CN109491404A - A kind of method of servo stabilized platform position limitation protection - Google Patents
A kind of method of servo stabilized platform position limitation protection Download PDFInfo
- Publication number
- CN109491404A CN109491404A CN201811407136.9A CN201811407136A CN109491404A CN 109491404 A CN109491404 A CN 109491404A CN 201811407136 A CN201811407136 A CN 201811407136A CN 109491404 A CN109491404 A CN 109491404A
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- servo
- front frame
- angle
- stabilized platform
- platform
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005611 electricity Effects 0.000 claims abstract description 9
- 238000004886 process control Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of methods of servo stabilized platform position limitation protection, including judge whether target seeker front frame angle is more than preset electricity limit angle value；Judging whether the main polarity for enabling signal and front frame Angle Position meet main enables signal set 0 condition；Judge whether target seeker front frame angle is more than preset mechanical position limitation angle value；Judge that whether the main polarity for enabling signal and front frame Angle Position met power amplifier enable signal Q sets 0 condition；Controller turns off the step of power amplifier of servo stabilized platform.The present invention can avoid servo platform movement and damage caused by the frame corners motor rotation blockage, while pilot catches control operating difficulty when reducing maneuvering flight.
Description
Technical field
The invention belongs to the technical fields of servo-stabilization Imaging Seeker platform stable control, and in particular to a kind of servo is steady
The method of fixed platform position limitation protection.
Background technique
Imaging Seeker image device is typically mounted on servo stabilized platform, expands imaging by the movement of servo platform
Range is limited under the conditions of dynamic motion by maneuvering flight and target bearing, and servo platform can arrive structural limits position, by
It is motor control in servo platform, will appear the phenomenon that electric current stall is so as to cause damage when resting on extreme position for a long time.
Using the method for position limitation protection job security, reliability can be provided to avoid motor long-time stall.
In the operating condition, with flight maneuver, servo platform can be quick for servo-stabilization Imaging Seeker stabilized platform
It moves to frame edge and is commonly called as " beating platform ", the stall of motor meeting at this time generates high current, so that platform be caused to damage.It is previous to need to lead to
It crosses limitation flight maneuver size or frame extreme position is deviateed by manual operating platform, avoid motor rotation blockage.It is this to be limited in
Be difficult to realize under urgent specified conditions, while also increasing the difficulty of operator, especially to the aircraft flight of single-place plane when
Difficulty is bigger.
Summary of the invention
The purpose of the present invention:
It is an object of the present invention to which servo platform is moved in frame corners when maneuvering flight conditions and target deviate larger
Edge when, there is damage caused by motor rotation blockage, using stabilized platform position limitation protection method it is possible to prevente effectively from the problem, together
When reduce pilot and catch control operating difficulty.
The technical scheme adopted by the invention is as follows:
A kind of method of servo stabilized platform position limitation protection, comprising the following steps:
1) in the servo stabilized platform course of work, by the controller real-time judge target seeker front frame of servo stabilized platform
Whether angle is more than 2) preset electricity limit angle value enters step if being more than, and it is normal otherwise to execute servo stabilized platform
Control flow；
2) controller judge the main polarity for enabling signal and front frame Angle Position whether meet it is main enable signal set 0 condition, if
Satisfaction then enables signal set 0 for main, and enters step 3), otherwise executes servo stabilized platform normal control process；
It 3) whether is more than preset machine by the controller real-time judge target seeker front frame angle of servo stabilized platform
4) tool limit angle value enters step if being more than, otherwise return to step 1)；
4) controller judges that whether the main polarity for enabling signal and front frame Angle Position met power amplifier enable signal Q sets 0
Power amplifier enable signal Q is set 0 if meeting, and entered step 5) by condition, power amplifier enable signal Q is otherwise set 1, and return and hold
Row step 1)；
5) power amplifier of controller shutdown servo stabilized platform.
It is characterized in that, it is described it is main enable signal set 0 condition be Zdpsi > 0 and θ3≤EH≤θ4Or Zdpsi < 0 and θ1≤
EH≤θ2。
It is characterized in that, it is Zdpsi > 0 and EH=θ that the power amplifier enable signal Q, which sets 0 condition,4Or Zdpsi < 0 and EH
=θ1。
Beneficial effects of the present invention:
The present invention can avoid servo platform movement and damage caused by the frame corners motor rotation blockage, while when reducing maneuvering flight
Pilot's catches control operating difficulty.
Detailed description of the invention
Fig. 1 is course frame corners EH range schematic diagram；
Fig. 2 is position limitation protection flow chart.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawings of the specification.
Servo stabilized platform designs the limitation of two-stage boundary, and the first order is the electricity limit of process control, and main function is actively
Limit the range of servo platform movement；The second level is mechanical position limitation, the passive motion range for limiting platform.
By taking the frame corners of course as an example, left mechanical position limitation angle is θ1, right mechanical position limitation angle be respectively θ4, process control electricity
Limit Left Angle is θ2, process control electricity limit right angular be θ3, stipulated that control framework angle is from θ1To θ4The main of movement enables signal
Zdpsi polarity is positive, and control framework angle is from θ4To θ1The main of movement enables signal Zdpsi polarity be negative, as shown in Figure 1.
Platform position limitation protection method proposed by the present invention mainly includes following procedure:
In the servo stabilized platform course of work, the value at real-time judge front frame angle and the main polarity for enabling signal；
According to frame angle value and it is main enable signal polarity, enable signal Zdpsi process to main according to following algorithm, and using at
Main after reason enables signal Hcontrol control platform move；
According to frame angle value and it is main enable signal polarity, power amplifier enable signal Q is processed according to following algorithm.
Claims (4)
1. a kind of method of servo stabilized platform position limitation protection, comprising the following steps:
1) in the servo stabilized platform course of work, it is by the controller real-time judge target seeker front frame angle of servo stabilized platform
No is more than 2) preset electricity limit angle value enters step if being more than, and otherwise executes servo stabilized platform normal control
Process；
2) controller judge the main polarity for enabling signal and front frame Angle Position whether meet it is main enable signal set 0 condition, if meet
It then enables signal set 0 for main, and enters step 3), otherwise execute servo stabilized platform normal control process；
It 3) whether is more than preset mechanical limit by the controller real-time judge target seeker front frame angle of servo stabilized platform
4) parallactic angle angle value enters step if being more than, otherwise return to step 1)；
4) controller judges that whether the main polarity for enabling signal and front frame Angle Position met power amplifier enable signal Q sets 0 condition,
Power amplifier enable signal Q is set 0 if meeting, and is entered step 5), power amplifier enable signal Q is otherwise set 1, and return to step
1)；
5) power amplifier of controller shutdown servo stabilized platform.
2. the method as described in claim 1, which is characterized in that servo stabilized platform is limited with two-stage boundary, and the first order is
The electricity limit of process control, for actively limiting the range of servo platform movement；The second level is mechanical position limitation, for passively limiting
The motion range of platform, left mechanical position limitation angle are θ1, right mechanical position limitation angle be θ4, it is θ that process control electricity, which limits Left Angle,2、
It is θ that process control electricity, which limits right angular,3。
3. method according to claim 2, which is characterized in that it is described it is main enable signal Zdpsi set 0 condition be Zdpsi > 0 and θ3≤
EH≤θ4Or Zdpsi < 0 and θ1≤EH≤θ2, wherein front frame angle size is EH.
4. method as claimed in claim 3, which is characterized in that it is Zdpsi > 0 and EH that the power amplifier enable signal Q, which sets 0 condition,
=θ4Or Zdpsi < 0 and EH=θ1, wherein front frame angle size is EH.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811407136.9A CN109491404A (en) | 2018-11-23 | 2018-11-23 | A kind of method of servo stabilized platform position limitation protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811407136.9A CN109491404A (en) | 2018-11-23 | 2018-11-23 | A kind of method of servo stabilized platform position limitation protection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109491404A true CN109491404A (en) | 2019-03-19 |
Family
ID=65696434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811407136.9A Pending CN109491404A (en) | 2018-11-23 | 2018-11-23 | A kind of method of servo stabilized platform position limitation protection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109491404A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB702307A (en) * | 1951-01-31 | 1954-01-13 | Western Electric Co | Improvements in or relating to electric control systems |
| CN104406587A (en) * | 2014-11-06 | 2015-03-11 | 北京航空航天大学 | Protection type stabilized platform frame limiting device |
| CN204631634U (en) * | 2015-05-08 | 2015-09-09 | 江苏省无线电科学研究所有限公司 | There is the full-automatic sun tracker of two-way mechanical limiting and protecting device |
| US9456800B2 (en) * | 2009-12-18 | 2016-10-04 | Massachusetts Institute Of Technology | Ultrasound scanning system |
| CN106598080A (en) * | 2016-11-09 | 2017-04-26 | 重庆长安工业(集团)有限责任公司 | Method for using software to monitor encoding disk data to achieve software limiting function |
| CN106877561A (en) * | 2017-03-01 | 2017-06-20 | 江苏国电铁塔有限公司 | Electric pushrod and its protection device and guard method |
-
2018
- 2018-11-23 CN CN201811407136.9A patent/CN109491404A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB702307A (en) * | 1951-01-31 | 1954-01-13 | Western Electric Co | Improvements in or relating to electric control systems |
| US9456800B2 (en) * | 2009-12-18 | 2016-10-04 | Massachusetts Institute Of Technology | Ultrasound scanning system |
| CN104406587A (en) * | 2014-11-06 | 2015-03-11 | 北京航空航天大学 | Protection type stabilized platform frame limiting device |
| CN204631634U (en) * | 2015-05-08 | 2015-09-09 | 江苏省无线电科学研究所有限公司 | There is the full-automatic sun tracker of two-way mechanical limiting and protecting device |
| CN106598080A (en) * | 2016-11-09 | 2017-04-26 | 重庆长安工业(集团)有限责任公司 | Method for using software to monitor encoding disk data to achieve software limiting function |
| CN106877561A (en) * | 2017-03-01 | 2017-06-20 | 江苏国电铁塔有限公司 | Electric pushrod and its protection device and guard method |
Non-Patent Citations (1)
| Title |
|---|
| 杨峰，董颖怀，李振亮，薛威，宋菲菲: "基于Clipper数控伺服系统的限位与回零研究", 《组合机床与自动化加工技术》 * |
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Application publication date: 20190319 |
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| RJ01 | Rejection of invention patent application after publication |