is by processor
The step of method in such as above-mentioned claim is realized during execution.
Compared with prior art, beneficial effect is technical scheme:Calculated under open current loop pattern,
The pressure of processor can be reduced, when from performance relatively low processor, because processor computing capability is weak, it is impossible in regulation
Time cycle in complete the calculating of current closed-loop algorithm, can be calculated under open current loop pattern, and in current closed-loop pattern
It is lower to be calculated, the influence of machine induced electromotive force can be effectively eliminated, makes torque output more steady, while can also make stream
Acting can be actively engaged in by crossing the electric current of motor.Due to having used distributed AC servo system in the driving control system of brushless electric machine
The scheme being combined with practicable vector controlled, so as to more efficiently improve performance using motor.In addition, motor
Current control employ vector controlled and be distributed to each power stage numerical control system and handled, so as to mitigate
The calculating pressure of stationary level control system.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of driving control system of brushless electric machine of the present invention.
Fig. 2 is a kind of circuit diagram of embodiment of multiline message interactive interface of the present invention.
Fig. 3 is the circuit diagram of another embodiment of multiline message interactive interface of the present invention.
Fig. 4 is a kind of circuit diagram of embodiment of three-phase bridge drive component of the present invention.
Fig. 5 is the circuit diagram of another embodiment of three-phase bridge drive component of the present invention.
Fig. 6 (a) is the brushless electric machine of the present invention and the first embodiment wiring diagram of power level controller.
Fig. 6 (b) is the brushless electric machine of the present invention and second of embodiment wiring diagram of power level controller.
Fig. 6 (c) is the brushless electric machine of the present invention and the third embodiment wiring diagram of power level controller.
Fig. 7 is a kind of structural representation of embodiment of power stage numerical control system of the present invention.
Fig. 8 is a kind of structural representation of embodiment of stationary level numerical control system of the present invention.
Flow charts of the Fig. 9 for the present invention for the first embodiment of the vector control method of controlled motor rotation.
The flow chart of second of embodiment of vector control method that Figure 10 rotates for the present invention for controlled motor.
Flow charts of the Figure 11 for the present invention for the third embodiment of the vector control method of controlled motor rotation.
The flow chart for the 4th kind of embodiment of vector control method that Figure 12 rotates for the present invention for controlled motor.
Figure 13 is the flow chart of the first embodiment of the control method of the stable cloud platform rotation of the present invention.
Figure 14 is the flow chart of second of embodiment of control method of the stable cloud platform rotation of the present invention.
Figure 15 is the flow chart of the third embodiment of the control method of the stable cloud platform rotation of the present invention.
In figure, 1, stationary level numerical control system, 2, power stage numerical control system, 3, the control core of stable cloud platform rotation
Piece.4th, inertia survey meter, 5, multiline message interactive interface, 6, picture charge pattern device, 7, communication interface, 8, power level controller, 9,
Three-phase bridge drive component, 10, current sensor, 11, brushless electric machine, 12, absolute angular position sensor.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings.
The driving control system of stable cloud platform rotation controls to fill as the core of photography of taking photo by plane, monitoring, remote sensing, head of sampling
Put, can be produced in the stable frame for stablizing head under the condition of work of angular movement, for example, hang over the head on unmanned plane, nothing
Man-machine generation flight attitude change, by controlling the brushless electric machine of each axle of stable head to rotate, it is ensured that carried on stable head
Imaging device orientation angle remains stable inertia or points to target interested all the time.
The present invention provides a kind of driving control system of the brushless electric machine of embodiment, as shown in figure 1, the drive control system
System includes stationary level numerical control system 1 and at least one power stage numerical control system 2 is connected and according to the power series
The order of word control system 2 is communicated with the power stage numerical control system 2, for according to the stabilization for obtaining stable head
The inertial attitude information of the stable frame of the inertia angular speed of framework and stable head;Obtain the stable frame of stable head around
The relative rotation angle of three axles;According to the inertia angular speed of the stable frame of the stable head, the stable frame of stable head
Inertial attitude information and stable head stable frame around the relative rotation angle of three axles, obtain the angle of each axle in three axles
Speed;According to the inertia angular speed and the inertial attitude information for the stable frame for stablizing head of the stable frame of the stable head
Closed-loop stabilization control is carried out, and exports stabilizing ring closed-loop control instruction;Closed according to the angular speed and stabilizing ring of each axle in three axles
The reference value of ring control instruction, obtains stabilizing ring controlled quentity controlled variable and exports to the power stage numerical control system 2.
The power stage numerical control system 2 is connected with least one brushless electric machine 11, for judging currently to whether there is
The absolute initial value of electrical angle;During initial value absolute if there is no electrical angle, current electrical angle is obtained under initialization pattern
Value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle;If there is the absolute initial value of electrical angle
When, the angle value of absolute angular position sensor is obtained, it is absolute according to the angle value and electrical angle of the absolute angular position sensor
Current electric angle angle value is initially worth to, and obtains the quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable;According to current
Electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable obtain export PWM dutycycle with the rotation of controlled motor.
Specifically, as shown in figure 1, the driving control system includes n power stage numerical control system 2, first work(
The serial number 2-1, the sequence number 2-2 of second power stage numerical control system, n-th of power stage numeral of rate level numerical control system
The sequence number 2-n of control system, stationary level numerical control system 1 can according to the power stage numerical control system 2 sequence number from
It is small to be communicated to order big or from big to small with the power stage numerical control system 2, wherein, n is more than or equal to 1 just
Integer.
In specific implementation, the power level controller 8 is additionally operable to obtain current mode of operation, and judge currently
Mode of operation is open current loop pattern or current closed-loop pattern;
Current mode of operation is current closed-loop pattern, and quadrature-axis voltage control is worth to according to two-phase-region casting electric current is got
Amount and direct-axis voltage controlled quentity controlled variable;
Current mode of operation is open current loop pattern, obtains quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable.
In specific implementation, the power level controller 8 is additionally operable to the control instruction got, and judge control instruction
Whether it is END instruction;If control instruction is for END instruction, the absolute initial value of electrical angle is preserved;If control instruction
It is not the work for END instruction, the then angle value of execution acquisition absolute angular position sensor.
Specifically, the stabilizing ring controlled quentity controlled variable of three axles must have 3 brushless electric machines to perform, in specific implementation, each
Brushless electric machine is driven using 1 power stage control system 2, and 1 power stage control system 2 can also be realized to more brushless electricity
The driving of machine, but in the case of only 1 power stage control system 2, by driving 3 motors also to realize, 3 axles are controlled.
But, if whole system only has 1 motor, that can only just realize the control of 1 axle.
As shown in figure 1, each axle needs a power stage control system 2, each power stage control system has a work(
Rate level digitial controller, therefore three axle heads include 3 power stage digitial controllers, in addition the power stage numerical control system
2 control instruction user can pass the end order sent according to by remote control system or number, and the order is believed also by multichannel
Breath interactive interface 5 is received.
Specifically, the stabilizing ring controlled quentity controlled variable of stationary level numerical control system 1 is when control model is current closed-loop pattern
Current-order or the digital control system of power stage when control model is open current loop pattern that power stage numerical control system 2 is obtained
The voltage instruction that system 2 is obtained, that is to say, that when control model is current closed-loop pattern, the stationary level got is digital control
The stabilizing ring controlled quentity controlled variable of system 1 is two-phase-region casting current value, when control model is open current loop pattern, the stationary level got
The stabilizing ring controlled quentity controlled variable of numerical control system 1 is quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable.
Due to being calculated under open current loop pattern, the pressure of processor can be reduced, when from the relatively low place of performance
, can be with when managing device, because processor computing capability is weak, it is impossible to complete the calculating of current closed-loop algorithm within the defined time cycle
Calculate, and calculated under current closed-loop pattern under open current loop pattern, machine induced electromotive force can be effectively eliminated
Influence, make torque output it is more steady, while can also make the electric current for flowing through motor can be actively engaged in acting, Er Qietong
Cross the inertia angular speed of stable frame according to the stable head, the attitude information of the stable frame of stable head and stably
Head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles, and according to the angle speed of each axle in three axles
The reference value that degree and stabilizing ring closed-loop control are instructed, obtains stabilizing ring controlled quentity controlled variable, stabilizing ring controlled quentity controlled variable is exported to power series
Word control system, controls the rotation of brushless electric machine to control to stablize the fortune of each axle of head by power stage numerical control system
It is dynamic, so as to realize the high precision image stablized.Due to having used distributed AC servo system in the driving control system of brushless electric machine
The scheme being combined with practicable vector controlled, so as to more efficiently improve performance using motor.In addition, motor
Current control employ vector controlled and be distributed to each power stage numerical control system and handled, so as to mitigate
The calculating pressure of stationary level control system.
In specific implementation, the quantity of axle of the quantity of the brushless electric machine 11 with stablizing head needs unanimously, i.e., one
Brushless electric machine 11 controls an axle, the quantity that the quantity of the power stage numerical control system 2 can be with the brushless electric machine 11
It is identical, then power stage numerical control system 2 controls a brushless electric machine 11, certain power stage numerical control system 2
Each and every one many brushless electric machines 11 can be controlled, in the present embodiment, a power stage numerical control system 2 controls a brushless electric machine
Circuit structure between 11 and the multiple power stage numerical control system 2 is identical.
Specifically, as shown in figure 8, the stationary level numerical control system 1 that the present invention also provides a kind of embodiment includes inertia
Measuring appliance 4, for the inertia angular speed for detecting the stable frame for obtaining stablizing head and the inertia for the stable frame for stablizing head
Attitude information;
Multiline message interactive interface 5, respectively with the inertia survey meter 4 and stablizing the control chip 3 of cloud platform rotation and being connected.
The control chip 3 of stable cloud platform rotation, for the stable head of self-inspection and is initialized as zero by the angle for stablizing head;
The inertial attitude information of the inertia angular speed of the stable frame of stable head and the stable frame of stable head is obtained, obtains steady
Determine relative rotation angle of the stable frame around three axles of head;Inertia angle speed for the stable frame according to the stable head
The stable frame of degree, the inertial attitude information of the stable frame of stable head and stable head is around the relative rotation angle of three axles
Degree, obtains the inertia angular speed of each axle in three axles;According to the inertia angular speed of the stable frame of the stable head and stably
The inertial attitude information of the stable frame of head carries out closed-loop stabilization control, and exports stabilizing ring closed-loop control instruction;According to three
The inertia angular speed of each axle and the reference value of stabilizing ring closed-loop control instruction, obtain stabilizing ring controlled quentity controlled variable and export to institute in axle
State power stage numerical control system 2.
Specifically, the control chip 3 of stable cloud platform rotation is connected by parallel bus mode with multiline message interactive interface 5
Connect.In addition, the control chip 3 of stable cloud platform rotation can be digital control by multiline message interactive interface 5 and multiple power stages
System, inertia survey meter 4 are communicated, and stable cloud platform rotation control chip 3 be in order successively with multiple power stages
Numerical control system communicates.The communication mode of multiline message interactive interface 5 includes following manner:PWM pulse width modulation modes,
I2C bus modes, spi bus mode, serial communication mode (RS232, RS422, RS485), CAN mode.
In specific implementation, Fig. 2 is a kind of circuit diagram of embodiment of multiline message interactive interface of the present invention.Specifically, many
Road information interactive interface 5 uses differential digital communication mode, that is to say, that multiline message interactive interface 5 includes conversion chip
ST16C654 and difference chip max3074, the control chip 3 of stable cloud platform rotation passes through parallel bus mode and conversion chip
ST16C654 is connected, that is, the control chip 3 for stablizing cloud platform rotation is connected by data/address bus DB0-DB7 and address bus AB0-AB5
It is connected to conversion chip ST16C654 and converts parallel data into serial data, the control chip 3 of stable cloud platform rotation passes through address
Bus AB0-AB5 is connected to select the interface IP address for needing to communicate with coding chip 74139.Turn by conversion chip ST16C654
The serial data changed is being converted into differential signal by difference chip max3074, passes through port CH0-CH3 and the power series
Word control system 2 is communicated.
In specific implementation, Fig. 3 is the circuit diagram of another embodiment of multiline message interactive interface of the present invention.Specifically,
Multiline message interactive interface 5 uses analog quantity communication mode, that is to say, that the control chip 3 of stable cloud platform rotation is by parallel
Bus mode is attached with analog-digital chip AD7656 and modulus conversion chip DAC8822, by analog-digital chip
Digital information is converted to analog information and is sent to the power stage numerical control system 2 by AD7656 to be communicated, external module
The analogue data of transmission is converted to the control chip that digital information is sent to stable cloud platform rotation by modulus conversion chip DAC8822
3。
The inertia survey meter 4 is used for the inertia angular speed for measuring the stable frame for stablizing head and stablizes the steady of head
Determine the inertial attitude information of framework, the attitude information includes pitching data, roll data and bearing data, and believes by multichannel
Breath interactive interface 5 transmits data to the control chip 3 of stable cloud platform rotation, and wherein data include angular speed and Angle Position.
In specific implementation, stable frame and three axles are included according to the stable head, three axle include pitch axis X,
Roll axle Y and azimuth axis Z, by the motion of pitch axis X, roll axle Y and the one-to-one axles of brushless electric machine band three of azimuth axis Z,
Specifically, obtain stablizing relative rotation angle of the stable frame around three axles of head by angle transducer, and the stable head
Stable frame inertia angular speed by gyro detection obtain.
Specifically, stabilizing ring controlled quentity controlled variable is exported digital control to the power stage by the control chip 3 of stable cloud platform rotation
System 2, the power stage numerical control system 2 controls the rotation of brushless electric machine to drive brushless electric machine according to stabilizing ring controlled quentity controlled variable
The motion of corresponding axle.
In specific implementation, the stable closed loop control specifically includes lead-lag control, PID control and sliding formwork control
At least one.
In specific implementation, according to the inertia angular speed of the stable frame of the stable head, the shakeless deckle of stable head
The inertial attitude information and stable frame of frame obtain the public affairs of the angular speed of each axle in three axles around the relative rotation angle of three axles
Formula is as follows:
Wherein, θ, γ,Correspond respectively is relative rotation angle of the stable frame around three axles for stablizing head;[ωpx
ωpy ωpz]TThe inertia angular speed for stable frame, [ω are corresponded respectivelybx ωby ωbz]TCorrespond respectively is three axles
In each axle inertia angular speed.
In specific implementation, the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control is obtained
Formula to stabilizing ring controlled quentity controlled variable is as follows:
Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value that stabilizing ring closed-loop control is instructed, and ω is wherein one in three axles
The angular speed of individual axle.That is according to above-mentioned formula, stationary level numerical control system 1 obtains controlling for single power stage numeral
The stabilizing ring controlled quentity controlled variable of system 2 processed, by multiline message interactive interface 5 be sent to corresponding power stage numerical control system 2 with
Realize the control to brushless electric machine.In addition, stabilizing ring closed-loop control instruction generates different controls according to the difference of mode of operation
System instruction, if stable mode, stabilizing ring closed-loop control instruction is the angular speed order received by number biography;If with
The track pattern, stabilizing ring closed-loop control instruction is that obtained controlled quentity controlled variable i.e. closed-loop tracking controlled quentity controlled variable is calculated according to image miss distance.
Pass through the inertia appearance of the inertia angular speed of the stable frame according to the stable head, the stable frame of stable head
The stable frame of state information and stable head obtains the inertia angle speed of each axle in three axles around the relative rotation angle of three axles
Degree, and the reference value instructed according to the inertia angular speed of each axle in three axles and stabilizing ring closed-loop control, obtain stabilizing ring control
Amount processed, stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system, and brushless electricity is controlled by power stage numerical control system
The rotation of machine is to control to stablize the motion of each axle of head, so as to realize the high precision image stablized.In addition, described steady
Deciding grade and level control system only needs to carry out the calculating of stabilizing ring controlled quentity controlled variable without being driven control to motor, so as to subtract
The amount of calculation of light stationary level control system.
In specific implementation, stationary level numerical control system 1 also include picture charge pattern device 6, for detect and obtain by with
The miss distance at track target relative image picture center;
Multiline message interactive interface 5, respectively with picture charge pattern device 6 and stablizing the control chip 3 of cloud platform rotation and being connected;It is stable
The control chip 3 of cloud platform rotation, is additionally operable to the stable head of self-inspection and the angle for stablizing head is initialized as into zero;Obtain tracked
The miss distance at target relative image picture center and the focal length value of camera, according to tracked target relative image picture center
The focal length value of miss distance and camera, closed-loop tracking control is obtained according to the angle difference of each axle in three axles for stablizing head
Amount, instructs closed-loop tracking controlled quentity controlled variable as stabilizing ring closed-loop control, does stable closed loop control according to feedback data, will calculate
To stabilizing ring controlled quentity controlled variable and export.
In specific implementation, the miss distance and the focal length of camera according to tracked target relative image picture center
Value, the formula for obtaining stablizing the angle difference of each axle in three axles of head is as follows:
θ=arctan (n × psize/L);
Wherein θ is differential seat angle, and n is miss distance, psizeFor pixel dimension, L is focal length.
In specific implementation, the angle difference according to each axle in three axles for stablizing head obtains closed-loop tracking control
The formula of amount is as follows:
Wherein uciFor closed-loop tracking controlled quentity controlled variable, θiFor the angle difference of each axle in three axles.
In specific implementation, closed-loop tracking controlled quentity controlled variable is obtained as stabilizing ring control instruction with carrying out closed-loop stabilization control
Stabilizing ring controlled quentity controlled variable specific formula be this area common knowledge.
By the miss distance and the focal length value of camera according to tracked target relative image picture center, obtain stablizing cloud
The angle difference of each axle in three axles of platform, and the angle difference according to each axle in three axles for stablizing head obtain with
Track closed-loop control amount, closed-loop tracking controlled quentity controlled variable is instructed as stabilizing ring closed-loop control to obtain calculating stabilizing ring controlled quentity controlled variable, will
Stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system, and the rotation of brushless electric machine is controlled by power stage numerical control system
With the motion for each axle for controlling stable head, image is carried out to continue track up so as to realize.Therefore it can realize high-precision
The image stabilization of degree and stabilization, the purpose of lasting track up during mobile take photo by plane to moving target.The stabilization
Level control system only needs to carry out the calculating of stabilizing ring controlled quentity controlled variable without being driven control to motor, so as to mitigate
The amount of calculation of stationary level control system.
In specific implementation, it is used for as shown in fig. 7, the present invention provides a kind of power stage numerical control system 2 of embodiment
The gyration vector of motor is controlled, in specific implementation, the present invention provides a kind of digital control system of the power stage of embodiment
System 2 is used for controlled motor and rotated, and the power stage numerical control system 2 includes:
Communication interface 7, the current mode of operation and control instruction for received power level controller;
Power level controller 8, for judging currently to whether there is the absolute initial value of electrical angle;It is exhausted if there is no electrical angle
During to initial value, current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and electricity are obtained under initialization pattern
The absolute initial value of angle;During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to institute
The angle value and electrical angle for stating absolute angular position sensor are definitely initially worth to current electric angle angle value, and obtain the friendship
Shaft voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable;Controlled according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage
Output PWM dutycycle is measured with the rotation of controlled motor;
Three phase bridge drivers 9, for the PWM exported according to power level controller dutycycle output driving current to control
The rotation of motor;
Current sensor 10, the two-phase-region casting current value in driving current for detecting Three phase bridge drivers;
Absolute angular position sensor 12, the angle value for detecting motor.
In specific implementation, the power level controller 8 is additionally operable to obtain current mode of operation, and judge currently
Mode of operation is open current loop pattern or current closed-loop pattern;
Current mode of operation is current closed-loop pattern, and quadrature-axis voltage control is worth to according to two-phase-region casting electric current is got
Amount and direct-axis voltage controlled quentity controlled variable;
Current mode of operation is open current loop pattern, obtains quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable.
In specific implementation, the power level controller 8 is additionally operable to the control instruction got, and judge control instruction
Whether it is END instruction;If control instruction is for END instruction, the absolute initial value of electrical angle is preserved;If control instruction
It is not the work for END instruction, the then angle value of execution acquisition absolute angular position sensor.
Specifically, motor is brushless electric machine 11, the communication interface 7 is the communication with the outside world of power stage numerical control system 2
Interface, it is corresponding with stationary level numerical control system using communication mode.The power level controller 8 reads the absolute angle position
The two-phase-region casting current data of sensor 12 and current sensor 10 is put, the rotor of brushless electric machine 11 is obtained relative to stator
The current data of absolute angular position and the adjacent two-phase of brushless electric machine, runs vector control algorithm, and will calculate obtained result
Exported by 3 groups of PWM modules on the power level controller 8 to three-phase bridge drive component 9.The three-phase bridge drive component 9
There is provided the interfaces of ABC tri- can be electrically connected with the three-phase of brushless electric machine 11;In electric dress connection, brushless electric machine three-phase line is
Three wires, may be selected any one and are connected with the A phases of the power chip, and remaining two wire selection of brushless electric machine are with having connected
Adjacent one of wire is met as B phases, remaining one is connected with C phases.The three-phase bridge drive component 9 and brushless electric machine 11 are electric
Connection, driving brushless electric machine 11 is rotated, so that with dynamic stability cloud platform rotation.
That is, the power stage numerical control system 2 can realize following three partial function:Initial electrical angle pair
Standard, Field orientable control, the judgement of current closed-loop and open current loop pattern and gating program;The current closed-loop and open current loop
System is set to current closed-loop pattern or open current loop pattern by the judgement of pattern and gating program according to the data received;Institute
State Field orientable control and carry out vector calculus using absolute angular position sensor and biphase current data, under current closed-loop pattern
Brushless electric machine quadrature axis control instruction be the data received, d-axis control instruction is zero, respectively calculate obtain quadrature-axis voltage control
Amount and direct-axis voltage controlled quentity controlled variable processed;Under open current loop pattern, quadrature-axis voltage controlled quentity controlled variable is the data directly received, d-axis electricity
It is zero to press controlled quentity controlled variable.Wherein, system is operated in electricity by the absolute initial value alignment procedure of electrical angle in the vector control algorithm
Flow under closed loop mode, by being controlled quadrature axis current and direct-axis current, electrical angle is forced to be set to-pi/2, and read this
When absolute angular position sensor reading to realize the alignment of electrical angle so that by program realize initial angle be aligned, then peace
The dress of phase requirements during to(for) motor are just more random.In addition, being calculated under open current loop pattern, the pressure of processor can be reduced
Power, when from performance relatively low processor, because processor computing capability is weak, it is impossible to complete electricity within the defined time cycle
The calculating of closed loop algorithm is flowed, can be calculated under open current loop pattern, and is calculated under current closed-loop pattern, can effectively be disappeared
Except the influence of machine induced electromotive force, make torque output more steady, while can also make the electric current for flowing through motor can be effective
Ground participates in acting.
In specific implementation, the power level controller 8 is additionally operable to:
Two-phase-region casting current value is set to the first pre-set current value and the second pre-set current value;
Quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current;
Current electrical angle is set to default angle value;
Obtain the angle value of absolute angular position sensor, and angle value and current electricity according to absolute angular position sensor
Angle obtains the absolute initial value of electrical angle.
Specifically, when the absolute initial value of electrical angle is not present, that is to say, that, it is necessary to calculate the absolute initial value of electrical angle
When, it is necessary to by two-phase-region casting current value force be set as the first pre-set current value Icmdq0 and the second pre-set current value Icmdd0,
Default angle value is-pi/2, gathers the angle value of absolute angular position sensor as the absolute initial value of electrical angle, and deposited
Storage.Because motor is not know the motor absolute angle position corresponding to electrical angle-pi/2 when not setting the absolute initial value of electrical angle
Put, initialization is exactly, by both correspondences, to need electrical angle being set as-pi/2 when motor is arranged on construction package, now read
The angle value of absolute angular position sensor is taken, and using the angle value record storage as the absolute initial value of electrical angle, will be current
Electrical angle it is corresponding with the progress of electrical angle absolute initial value.
In specific implementation, the power level controller 8 is additionally operable to:
The first conversion current value and the second conversion electricity are obtained according to the progress Clarke conversion of two-phase-region casting current value is got
Flow valuve;
Park conversion is carried out according to the first conversion current value and the second conversion current value and obtains quadrature axis current value and d-axis electricity
Flow valuve;
Quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to the quadrature axis current value and direct-axis current.
In specific implementation, two-phase-region casting current value is the driving current value I of A phasesaWith the driving current value I of B phasesb, according to
The driving current value I of A phasesaWith the driving current value I of B phasesbCarry out Clarke conversion and obtain the first conversion current value IαBecome with second
Change current value IβFormula it is as follows:
According to the first conversion current value IαWith the second conversion current value IβCarry out Park conversion and obtain quadrature axis current value IqWith it is straight
Shaft current value IdFormula it is as follows:
Wherein θ represents electrical angle numerical value.
Specifically, when it is proportional plus integral control to design controller, according to the quadrature axis current value IqWith direct-axis current value Id
Obtain quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCalculation formula is as follows:
Wherein,WithCurrent-order is represented, Kp is proportionality coefficient;Ki is storage gain.Specifically,Electric current refers to
Order is exactly the current control amount that stationary level control system is sent to power stage numerical control system by multiline message interactive interface;Current-order is generally set to 0 in power stage numerical control system, even whole electric currents participate in acting, in addition electric current control
Amount processed is exactly the stabilizing ring controlled quentity controlled variable that stationary level control system is exported in the tracking mode or under stable mode.
In specific implementation, the power level controller 8 is additionally operable to:
According to quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable carry out Park inverse transformations obtain three-phase voltage Va, Vb and
Vc;
Obtain exporting PWM dutycycle according to three-phase voltage Va, Vb and Vc with the rotation of controlled motor.
Specifically, according to quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCarry out Park inverse transformations and obtain three-phase electricity
Press Va, Vb and Vc formula as follows:
In specific implementation, the absolute initial value of angle value and electrical angle according to the absolute angular position sensor is obtained
The step of to current electric angle angle value, it is specially:
The angle value that current electric angle angle value is equal to the absolute angular position sensor is subtracted after the absolute initial value of electrical angle
Radian is scaled multiplied by with number of pole-pairs.
The angle value and current electrical angle according to absolute angular position sensor obtains the absolute initial value of electrical angle
Step, be specially:
The absolute initial value of electrical angle is equal to the angle value of the absolute angular position sensor.
That is, the absolute initial value of electrical angle is absolute for what is read and record during progress electrical angle initial value setting
The numerical value of angular position pick up, when need not calculate electrical angle initial value, directly reads what is recorded before.
The present invention also provides a kind of stable head of embodiment, and it is digital control that the stable head includes above-mentioned power stage
System 2.
The stable head of the present invention, is calculated under open current loop pattern, can reduce the pressure of processor, work as selection
During the relatively low processor of performance, because processor computing capability is weak, it is impossible to complete current closed-loop within the defined time cycle and calculate
The calculating of method, can be calculated under open current loop pattern, and be calculated under current closed-loop pattern, can effectively eliminate electricity
The influence of machine induced electromotive force, makes torque output more steady, while the electric current for flowing through motor can also can effectively join
With acting.
In specific implementation, as shown in figure 4, power level controller 8 is specially TM32028069 chips, the three-phase bridge is driven
Dynamic component 9 includes three switch tube modules, each switch tube module include a triode, first resistor R1, second resistance R2,
3rd resistor R3, the 4th resistance R4, the first metal-oxide-semiconductor NA1 and the second metal-oxide-semiconductor NA2, the first output of the TM32028069 chips
Port PWMA1 and the one of switch tube module of the second output port PWMA2 connections.Specifically, the TM32028069 chips
The first output port PWMA1 be connected with second resistance R2 one end, the base stage of the second resistance R2 other end and triode connects
Connect, the second output port PWMA2 of the TM32028069 chips is connected with 3rd resistor R3 one end, and 3rd resistor R3's is another
One end is connected with the second metal-oxide-semiconductor NA2 first end and the 4th resistance R4 one end respectively, the second metal-oxide-semiconductor NA2 the second end and
The four resistance R4 other end is grounded, and power supply VCC connects with the 5th resistance R5 one end with the first metal-oxide-semiconductor NA1 the 3rd end respectively
Connect, the colelctor electrode of triode is connected with the 5th resistance R5 other end and the first metal-oxide-semiconductor NA1 first end respectively, the first metal-oxide-semiconductor
NA1 the second end and the second metal-oxide-semiconductor NA2 three-terminal link, the grounded emitter of triode, the first metal-oxide-semiconductor NA1 the second end
It is used to export one of three-phase driving signal with the second metal-oxide-semiconductor NA2 three-terminal link one signal node of formation, that is,
Three switches tube module output three-phase driving signal PHASHA, PHASHB, PHASHC, the detection drive signal of current sensor 10
PHASHA, PHASHB, and the measured value detected is exported to the TM32028069 chips.
In specific implementation, as shown in figure 5, the three-phase bridge drive component 9 include three logic gates chip U1A,
U1B, U1C and three-phase bridge driving chip, specifically, three-phase bridge driving chip is specially DRV8312 driving chips.Power stage is controlled
Device 8 is specially TM32028069 chips, the first output port PWMA1 of the TM32028069 chips and the second output port
PWMA2 is connected with logic gates chip U1A first input end and the second input respectively, the TM32028069 chips
First output port PWMA1 is also connected with the first input end PWMA of DRV8312 driving chips, logic gates chip U1A's
Output end is connected with the second input RESET_A of DRV8312 driving chips, the 3rd output end of the TM32028069 chips
Mouth PWMB1 and the 4th output port PWMB2 connects with logic gates chip U1B the 3rd input and the 4th input respectively
Connect, the 3rd output port PWMB1 of the TM32028069 chips also connects with the 3rd input PWMB of DRV8312 driving chips
Connect, logic gates chip U1B output end is connected with the 4th input RESET_B of DRV8312 driving chips, described
5th output port PWMC1 of TM32028069 chips and the 6th output port PWMC2 are respectively with logic gates chip U1C's
First input end and the connection of the second input, the 5th output port PWMC1 of the TM32028069 chips also drive with DRV8312
The of 5th input PWMC connections of dynamic chip, logic gates chip U1C the first output end and DRV8312 driving chips
Six input RESET_C connections, the DRV8312 driving chips export three-phase driving signal PHASHA, PHASHB, PHASHC,
Current sensor 10 detects drive signal PHASHA, PHASHB, and the measured value detected is exported to the TM32028069
Chip.
Specifically, as shown in Fig. 6 (a), switching tube V1 and switching tube V4 constitute same bridge arm and switching tube V1 and switching tube
There is first node, switching tube V3 and switching tube V6 constitute same bridge arm and had between switching tube V3 and switching tube V6 between V4
Section Point, switching tube V2 and switching tube V5 constitute same bridge arm and have Section Point between switching tube V2 and switching tube V5,
Turned on while by preventing switching tube V1 and switching tube V4, prevent from turning on or preventing while switching tube V3 and switching tube V6
Turned on while switching tube V2 and switching tube V5, so as to prevent the three-phase bridge driving chip from same two power tubes of bridge arm occur
Simultaneously turn on and cause short circuit, wherein, the first node of the three-phase bridge driving chip connects the A phases of brushless electric machine 11, described three
The Section Point of phase bridge driving chip connects the B phases of brushless electric machine 11, the 3rd node connection nothing of the three-phase bridge driving chip
The C phases of brush motor 11.As shown in Fig. 6 (b), the first node of the three-phase bridge driving chip connects the B phases of brushless electric machine 11, institute
The Section Point for stating three-phase bridge driving chip connects the C phases of brushless electric machine 11, and the 3rd node of the three-phase bridge driving chip connects
Connect the A phases of brushless electric machine 11.As shown in Fig. 6 (c), the first node of the three-phase bridge driving chip connects the C of brushless electric machine 11
Phase, the Section Point of the three-phase bridge driving chip connects the A phases of brushless electric machine 11, Section three of the three-phase bridge driving chip
The B phases of point connection brushless electric machine 11.
It can be carried out electrically with the three-phase of brushless electric machine 11 that is, the three-phase bridge drive component 9 provides the interfaces of ABC tri-
Connection;In electric dress connection, A phases, B phases and the C phase three-phases line of brushless electric machine 11 are three wires, may be selected any one with
One of node of the three-phase bridge drive component 9 is connected, and remaining two wire selection of brushless electric machine are driven with the three-phase bridge
Two other node of dynamic component 9 connects one to one.In addition, the three-phase bridge drive component 9 electrically connects with brushless electric machine 11
Connect, driving brushless electric machine is rotated, so that the rotation with dynamic stability head.
In specific implementation, the absolute angular position sensor 12 is specially magnetic coder, definitely incremental encoder, reality
The one of which of encoder.
The present invention also provides the stable head of embodiment a kind of, including above-mentioned brushless electric machine driving control system and with
The brushless electric machine 11 of the driving control system correspondence connection.
The present invention provides a kind of vector control method that controlled motor is rotated that is used for of embodiment, the vector control method
Comprise the following steps:
Judge currently to whether there is the absolute initial value of electrical angle;
During initial value absolute if there is no electrical angle, current electric angle angle value, quadrature axis electricity are obtained under initialization pattern
Press controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle;
During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to described absolute
The angle value and electrical angle of angular position pick up are definitely initially worth to current electric angle angle value, and obtain the quadrature-axis voltage
Controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable;
Obtain exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
With the rotation of controlled motor.
It is described the step of obtain the quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable in specific implementation, including with
Lower step:
Current mode of operation is obtained, and judges whether current mode of operation is open current loop pattern or current closed-loop
Pattern;
Current mode of operation is current closed-loop pattern, and quadrature-axis voltage control is worth to according to two-phase-region casting electric current is got
Amount and direct-axis voltage controlled quentity controlled variable, are obtained into according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
Export the step of PWM dutycycle is with the rotation of controlled motor;
Current mode of operation is open current loop pattern, acquires quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable,
Obtain exporting PWM dutycycle to control into according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
The step of rotation of motor processed.
In specific implementation, the vector control method comprises the following steps:
The control instruction got, and judge whether control instruction is END instruction;
If it is, preserving the absolute initial value of electrical angle;
If it is not, then the step of returning to the angle value for obtaining absolute angular position sensor.
In specific implementation, as shown in figure 9, the present invention provides a kind of vector control that controlled motor is rotated that is used for of embodiment
Method processed, the vector control method includes:
Step S11, judges currently to whether there is the absolute initial value of electrical angle, if not, into step S12, if it is, entering
Enter step S13;
Step S12, obtains current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage control under initialization pattern
Amount and the absolute initial value of electrical angle, into step S17;
Step S13, obtains the angle value of absolute angular position sensor;
Step S14, obtains current mode of operation, and judges whether current mode of operation is open current loop pattern, such as
Fruit is, into step S15, if not, into step S16;
Step S15, obtains quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable, into step S17;
Step S16, is worth to quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable according to two-phase-region casting electric current is got, enters
Enter step S17;
Step S17, obtains exporting PWM according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
Dutycycle with the rotation of controlled motor;
Step S18, the control instruction got, and judge whether control instruction is END instruction, if it is, into step
S19, if it is not, then into S13;
Step S19, preserves the absolute initial value of electrical angle.
In step S14 or, whether judge current mode of operation is current closed-loop pattern, if not, into
Step S15, if it is, into step S16.
From above-mentioned steps, it can be seen that the vector control algorithm includes initial electrical angle alignment, Field orientable control, electricity
Flow judgement and the gating program three part composition of closed loop and open current loop pattern;Current closed-loop and the open current loop pattern is sentenced
System is set to current closed-loop pattern or open current loop pattern by disconnected and gating program according to the data received;Determine in the magnetic field
To control vector calculus, the brushless electricity under current closed-loop pattern are carried out using absolute angular position sensor and biphase current data
Machine quadrature axis control instruction is the data received, and d-axis control instruction is zero, calculates obtain quadrature-axis voltage controlled quentity controlled variable and straight respectively
Shaft voltage controlled quentity controlled variable;Under open current loop pattern, quadrature-axis voltage controlled quentity controlled variable is the data directly received, direct-axis voltage controlled quentity controlled variable
It is zero.Wherein, system is operated in current closed-loop mould by the absolute initial value alignment procedure of electrical angle in the vector control algorithm
Under formula, by being controlled quadrature axis current and direct-axis current, electrical angle is forced to be set to-pi/2, and read now absolute angle
Position sensor reading to realize the alignment of electrical angle so that by program realize initial angle be aligned, then during installation for
The phase requirements of motor are just more random.In addition, being calculated under open current loop pattern, the pressure of processor can be reduced,
When from performance relatively low processor, because processor computing capability is weak, it is impossible to complete electric current within the defined time cycle
The calculating of closed loop algorithm, can be calculated under open current loop pattern, and be calculated under current closed-loop pattern, can be effective
The influence of machine induced electromotive force is eliminated, makes torque output more steady, while the electric current for flowing through motor can also can have
Effect ground participates in acting.
In specific implementation, as shown in Figure 10, step S12 specifically includes following steps:
Step S121, the first pre-set current value and the second pre-set current value are set to by two-phase-region casting current value;
Step S122, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current;
Step S123, default angle value is set to by current electrical angle;
Step S124, obtains the angle value of absolute angular position sensor, and according to the angle value of absolute angular position sensor
The absolute initial value of electrical angle is obtained with current electrical angle.
Specifically, when the absolute initial value of electrical angle is not present, that is to say, that, it is necessary to calculate the absolute initial value of electrical angle
When, it is necessary to by two-phase-region casting current value force be set as the first pre-set current value Icmdq0 and the second pre-set current value Icmdd0,
Default angle value is-pi/2, gathers the angle value of absolute angular position sensor as the absolute initial value of electrical angle, and deposited
Storage.Because motor is not know the motor absolute angle position corresponding to electrical angle-pi/2 when not setting the absolute initial value of electrical angle
Put, initialization is exactly, by both correspondences, to need electrical angle being set as-pi/2 when motor is arranged on construction package, now read
The angle value of absolute angular position sensor is taken, and using the angle value record storage as the absolute initial value of electrical angle, will be current
Electrical angle it is corresponding with the progress of electrical angle absolute initial value.
In step S122, according to two-phase-region casting current value, quadrature-axis voltage controlled quentity controlled variable is obtained under closed-loop current control and straight
Shaft voltage controlled quentity controlled variable.
In specific implementation, as shown in figure 11, step S122 or step S16 are specifically included:
Step S31, the first conversion current value and the are obtained according to getting two-phase-region casting current value and carrying out Clarke conversion
Two conversion current values;
Step S32, carries out Park conversion according to the first conversion current value and the second conversion current value and obtains quadrature axis current value
With direct-axis current value;
Step S33, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage control are worth to according to the quadrature axis current value and direct-axis current
Amount processed.
In specific implementation, two-phase-region casting current value is the driving current value I of A phasesaWith the driving current value I of B phasesb, according to
The driving current value I of A phasesaWith the driving current value I of B phasesbCarry out Clarke conversion and obtain the first conversion current value IαBecome with second
Change current value IβFormula it is as follows:
According to the first conversion current value IαWith the second conversion current value IβCarry out Park conversion and obtain quadrature axis current value IqWith it is straight
Shaft current value IdFormula it is as follows:
Wherein θ represents electrical angle numerical value.
Specifically, when it is proportional plus integral control to design controller, according to the quadrature axis current value IqWith direct-axis current value Id
Obtain quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCalculation formula is as follows:
Wherein,WithCurrent-order is represented, Kp is proportionality coefficient;Ki is storage gain.
Specifically,Current-order is exactly that stationary level control system is sent to power stage by multiline message interactive interface
The current control amount of numerical control system;Current-order is generally set to 0 in power stage numerical control system, even entirely
Portion's electric current participates in acting, and current control amount is exactly that stationary level control system is exported in the tracking mode or under stable mode in addition
Stabilizing ring controlled quentity controlled variable.
In specific implementation, as shown in figure 12, step S17 specifically includes following steps:
Step S41, carries out Park inverse transformations according to quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable and finally gives three-phase
Voltage Va, Vb and Vc;
Step S42, obtains exporting PWM dutycycle with the rotation of controlled motor according to three-phase voltage Va, Vb and Vc.
Specifically, according to quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCarry out Park inverse transformations and finally give three
Phase voltage Va, Vb and Vc formula are as follows:
In specific implementation, the absolute initial value of angle value and electrical angle according to the absolute angular position sensor is obtained
The step of to current electric angle angle value, it is specially:
The angle value that current electric angle angle value is equal to the absolute angular position sensor is subtracted after the absolute initial value of electrical angle
Radian is scaled multiplied by with number of pole-pairs.
The angle value and current electrical angle according to absolute angular position sensor obtains the absolute initial value of electrical angle
Step, be specially:
The absolute initial value of electrical angle is equal to the angle value of the absolute angular position sensor.
That is, the absolute initial value of electrical angle is absolute for what is read and record during progress electrical angle initial value setting
The numerical value of angular position pick up, when need not calculate electrical angle initial value, directly reads what is recorded before.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of method shown in above-mentioned Fig. 9-12 is realized when sequence is executed by processor.
The computer-readable recording medium of the present invention, is calculated under open current loop pattern, can reduce processor
Pressure, when from performance relatively low processor, because processor computing capability is weak, it is impossible to completed within the defined time cycle
The calculating of current closed-loop algorithm, can be calculated under open current loop pattern, and be calculated under current closed-loop pattern, Ke Yiyou
The influence of the elimination machine induced electromotive force of effect, makes torque output more steady, while also the electric current for flowing through motor can be made all may be used
To be actively engaged in acting.
The present invention also provides a kind of control method of the stable cloud platform rotation of embodiment, as shown in figure 13, the vector control
Method processed includes:
The angle of step S211, the stable head of self-inspection and stable head is initialized as zero;
Step S212, obtains the appearance of the inertia angular speed of the stable frame of stable head and the stable frame of stable head
State information;
Step S213, obtains relative rotation angle of the stable frame around three axles of stable head;
Step S214, according to the inertia angular speed of the stable frame of the stable head, the stable frame of stable head
The stable frame of inertial attitude information and stable head obtains the angle speed of each axle in three axles around the relative rotation angle of three axles
Degree;
Step S215, the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control obtains steady
Determine ring controlled quentity controlled variable and export to control the three-axis moving of the stable head;
Step S216, spacing diagnosis;
Step S217, judges whether to terminate according to the control instruction for getting stable head, if into step S218,
If not, return to step S212;
Step S218, preserves variable.
In step S215, stabilizing ring controlled quentity controlled variable is exported to the power stage numerical control system, the power stage numeral
Control system controls the rotation of brushless electric machine to drive the motion of the corresponding axle of brushless electric machine according to stabilizing ring controlled quentity controlled variable.
In step S216, because the slewing area for stablizing head is limited, cloud platform rotation situation is added in a program
To monitor, the controlled quentity controlled variable of head is any limitation as during range boundary set in advance if stable cloud platform rotation reaches, it is ensured that cloud
Platform " will not hit " or " stuck ".
In specific implementation, the inertial attitude information of the stable frame of the stable head includes pitching data, roll number
According to and bearing data, wherein data include angular speed and Angle Position.
In specific implementation, the stable closed loop control specifically includes lead-lag control, PID control and sliding formwork control
At least one.
In specific implementation, stable frame and three axles are included according to the stable head, three axle include pitch axis X,
Roll axle Y and azimuth axis Z, by the motion of pitch axis X, roll axle Y and the one-to-one axles of brushless electric machine band three of azimuth axis Z,
Specifically, obtain stablizing relative rotation angle of the stable frame around three axles of head by angle transducer, and the stable head
Stable frame inertia angular speed by gyro detection obtain.
In specific implementation, according to the inertia angular speed of the stable frame of the stable head, the shakeless deckle of stable head
The stable frame of the inertial attitude information of frame and stable head obtains each axle in three axles around the relative rotation angle of three axles
The formula of angular speed is as follows:
Wherein, θ, γ,Correspond respectively is relative rotation angle of the stable frame around three axles for stablizing head;[ωpx
ωpy ωpz]TFor the inertia angular speed of each axle in three axles, [ωbx ωby ωbz]TIt is each axle in three axles to correspond respectively
Inertia angular speed.
In specific implementation, the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control is obtained
Formula to stabilizing ring controlled quentity controlled variable is as follows:
Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value that stabilizing ring closed-loop control is instructed, and ω is wherein one in three axles
The angular speed of individual axle.That is according to above-mentioned formula, stationary level numerical control system obtains controlling for single power stage numeral
The stabilizing ring controlled quentity controlled variable of system processed is sent to corresponding power stage numerical control system 2 to realize by multiline message interactive interface
Control to brushless electric machine.In addition, stabilizing ring closed-loop control instruction generates different controls and referred to according to the difference of mode of operation
Order, if stable mode, stabilizing ring closed-loop control instruction is the angular speed order received by number biography;If tracking should
Pattern, stabilizing ring closed-loop control instruction is that obtained controlled quentity controlled variable i.e. closed-loop tracking controlled quentity controlled variable is calculated according to image miss distance.
Pass through the inertia appearance of the inertia angular speed of the stable frame according to the stable head, the stable frame of stable head
The stable frame of state information and stable head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles, with
And the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control, stabilizing ring controlled quentity controlled variable is obtained, will be steady
Determine ring controlled quentity controlled variable to export to power stage numerical control system, by power stage numerical control system control brushless electric machine rotation with
The motion of each axle of the stable head of control, so as to realize the high precision image stablized.In addition, the stationary level control system
System only needs to carry out the calculating of stabilizing ring controlled quentity controlled variable without being driven control to motor, so as to mitigate stationary level control
The amount of calculation of system processed.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of above-mentioned Figure 13 method is realized when sequence is executed by processor.
Pass through the inertia appearance of the inertia angular speed of the stable frame according to the stable head, the stable frame of stable head
The stable frame of state information and stable head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles, with
And the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control, stabilizing ring controlled quentity controlled variable is obtained, will be steady
Determine ring controlled quentity controlled variable to export to power stage numerical control system, by power stage numerical control system control brushless electric machine rotation with
The motion of each axle of the stable head of control, so as to realize the high precision image stablized.In addition, the stationary level control system
System only needs to carry out the calculating of stabilizing ring controlled quentity controlled variable without being driven control to motor, so as to mitigate stationary level control
The amount of calculation of system processed.
The present invention also provides a kind of control method of the stable cloud platform rotation of embodiment, as shown in figure 14, the controlling party
Method includes:
The angle of step S311, the stable head of self-inspection and stable head is initialized as zero;
Step S312, obtains the miss distance at tracked target relative image picture center and the focal length value of camera;
Step S313, according to the miss distance at tracked target relative image picture center and the focal length value of camera, is obtained
The angle difference of each axle in three axles of stable head;
Step S314, closed-loop tracking controlled quentity controlled variable is obtained according to the angle difference of each axle in three axles for stablizing head;
Step S315, stabilization is obtained using closed-loop tracking controlled quentity controlled variable as stabilizing ring control instruction to carry out closed-loop stabilization control
Ring controlled quentity controlled variable, will calculate obtained stabilizing ring controlled quentity controlled variable and exports to control the three-axis moving of the stable head;
Step S316, spacing diagnosis;
Step S317, judges whether to terminate according to the control instruction for getting stable head, if into step S319,
If not, return to step S312;
Step S318, preserves variable.
In step S315, stabilizing ring controlled quentity controlled variable is exported to the power stage numerical control system, the power stage numeral
Control system controls the rotation of brushless electric machine to drive the motion of the corresponding axle of brushless electric machine according to stabilizing ring controlled quentity controlled variable.
In step S316, because the slewing area for stablizing head is limited, cloud platform rotation situation is added in a program
To monitor, the controlled quentity controlled variable of head is any limitation as during range boundary set in advance if stable cloud platform rotation reaches, it is ensured that cloud
Platform " will not hit " or " stuck ".
It is as shown in figure 15, further comprising the steps of after step S311 in specific implementation:
Step S420, whether be image trace pattern, if it is, into step S421, such as if judging default control model
It is really no, into step S422;
Step S421, into image trace pattern, into step S312;
Step S422, into image stabilization pattern, into step 423;
Step S423, obtains the appearance of the inertia angular speed of the stable frame of stable head and the stable frame of stable head
State information;
Step S424, obtains relative rotation angle of the stable head around three axles;
Step S425, according to the inertia angular speed of the stable frame of the stable head, the stable frame of stable head
Attitude information and stable head obtain the angular speed of each axle in three axles around the relative rotation angle of three axles;
Step S426, according to the angular speed and control instruction reference value of each axle in three axles, obtains stabilizing ring controlled quentity controlled variable simultaneously
Export to control the three-axis moving of the stable head, into step S316.
In fig .15, step S317, judges whether to terminate, if into step S319, if not, return to step
S420。
In step S426, stabilizing ring controlled quentity controlled variable is exported to the power stage numerical control system, the power stage numeral
Control system controls the rotation of brushless electric machine to drive the motion of the corresponding axle of brushless electric machine according to stabilizing ring controlled quentity controlled variable.
In specific implementation, the inertial attitude information of the stable frame of the stable head includes pitching data, roll number
According to and bearing data, data include angular speed and Angle Position.
In specific implementation, the stable closed loop control specifically includes lead-lag control, PID control and sliding formwork control
At least one.
In specific implementation, stable frame and three axles are included according to the stable head, three axle include pitch axis X,
Roll axle Y and azimuth axis Z, by the motion of pitch axis X, roll axle Y and the one-to-one axles of brushless electric machine band three of azimuth axis Z,
Specifically, obtain stablizing relative rotation angle of the stable frame around three axles of head by angle transducer, and the stable head
Stable frame inertia angular speed by gyro detection obtain.
In specific implementation, according to the stabilization of the inertia angular speed of the stable frame of the stable head, stable head
The stable frame of the inertial attitude information of framework and stable head obtains each axle in three axles around the relative rotation angle of three axles
Angular speed formula it is as follows:
Wherein, θ, γ,Correspond respectively is relative rotation angle of the stable frame around three axles for stablizing head;[ωpx
ωpy ωpz]TThe inertia angular speed for stable frame, [ω are corresponded respectivelybx ωby ωbz]TCorrespond respectively is three axles
In each axle inertia angular speed.
In specific implementation, the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control is obtained
Formula to stabilizing ring controlled quentity controlled variable is as follows:
Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value that stabilizing ring closed-loop control is instructed, and ω is wherein one in three axles
The angular speed of individual axle.That is according to above-mentioned formula, stationary level numerical control system obtains controlling for single power stage numeral
The stabilizing ring controlled quentity controlled variable of system processed is sent to corresponding power stage numerical control system 2 to realize by multiline message interactive interface
Control to brushless electric machine.In addition, stabilizing ring closed-loop control instruction generates different controls and referred to according to the difference of mode of operation
Order, if stable mode, stabilizing ring closed-loop control instruction is the angular speed order received by number biography;If tracking should
Pattern, stabilizing ring closed-loop control instruction is that obtained controlled quentity controlled variable i.e. closed-loop tracking controlled quentity controlled variable is calculated according to image miss distance.
In specific implementation, the miss distance and the focal length of camera according to tracked target relative image picture center
Value, the formula for obtaining stablizing the angle difference of each axle in three axles of head is as follows:
θ=arctan (n × psize/L)
Wherein θ is differential seat angle, and n is miss distance, psizeFor pixel dimension, L is focal length.
In specific implementation, the angle difference according to each axle in three axles for stablizing head obtains closed-loop tracking control
The formula of amount is as follows:
Wherein uciFor closed-loop tracking controlled quentity controlled variable, θiFor the angle difference of each axle in three axles.
In specific implementation, closed-loop tracking controlled quentity controlled variable is obtained as stabilizing ring control instruction with carrying out closed-loop stabilization control
Stabilizing ring controlled quentity controlled variable specific formula be this area common knowledge.
By the miss distance and the focal length value of camera according to tracked target relative image picture center, obtain stablizing cloud
The angle difference of each axle in three axles of platform, and the angle difference according to each axle in three axles for stablizing head obtain with
Stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system to obtain stabilizing ring controlled quentity controlled variable, passes through work(by track closed-loop control amount
The rotation of rate level numerical control system control brushless electric machine is to control to stablize the motion of each axle of head, so as to realize to image
Carry out continuing track up.In addition, the stationary level control system only need to be tracked the calculating of closed-loop control amount without
Control is driven to motor, so as to mitigate the amount of calculation of stationary level control system.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of above-mentioned Figure 14-15 method is realized when sequence is executed by processor.
The present invention also provides a kind of drive control method of the brushless electric machine of embodiment, can include Figure 13, Figure 14 and figure
15 one of method is plus the method shown in Fig. 9-12.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
Above-mentioned Figure 13, Figure 14 and Figure 15 step of one of method plus the method shown in Fig. 9-12 are realized when sequence is executed by processor
Suddenly.
Merely illustrating the principles of the invention described in above-described embodiment and specification and most preferred embodiment, are not departing from this
On the premise of spirit and scope, various changes and modifications of the present invention are possible, and these changes and improvements both fall within requirement and protected
In the scope of the invention of shield.
Claims (10)
1. a kind of vector control method rotated for controlled motor, it is characterised in that:The vector control method includes following
Step:
Judge currently to whether there is the absolute initial value of electrical angle;
During initial value absolute if there is no electrical angle, current electric angle angle value, quadrature-axis voltage control are obtained under initialization pattern
Amount processed, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle;
During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to absolute angle position
The angle value and electrical angle for putting sensor are definitely initially worth to current electric angle angle value, and obtain the quadrature-axis voltage control
Amount and direct-axis voltage controlled quentity controlled variable;
Obtain exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable controlling
The rotation of motor processed.
2. vector control method as claimed in claim 1, it is characterised in that:It is described to obtain the quadrature-axis voltage controlled quentity controlled variable and straight
The step of shaft voltage controlled quentity controlled variable, comprise the following steps:
Current mode of operation is obtained, and judges whether current mode of operation is open current loop pattern or current closed-loop mould
Formula;
Current mode of operation be current closed-loop pattern, according to get two-phase-region casting electric current be worth to quadrature-axis voltage controlled quentity controlled variable and
Direct-axis voltage controlled quentity controlled variable, is exported into according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
The step of PWM dutycycle is with the rotation of controlled motor;
Current mode of operation is open current loop pattern, acquires quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable, is entered
Obtain exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable controlling electricity
The step of rotation of machine.
3. vector control method as claimed in claim 1 or 2, it is characterised in that:The vector control method includes following step
Suddenly:
The control instruction got, and judge whether control instruction is END instruction;
If it is, preserving the absolute initial value of electrical angle;
If it is not, then the step of returning to the angle value for obtaining absolute angular position sensor.
4. vector control method as claimed in claim 1, it is characterised in that:It is described that current electricity is obtained under initialization pattern
The step of angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and electrical angle absolute initial value, specifically include:
Two-phase-region casting current value is set to the first pre-set current value and the second pre-set current value;
Quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current;
Current electrical angle is set to default angle value;
Obtain the angle value of absolute angular position sensor, and angle value and current electrical angle according to absolute angular position sensor
Obtain the absolute initial value of electrical angle.
5. vector control method as claimed in claim 1, it is characterised in that:It is described according to the absolute angular position sensor
The step of angle value and electrical angle are definitely initially worth to current electric angle angle value, be specially:
The angle value that current electric angle angle value is equal to the absolute angular position sensor subtracts conversion after the absolute initial value of electrical angle
It is radian multiplied by with number of pole-pairs.
6. vector control method as claimed in claim 4, it is characterised in that:The angle according to absolute angular position sensor
The step of value and current electrical angle obtain electrical angle absolute initial value, be specially:
The absolute initial value of electrical angle is equal to the angle value of the absolute angular position sensor.
7. a kind of power stage numerical control system for being used to be controlled the gyration vector of motor, it is characterised in that:The work(
Rate level numerical control system includes:
Communication interface, the current mode of operation and control instruction for received power level controller;
Power level controller, for judging currently to whether there is the absolute initial value of electrical angle;If there is no electrical angle definitely just
During initial value, current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and electrical angle are obtained under initialization pattern
Absolute initial value;During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to described exhausted
The angle value and electrical angle of diagonal position sensor are definitely initially worth to current electric angle angle value, and obtain the quadrature axis electricity
Press controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable;Obtained according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
Dutycycle to output PWM is with the rotation of controlled motor;
Three phase bridge drivers, for the PWM dutycycle output driving current that is exported according to power level controller with controlled motor
Rotation;
Current sensor, the two-phase-region casting current value in driving current for detecting Three phase bridge drivers;
Absolute angular position sensor, the angle value for detecting motor.
8. power stage numerical control system as claimed in claim 7, it is characterised in that:The power level controller is additionally operable to:
Two-phase-region casting current value is set to the first pre-set current value and the second pre-set current value;
Quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current;
Current electrical angle is set to default angle value;
Obtain the angle value of absolute angular position sensor, and angle value and current electrical angle according to absolute angular position sensor
Obtain the absolute initial value of electrical angle.
9. a kind of stable head, it is characterised in that:The stable head includes the power stage as described in claim any one of 7-8
Numerical control system.
10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor
The step of method as claimed in any one of claims 1 to 6 being realized during execution.
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CN108700897A (en) * | 2017-10-09 | 2018-10-23 | 深圳市大疆灵眸科技有限公司 | Mechanical angle detection method, holder and machine readable storage medium |
CN109375654A (en) * | 2018-12-07 | 2019-02-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
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CN109445419A (en) * | 2018-12-07 | 2019-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
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