CN108803681A - A kind of brushless motor increases steady cloud platform control method and system - Google Patents
A kind of brushless motor increases steady cloud platform control method and system Download PDFInfo
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Abstract
The invention belongs to air vehicle technique fields, and in particular to a kind of brushless motor increases steady cloud platform control method and system, includes the following steps：It obtains the current pose data of holder and is based on current pose data acquisition motor angular acceleration；Detection current motor torque current in real time；Establish torque current-motor angular acceleration relational model；Based on torque current-motor angular acceleration relational model, current motor torque current is filtered after noise reduction process using least square method of recursion and obtains filtered motor torque electric current；According to filtered motor torque electric current and it is expected that corresponding expectation motor torque electric current output control signal is so that control signal adjusts current holder posture to desired posture under posture.The present invention provides brushless motors to increase steady cloud platform control method and system, carries out denoising to current torque electric current by using least square method filtering method, real-time is preferable, improves the accuracy of motor control, and then improves the stability of cradle head control.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of brushless motor increases steady cloud platform control method and system.
Background technology
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.With
The rapid development of unmanned plane industry, more and more unmanned planes are applied to the row such as agricultural, forestry, electric power, mapping, telemetering
Industry.
The fast development of unmanned plane mission payload greatly extends the application field of unmanned plane, video camera be unmanned plane compared with
For common mission payload, for connecting video camera and cameramount, carrying video camera carries out horizontal and vertical people
The device of both direction rotation is called holder.It is moved in general, tri- shaft rotation of X, Y, Z may be implemented in holder.Holder there is a need for being able to receive
Telecommand is simultaneously adjusted according to instruction or keeps the functions such as a special angle.These functional characteristics of holder ensure nobody
Machine enables mission payload thereon to carry out effective operation in flight course.
Holder is generally driven by servo motor, and actual electric system generally all includes a degree of noise.In general,
Current noise source is segmented into two kinds, and one is the white noises caused by the non-ideal factors such as interference, sampling error；It is another
Kind is that original white noise is adjusted as error originated from input, causes system defeated since system is in the state of closed-loop control
Go out frequent disturbance, so as to cause the noise of bigger.
The method of generally use low-pass filtering filters out system white noise to the maximum extent in the prior art, avoid causing be
System exports unnecessary disturbance, to achieve the purpose that weaken noise.But the filtering method has lacking for introducing time delay
It falls into, to influence system control performance.
Invention content
In order to solve the above technical problems, The present invention provides a kind of brushless motors to increase steady cloud platform control method and system.
In a first aspect, the present invention provides a kind of brushless motors to increase steady cloud platform control method, include the following steps：
The steady cloud platform control method of a kind of brushless motor increasing, which is characterized in that include the following steps：
(1) the current pose data of holder are obtained and are based on current pose data acquisition motor angular acceleration；
(2) current motor torque current is detected in real time；
(3) torque current-motor angular acceleration relational model is established；
(4) it is based on torque current-motor angular acceleration relational model, using least square method of recursion to current motor torque
Electric current obtains filtered motor torque electric current after being filtered noise reduction process；
(5) according to corresponding expectation motor torque electric current output control under filtered motor torque electric current and expectation posture
Signal processed is so that control signal adjusts current holder posture to desired posture.
Further, in the step (1), the current pose data include the angular velocity data that is acquired of gyroscope and
The acceleration information that accelerometer is acquired；Wherein, motor angular acceleration obtains in the following way：
According to the gyroscope angular velocity data of the acquisition, with the pass between gyroscope angular velocity data and motor angular velocity
It is that model determines motor angular velocity；
By the motor angular velocity and then calculate acquisition motor angular acceleration.
Further, the holder has three axis, including pitching motor, rolling motor and azimuth-drive motor, and one is corresponded to per axis
A motor；Relational model between the gyroscope angular velocity data and motor angular velocity is：
X-axis motor angular velocity is with the angular velocity data relationship measured by gyroscopeWherein,For X-axis motor angle
Speed, ωxFor the angular speed of the holder X-axis measured by gyroscope,
Y-axis motor angular speed is with the angular velocity data relationship measured by gyroscopeWherein,For X-axis motor angular velocity, ωyFor the angular speed of the holder Y-axis measured by gyroscope, ωzFor the holder Z measured by gyroscope
The angular speed of axis；α is component of the UAV Attitude angle in holder X-axis；
Z axis motor angular velocity is with the angular velocity data relationship measured by gyroscopeIn,
In,For Z axis motor angular velocity.
Preferably, the real-time detection current motor torque current includes：It is sampled by using ADC and obtains motor three-phase electricity
Stream, and then calculate current motor torque current.
Further, the torque current-motor angular acceleration relational model is as follows：
According to Principle of Electric Engine,I.e.Since torque current and motor torque are at just
Than iq=kM, so torque current-motor angular acceleration relational model is
Wherein, M is motor torque, and J is rotary inertia, and θ is motor angle, MsFor electric motor rotation resistant square,Accelerate for motor angle
Degree, iqTorque current.
Further, it is described noise reduction process is filtered to current motor torque current based on least square method after obtain
Filtered motor torque electric current, including：
(1) motor torque electric current mathematical model:I before filteringqFor current torque electric current, it is denoted as
D, i after filteringqIt is denoted as y, the two error e=d-y=d-WTu；
(2) it initializes：W (0)=0, P (0)=σ I
(3) it updates and is iterated calculating：
Filtering output：Y (n)=WT(n-1)u(n)
Evaluated error：E (n)=d (n)-y (n)
Renewal process matrixWherein, λ is forgetting factor；
Update weight vector：
W (n)=W (n-1)+k (n) e (n)
Update inverse matrix：
Second aspect, the present invention provides a kind of brushless motors to increase steady cloud platform control system, including：
Attitude data acquisition module：Current pose data for obtaining holder；The current pose data include gyro
The acceleration information that the angular velocity data and accelerometer that instrument is acquired are acquired；
Motor angular acceleration acquisition module：For obtaining motor angular acceleration；
Torque current detection module：For detecting current motor torque current in real time；
Model construction module：For establishing torque current-motor angular acceleration relational model；
It is filtered module：It is obtained after being filtered noise reduction process to current motor torque current using least square method of recursion
Obtain filtered motor torque electric current；
Pose adjustment module：According to filtered motor torque electric current and it is expected corresponding expectation motor torque under posture
Electric current output control signal is so that control signal adjusts current holder posture to desired posture.
Further, the motor angular acceleration acquisition module is according to the gyroscope angular velocity data of the acquisition, with top
Relational model between spiral shell instrument angular velocity data and motor angular velocity determines motor angular velocity, and then is obtained according to motor angular velocity
Motor angular acceleration.
Preferably, the torque current detection module samples by using ADC and obtains motor three-phase current, and then calculates
Current motor torque current.
Using above-mentioned technical proposal, including following advantageous effect：The present invention provides a kind of brushless motors to increase steady holder control
Method and system processed according to filtered motor torque electric current and it is expected that corresponding expectation motor torque electric current exports under posture
Signal is controlled so that control signal adjusts current holder posture to desired posture.By using least square method filtering method to working as
Preceding torque current carries out denoising, and real-time is preferable, improves the accuracy of motor control, and then improves cradle head control
Stability.
Description of the drawings
Fig. 1 is provided the flow chart that brushless motor increases steady cloud platform control method by the embodiment of the present invention；
Fig. 2 is provided the flow chart of motor angular acceleration acquisition methods by the embodiment of the present invention；
Fig. 3 is the flow chart of least square method algorithm provided by the present invention；
Fig. 4 is cradle head control simplified pinciple figure provided by the present invention.
Fig. 5 is using the comparison diagram before and after the provided motor torque current filtering of the embodiment of the present invention.
Specific implementation mode
Embodiment one：
Currently, the method for generally use low-pass filtering filters out system white noise to the maximum extent, avoid causing system defeated
Go out unnecessary disturbance, to achieve the purpose that weaken noise.But the filtering method has the defect for introducing time delay,
To influence system control performance.Current filtering is carried out using the method for least square method in addition, also having in the prior art, still
What is usually utilized is the model of torque corresponding speed, however, the most operating mode of unmanned holder, motor speed are almost 0, it is difficult
To be filtered to current of electric using common least square method.
In order to solve the above-mentioned technical problem the present embodiment, provides a kind of steady cloud platform control method of brushless motor increasing, Fig. 1 is
The there is provided brushless motor of the present embodiment increases the flow chart of steady cloud platform control method, includes the following steps：
S1, the current pose data for obtaining holder are simultaneously based on current pose data acquisition motor angular acceleration；It is described current
Attitude data includes the acceleration information that the angular velocity data that gyroscope is acquired and accelerometer are acquired；Nothing in the present embodiment
Holder used by man-machine is three axis holders, stablizes video camera by the detection in its pitching, roll and direction, control.Wherein,
Three-axis gyroscope is respectively adopted, three axis accelerometer obtains three axis angular rate data, the 3-axis acceleration data of holder.
In general, then motor angular acceleration is obtained, wherein motor angle is by magnetic by obtaining motor angle after second order derivation
Encoder detection obtains.However, due to needing by the way that motor angular acceleration could be obtained after carrying out derivation twice to motor angle,
But prodigious noise can be all introduced after every time to motor angle derivation, to influence motor control, in order to solve this problem, to the greatest extent
Amount reduces introduces noise during obtaining motor angular acceleration, in the present embodiment, referring to Fig.2, providing the acceleration of motor angle
The flow chart of acquisition methods is spent,
Motor angular acceleration obtains in the following way：
(1) according to the gyroscope angular velocity data of the acquisition, between gyroscope angular velocity data and motor angular velocity
Relational model determine motor angular velocity；
The holder has three axis, including pitching motor, rolling motor and azimuth-drive motor, and a motor, top are corresponded to per axis
The three axis angular rate data that spiral shell instrument is acquired are three axis angular rate data of holder, when unmanned plane is in flat winged state, gyroscope institute
Three number of axle evidence of acquisition is consistent with the motor angular velocity data on each axis, but when attitudes vibration occurs in unmanned plane；Unmanned plane
Attitude angle influences the relationship between each spindle motor angular speed and gyroscope angular velocity data, and UAV Attitude angle includes that unmanned plane is bowed
The elevation angle, roll angle and yaw angle, specifically, the relational model between the gyroscope angular velocity data and motor angular velocity is：
X-axis motor angular velocity is with the angular velocity data relationship measured by gyroscopeWherein,For X-axis motor angle
Speed, ωxFor the angular speed of the holder X-axis measured by gyroscope,
Y-axis motor angular speed is with the angular velocity data relationship measured by gyroscopeWherein,For X-axis motor angular velocity, ωyFor the angular speed of the holder Y-axis measured by gyroscope, ωzFor the holder Z measured by gyroscope
The angular speed of axis；
Z axis motor angular velocity is with the angular velocity data relationship measured by gyroscopeIn,
In,For Z axis motor angular velocity.
The three axis angular rate data measured by gyroscope, using with the relationship corresponding to each spindle motor angular velocity data
Model can be obtained the angular speed of each motor, eliminate the existing process that first derivation is carried out to motor angle.
In above each formula, α is component of the UAV Attitude angle in holder X-axis；Specifically, the mode of α acquisitions is：
X-axis motor current motor angle-X-axis motor corresponding angle, wherein unmanned plane in the case where unmanned plane is in flat winged state are in flat
When flying state, the attitudes vibration in pitching, rolling and orientation does not occur for unmanned plane, and three axis of holder corresponds to three axis of motor at this time,
Three number of axle measured by gyroscope also correspond to each spindle motor angular speed respectively according to being three number of axle evidence of holder.Wherein, motor angle
Degree is detected by magnetic coder and is obtained.Attitudes vibration is fed back to after being detected by attitude transducer (gyroscope and accelerometer)
Cradle head controllor.
(2) motor angular acceleration is obtained by the motor angular velocity and then calculating.
According to the directly measured three axis angular rate data of gyroscope in the present embodiment, by gyroscope angular velocity data and each electricity
Relationship between machine angular speed, so as to directly obtain motor angular velocity, after carrying out first derivation to motor angular velocity
Obtain motor angular acceleration.Compared with carrying out second order derivation again after directly obtaining motor angle from magnetic coder in traditional technology,
It avoids introducing larger current noise, improves the control performance of electric system.
Specifically, the angular velocity data measured by gyroscope is transmitted to cradle head controllor, and cradle head controllor is according to corresponding
Relational model obtains corresponding motor angular velocity data, and then obtains motor acceleration after carrying out first derivation to motor angular velocity
Degree.
S2, in real time detection current motor torque current；
Known to, it is usually sampled by using ADC obtain motor three-phase current in the art, and then calculated current
Motor torque electric current.It is not described in detail herein.
S3, torque current-motor angular acceleration relational model is established；
The torque current-motor angular acceleration relational model is as follows：
According to Principle of Electric Engine,I.e.Since torque current and motor torque are at just
Than iq=kM, so torque current-motor angular acceleration relational model is
Wherein, M is motor torque, and J is rotary inertia, and θ is motor angle, MsFor electric motor rotation resistant square,Accelerate for motor angle
Degree, iqTorque current.
S4, it is based on torque current-motor angular acceleration relational model, using least square method of recursion to current motor torque
Electric current obtains filtered motor torque electric current after being filtered noise reduction process；
Although least square method can be used to carry out current filtering, used filtering method in existing motor control
It is not particularly suited in the motor for controlling unmanned machine head, in actual application due to unmanned machine head, in order to obtain stabilization
Picture, often remains stationary state, so that motor speed is zero, however, the least square method filtering side of existing motor
It is motor speed model used by formula, the motor being not particularly suited in unmanned machine head.Therefore, for electric in unmanned machine head
The method of the noise reduction process mode generally use low-pass filtering of machine, prolongs however, low-pass filtering noise reduction process mode can introduce the time
Late, real-time is poor, to influence electric system control performance, it is difficult to timely and effectively carry out stability contorting to holder.
Described be filtered after noise reduction process to current motor torque current based on least square method obtains filtered electricity
Machine torque current, including：
(1) motor torque electric current mathematical model:I before filteringqFor current torque electric current, it is denoted as
D, i after filteringqIt is denoted as y, the two error e=d-y=d-WTu；
(2) it initializes：W (0)=0, P (0)=σ I
(3) it updates and is iterated calculating：
Filtering output：Y (n)=WT(n-1)u(n)
Evaluated error：E (n)=d (n)-y (n)
Renewal process matrixWherein, λ is forgetting factor；
Update weight vector：
W (n)=W (n-1)+k (n) e (n)
Update inverse matrix：
In the step, according to least square method, place is filtered to current torque electric current using motor angular acceleration model
Reason, the filtered torque current output of initial time, the motor torque electric current of subsequent time continue to update and be iterated calculating,
Current noise is smaller and smaller, gradually so that filtered torque current tends to be zero with current torque current error.
Wherein, motor angular acceleration is obtained by the relational model between gyroscope angular velocity data and motor angular velocity, is passed through
Gyroscope detects the motor angular velocity of each motor, and between the angular velocity data and motor angular velocity measured by gyroscope
Relational model determine motor angular velocity, to after motor angular velocity first derivation obtain motor angular acceleration, and then obtain motor
Relational model between torque current and motor angular acceleration.
Refering to Fig. 5, the comparison diagram before and after motor torque current filtering is provided, wherein the deeper curve of color represents filtering
Preceding each moment motor torque electric current, the shallower intermediate region curve of color represents each moment motor torque electric current after filtering, by scheming
As can be seen that the motor torque electric current exported using filtering method in the present embodiment is formed by curve more steady, noise
It is smaller.
S5, it is controlled according to corresponding expectation motor torque electric current output under filtered motor torque electric current and expectation posture
Signal processed is so that control signal adjusts current holder posture to desired posture.
Known to, it is expected that posture conveys instruction to cradle head controllor by user by remote controler, can be solved according to desired posture
Corresponding motor angle is calculated, and then obtains and it is expected motor torque electric current, is obtained after being filtered to current motor torque current
Torque current after after denoising according to the torque current after desired motor torque electric current and filtering output, and combines PID to control
System controls each motor work, the adjustment and control to holder posture is realized by motor.It should be noted that how to pass through the phase
Hope posture obtains it is expected motor torque electric current to those skilled in the art, which is common knowledge, is not done herein in detail
Carefully repeat.
Embodiment 2：
A kind of steady cloud platform control system of brushless motor increasing is present embodiments provided, which can perform above-described embodiment and provide
Brushless motor increase steady cloud platform control method, have the corresponding function module of execution method and advantageous effect, including：
Attitude data acquisition module：Current pose data for obtaining holder；The current pose data include gyro
The acceleration information that the angular velocity data and accelerometer that instrument is acquired are acquired；
Motor angular acceleration acquisition module：For obtaining motor angular acceleration；
Torque current detection module：For detecting current motor torque current in real time；
Model construction module：For establishing torque current-motor angular acceleration relational model；
It is filtered module：It is obtained after being filtered noise reduction process to current motor torque current using least square method of recursion
Obtain filtered motor torque electric current；
Pose adjustment module：According to filtered motor torque electric current and it is expected corresponding expectation motor torque under posture
Electric current output control signal is so that control signal adjusts current holder posture to desired posture.
The technical solution of the present embodiment, according to desired torque current and based on the filtered motor torque electricity of least square method
Stream output control signal is so that motor adjusts holder posture according to the control signal, by using least square method filtering method pair
Current torque electric current carries out denoising, and real-time is preferable, improves the accuracy of motor control, and then improves cradle head control
Stability.
The motor angular acceleration acquisition module is according to the gyroscope angular velocity data of the acquisition, with gyroscope angular speed
Relational model between data and motor angular velocity determines motor angular velocity, and then obtains motor angle according to motor angular velocity and accelerate
Degree.
The torque current detection module samples by using ADC and obtains motor three-phase current, and then calculates current electricity
Machine torque current.
In the technical program, module is filtered for being filtered to current motor torque current based on least square method
Filtered motor torque electric current is obtained after noise reduction process, least square method uses torque current-motor angular acceleration relationship mould
Type, and motor angular velocity is obtained by gyroscope angular velocity data, and then motor angular acceleration is obtained after first derivation, it solves
Current noise controls the problem of interfering to electric system, improves the real-time and accuracy of motor control, is conducive to holder
Posture is controlled.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of brushless motor increases steady cloud platform control method, which is characterized in that include the following steps：
(1) the current pose data of holder are obtained and are based on current pose data acquisition motor angular acceleration；
(2) current motor torque current is detected in real time；
(3) torque current-motor angular acceleration relational model is established；
(4) it is based on torque current-motor angular acceleration relational model, using least square method of recursion to current motor torque current
Filtered motor torque electric current is obtained after being filtered noise reduction process；
(5) according to corresponding expectation motor torque electric current output control letter under filtered motor torque electric current and expectation posture
Number so that control signal adjusts current holder posture to desired posture.
2. brushless motor according to claim 1 increases steady cloud platform control method, which is characterized in that described to obtain working as holder
Preceding attitude data includes：
Obtain the three axis angular rate data and 3-axis acceleration data of the holder；Wherein, three-axis gyroscope, three axis are respectively adopted
Accelerometer obtains three axis angular rate data, 3-axis acceleration data.
3. brushless motor according to claim 1 increases steady cloud platform control method, which is characterized in that in the step (1), institute
It includes the angular velocity data that gyroscope is acquired and the acceleration information that accelerometer is acquired to state current pose data；Wherein,
Motor angular acceleration obtains in the following way：
According to the gyroscope angular velocity data of the acquisition, with the relationship mould between gyroscope angular velocity data and motor angular velocity
Type determines motor angular velocity；
By the motor angular velocity and then calculate acquisition motor angular acceleration.
4. brushless motor according to claim 3 increases steady cloud platform control method, which is characterized in that the holder has three
Axis, including pitching motor, rolling motor and azimuth-drive motor correspond to a motor per axis；The gyroscope angular velocity data and electricity
Relational model between machine angular speed is：
X-axis motor angular velocity is with the angular velocity data relationship measured by gyroscopeWherein,For X-axis motor angle speed
Degree, ωxFor the angular speed of the holder X-axis measured by gyroscope,
Y-axis motor angular speed is with the angular velocity data relationship measured by gyroscopeWherein,For X
Spindle motor angular speed, ωyFor the angular speed of the holder Y-axis measured by gyroscope, ωzFor the angle of the holder Z axis measured by gyroscope
Speed；α is component of the UAV Attitude angle in holder X-axis；
Z axis motor angular velocity is with the angular velocity data relationship measured by gyroscopeIn, whereinFor Z axis motor angular velocity.
5. brushless motor according to claim 1 increases steady cloud platform control method, which is characterized in that the real-time detection is current
Motor torque electric current includes：It is sampled by using ADC and obtains motor three-phase current, and then calculate current motor torque current.
6. brushless motor according to claim 1 increases steady cloud platform control method, which is characterized in that the torque current-electricity
Machine angular acceleration relational model is as follows：
According to Principle of Electric Engine,I.e.Since torque current is directly proportional to motor torque, iq
=kM, so torque current-motor angular acceleration relational model is
Wherein, M is motor torque, and J is rotary inertia, and θ is motor angle, MsFor electric motor rotation resistant square,For motor angular acceleration, iq
Torque current.
7. brushless motor according to claim 6 increases steady cloud platform control method, which is characterized in that described to be based on least square
Method, which is filtered after noise reduction process current motor torque current, obtains filtered motor torque electric current, including：
(1) motor torque electric current mathematical model:I before filteringqFor current torque electric current, it is denoted as d, is filtered
I after waveqIt is denoted as y, the two error e=d-y=d-WTu；
(2) it initializes：W (0)=0, P (0)=σ I
(3) it updates and is iterated calculating：
Filtering output：Y (n)=WT(n-1)u(n)
Evaluated error：E (n)=d (n)-y (n)
Renewal process matrixWherein, λ is forgetting factor；
Update weight vector：
W (n)=W (n-1)+k (n) e (n)
Update inverse matrix：
。
8. a kind of brushless motor increases steady cloud platform control system, which is characterized in that including：
Attitude data acquisition module：Current pose data for obtaining holder；The current pose data include gyroscope institute
The acceleration information that the angular velocity data and accelerometer of acquisition are acquired；
Motor angular acceleration acquisition module：For obtaining motor angular acceleration；
Torque current detection module：For detecting current motor torque current in real time；
Model construction module：For establishing torque current-motor angular acceleration relational model；
It is filtered module：It is filtered after being filtered noise reduction process to current motor torque current using least square method of recursion
Motor torque electric current after wave；
Pose adjustment module：According to filtered motor torque electric current and it is expected corresponding expectation motor torque electric current under posture
Output control signal is so that control signal adjusts current holder posture to desired posture.
9. brushless motor according to claim 8 increases steady cloud platform control system, which is characterized in that the motor angular acceleration
Acquisition module is according to the gyroscope angular velocity data of the acquisition, with the pass between gyroscope angular velocity data and motor angular velocity
It is that model determines motor angular velocity, and then obtains motor angular acceleration according to motor angular velocity.
10. brushless motor according to claim 8 increases steady cloud platform control system, which is characterized in that the torque current inspection
It surveys module and samples acquisition motor three-phase current by using ADC, and then calculate current motor torque current.
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