CN112003500A - Radar multi-motor self-adaptive synchronous anti-backlash control card and system - Google Patents
Radar multi-motor self-adaptive synchronous anti-backlash control card and system Download PDFInfo
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- CN112003500A CN112003500A CN202010841360.XA CN202010841360A CN112003500A CN 112003500 A CN112003500 A CN 112003500A CN 202010841360 A CN202010841360 A CN 202010841360A CN 112003500 A CN112003500 A CN 112003500A
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- 230000003044 adaptive effect Effects 0.000 claims description 20
- 230000008030 elimination Effects 0.000 claims description 14
- 238000003379 elimination reaction Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000004927 fusion Effects 0.000 claims description 9
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- 230000002159 abnormal effect Effects 0.000 claims description 3
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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Abstract
The invention relates to a radar multi-motor self-adaptive synchronous anti-backlash control card, which comprises the following self-adaptive anti-backlash distribution methods: dividing the plurality of motors into two groups, wherein the moment synthesized by all the motors in the first group is M1, and the moment synthesized by all the motors in the second group is M2; when the load is light, the setting direction of the moment M1 is opposite to that of the moment M2; when the load is heavy, the setting direction of the moment M1 is the same as that of the moment M2; when partial motors in a certain group of motors have faults, the resultant torque of the group of motors is generated by the normally working motors; when all the motors of one group of motors are in fault, the other group of motors are divided into two groups and controlled according to the self-adaptive anti-backlash distribution method. The invention also discloses a radar multi-motor self-adaptive synchronous anti-backlash system. The method can eliminate the influence of the transmission chain tooth gap on the stability of the servo system and improve the tracking bandwidth of the servo system; by adopting the self-adaptive anti-backlash redundancy technology, the problems of multi-motor drive anti-backlash synchronization and redundant torque distribution are solved, and the system reliability is improved.
Description
Technical Field
The invention relates to the field of radar servo systems, in particular to a radar multi-motor self-adaptive synchronous anti-backlash control card and a system.
Background
With the development of large-caliber and high-power radar array surface technology, backlash nonlinearity exists in a large-scale radar transmission chain, and high-precision and quick dynamic response of antenna control needs to be completed, so that certain measures must be taken on the transmission chain to eliminate the backlash; two modes of direct drive of a torque motor and offset of multiple motors for eliminating backlash are generally adopted. The multi-motor anti-backlash control method generally adopts double motors, and when the load is particularly heavy and the double motors cannot be realized, the four-motor synchronous anti-backlash control method is adopted; the electric backlash control can improve the transmission rigidity of the servo transmission system, improve the structural resonance frequency, improve the robustness of the servo system and be widely applied to high-precision measurement radars. There is a need for a system that can achieve multi-motor synchronous backlash elimination.
Disclosure of Invention
In order to solve the technical problem in the prior art, the invention provides a radar multi-motor self-adaptive synchronous anti-backlash control card and a system.
The invention specifically comprises the following contents: a radar multi-motor self-adaptive synchronous anti-backlash control card comprises a self-adaptive anti-backlash distribution module, wherein the self-adaptive anti-backlash distribution module judges the motor state according to the current information of a motor and a driver and carries out anti-backlash distribution,
the self-adaptive anti-backlash allocation method of the self-adaptive anti-backlash allocation module comprises the following steps:
the motors work in a torque mode, the motors are divided into two groups, the torque synthesized by all the motors in the first group is M1, and the torque synthesized by all the motors in the second group is M2;
according to the condition of radar load and motor, self-adaptive control is carried out on two groups of motors, including:
at light load, setting the direction of the moment M1 opposite to that of the moment M2;
when the load is heavy, the setting moment M1 and the setting moment M2 have the same direction;
when a part of motors in a certain group of motors have faults, the resultant torque of the group of motors is generated by the group of motors which normally work;
when all the motors of one group of motors are in fault, the other group of motors are divided into two groups and controlled according to the self-adaptive anti-backlash distribution method.
Further, the torque distribution of the motors in each group in S2 is: and M is M1/M, wherein M is the torque distributed to each motor in the group, and M is the number of the motors which normally work in the group.
The self-adaptive anti-backlash control card further comprises a speed matching module, a parameter configuration module, a current acquisition module and a speed fusion module, wherein the speed output by the speed matching module enters the self-adaptive anti-backlash distribution module after being corrected by the speed fusion module, the self-adaptive anti-backlash distribution module also receives parameters configured by the parameter configuration module and current acquired by the current acquisition module, generates anti-backlash torque according to the received data and sends the anti-backlash torque to the driver, and the motor corresponding to the driver drives the radar antenna pedestal turntable to rotate.
The system further comprises a control interface module and a process monitoring module, wherein the control interface module receives an external control signal and inputs the external control signal to the speed matching module, and the process monitoring module monitors process information in the anti-backlash control card and transmits the process information to an external display device.
Furthermore, the anti-backlash control card respectively controls anti-backlash according to the azimuth motion process and the pitching motion process of the radar antenna base, and the drivers in the azimuth motion process and the pitching motion process respectively transmit speed and current data and distribute anti-backlash torque through a field bus in the anti-backlash control card.
The invention also discloses a radar multi-motor self-adaptive synchronous anti-backlash control system which comprises the radar multi-motor self-adaptive synchronous anti-backlash control card and a main control module, wherein the main control module is connected with a control interface of the anti-backlash control card.
And the touch screen exchanges data of process information in the anti-backlash control card with the parameter configuration module, the self-adaptive anti-backlash distribution module and the current acquisition module through the process monitoring module.
Further, the process of the anti-backlash control card for anti-backlash control is as follows:
s1, configuring parameters, setting the parameters through an external digital parameter configuration acquisition port, and sending the parameters to the self-adaptive anti-backlash distribution module through the parameter configuration module;
s2, processing the control interface, and connecting the control interface with the main control module through a field bus;
s3, collecting load information, and collecting current information of a plurality of motors and drivers corresponding to the azimuth turntable and the pitching turntable through a current collecting module;
s4, judging whether redundant gap elimination is needed according to the load information, if the load information is normal, the redundant gap elimination is not needed; if the load information is abnormal, redundant gap elimination is needed, and adaptive distribution of torque is carried out on the motor which normally works.
The radar multi-motor self-adaptive synchronous anti-backlash control card and system can eliminate the influence of the transmission chain backlash on the stability of a servo system and improve the tracking bandwidth of the servo system; by adopting the self-adaptive anti-backlash redundancy technology, the problems of multi-motor drive anti-backlash synchronization and redundant torque distribution are solved, and the system reliability is improved.
Drawings
The following further explains embodiments of the present invention with reference to the drawings.
FIG. 1 is a schematic diagram of a multi-motor adaptive synchronous anti-backlash control system according to the present invention;
FIG. 2 is a schematic flow chart of the multi-motor adaptive synchronous anti-backlash control system of the radar of the present invention.
Detailed Description
Example 1
The embodiment discloses a radar multi-motor self-adaptive synchronous anti-backlash control card, which comprises the following control methods:
in the embodiment, four motors are taken as an example, as shown in fig. 1, drivers 209 to 212 correspond to motors 213 to 216 one by one, and the anti-backlash control card controls the corresponding motors through the drivers;
the motors work in a torque mode, the motors are divided into two groups, as shown in fig. 1, the torque synthesized by the motor 213 and the motor 214 is M1, the torque synthesized by the motor 215 and the motor 216 is M2, and the following control is respectively performed according to the load condition and the fault condition of the motors:
the opposite torque directions of the motor 213, the motor 214, the motor 215 and the motor 216 (namely, the opposite directions of M1 and M2) play a role in backlash elimination under light load;
the motor 213, the motor 214, the motor 215 and the motor 216 have the same torque direction (i.e. the M1 and the M2 have the same direction) to cooperatively output force under heavy load;
when a part of motors in a certain group of motors are in failure, the resultant torque of the group of motors is generated by the group of motors which are in normal operation (for example, when the driver 209 or the motor 213 is in failure, the torque of M1 is generated by the driver 210 and the motor 214, and the effect of backlash elimination on the whole system is also achieved);
when all motors of one group of motors are in failure, the other group of motors are divided into two groups and controlled according to the adaptive anti-backlash distribution method (for example, when at least one of the driver 209 and the motor 213 fails and at least one of the driver 210 and the motor 214 fails, the torque of M1 is automatically distributed by the driver 211 and the motor 215, and the torque of M2 is automatically distributed by the driver 212 and the motor 216, so that the adaptive anti-backlash torque distribution is completed).
The anti-backlash control card of the embodiment performs anti-backlash control on the azimuth motion and pitching motion process of the radar antenna base, and in the azimuth motion, the anti-backlash control card is connected with an azimuth turntable 217 through drivers 209 to 212 and motors 213 to 216 in sequence to control the rotation of the azimuth turntable 217; in pitching motion; the anti-backlash control card is connected with the pitching rotary table 233 through drivers 225-228 and motors 229-232 in sequence to control the rotation of the anti-backlash control card.
The backlash elimination control in the pitching process is the same as that in the azimuth control, the drivers 225-228 correspond to the motors 229-232 one by one, the moment synthesized by the motor 229 and the motor 230 is set as M1, the moment synthesized by the motor 231 and the motor 232 is set as M2,
when the load is light, the directions of M1 and M2 are opposite, and the backlash eliminating effect is achieved;
under heavy load, the M1 and M2 have the same cooperative force;
when the driver 225 or the motor 229 fails, the moment of the M1 is generated by the driver 226 and the motor 230, and the whole system also plays a role in eliminating backlash;
when at least one of the driver 225 and the motor 229 fails and at least one of the driver 226 and the motor 230 fails, the moment distribution of M1 is generated by the driver 227 and the motor 231, and the moment distribution of M2 is generated by the driver 228 and the motor 232, so that the adaptive anti-backlash distribution is completed.
Preferably, in this embodiment, the moment distribution of the adaptive anti-backlash distribution module is as follows: m + ═ M1/M, M ═ M2/n, where: m1 is the sum of the moments of all motors in a group, M is the number of the motors in the group working normally, and M + is the moment distributed to each motor in the group; m2 is the sum of the torques of all the motors in the other group, n is the number of the motors in the group which normally work, and M is the torque distributed to each motor in the group.
For radar systems with other numbers of motors, the anti-backlash control method is still the same as the method, and only the number of motors in each group is different.
When a group of motors are totally fault-free, the motors can be distributed according to the distribution mode; when partial motors in one or more groups of motors have faults, the rest motors still distribute the torque according to the distribution mode; when the motors of one group are all in fault, the rest group of motors are divided into two parts, and the distribution is continued according to the distribution mode until the motors in fault start to work again, and the system is recovered to the original two groups of motor working modes.
In this embodiment, the anti-backlash control card further includes a speed matching module, a parameter configuration module, a current collection module, a speed fusion module, a control interface module 202, and a process monitoring module 218. The speed output by the speed matching module enters the self-adaptive anti-backlash distribution module after being corrected by the speed fusion module, the self-adaptive anti-backlash distribution module also receives parameters configured by the parameter configuration module and current collected by the current collection module, generates anti-backlash torque according to the received data, sends the anti-backlash torque to the driver, and then drives the radar antenna pedestal turntable to rotate through a motor corresponding to the driver. The control interface module 202 receives an external control signal and inputs the external control signal to the speed matching module, and the process monitoring module 218 monitors the process information in the anti-backlash control card and transmits the process information to the external display device.
Specifically, the system comprises a first speed matching module 203, a first parameter configuration module 204, a first adaptive anti-backlash allocation module 205, a first current acquisition module 206, a first speed fusion module 207 and a first field bus 208 corresponding to the azimuth motion control process, a second speed matching module 219, a second parameter configuration module 220, a second adaptive anti-backlash allocation module 221, a second current acquisition module 222, a second speed fusion module 223 and a second field bus 224 corresponding to the pitch motion control process, a control interface module 202 and a process monitoring module 218.
The anti-backlash control card of the embodiment can control a multi-motor system, and performs self-adaptive anti-backlash control on the system when a motor fails, so that the anti-backlash control card has good practical significance.
Example 2
As shown in fig. 1, this embodiment discloses a radar multi-motor adaptive synchronous anti-backlash control system, which includes the anti-backlash control card in embodiment 1, and further includes a main control module 201, a driver, and a motor, where the main control module 201 is connected to the anti-backlash control card, the anti-backlash control card is sequentially connected to the driver and the motor, and the motor is connected to an azimuth turntable 217 and a pitching turntable 233 to control azimuth and pitching motion of a radar antenna mount.
In this embodiment, the number of drivers and motors for controlling the azimuth turntable 217 and the pitch turntable 233 is four, that is, the azimuth turntable 217 includes a driver 209, a driver 210, a driver 211, a driver 212, a motor 213, a motor 214, a motor 215, and a motor 216, and the drivers 209 to 212 correspond to the motors 213 to 216 one by one. Correspondingly, the pitching rotary table 233 correspondingly comprises drivers 225-228 and motors 229-232. The motor 213, the motor 214, the motor 215 and the motor 216 are respectively and rigidly connected with the azimuth turntable 217 through the same speed reducing mechanism; the motor 229, the motor 230, the motor 231, and the motor 232 are rigidly connected to the pitch turret 233 via the same reduction mechanism, respectively.
Preferably, the present embodiment further includes a touch screen 234, the touch screen 234 is connected to the process monitoring module 218, and an operator can perform data monitoring of a process state in the anti-backlash control card and configuration of each parameter in system debugging through the touch screen 234, and perform data exchange of process information in the anti-backlash control card through the parameter configuration module, the adaptive anti-backlash allocation module, and the current acquisition module, respectively.
As shown in fig. 2, the anti-backlash control flow of this embodiment is as follows:
s1, configuring parameters, setting the parameters through an external digital parameter configuration acquisition port, and sending the parameters to the self-adaptive anti-backlash distribution module through the parameter configuration module;
s2, processing the control interface, and connecting the control interface with the main control module 201 through a field bus;
s3, collecting load information, and collecting current information of a plurality of motors and drivers corresponding to the azimuth turntable 217 and the pitching turntable 233 through a current collecting module;
s4, judging whether redundant gap elimination is needed according to the load information, if the load information is normal, the redundant gap elimination is not needed; if the load information is abnormal, redundant gap elimination is needed, and adaptive distribution of torque is performed on the normally working motor (the specific adaptive distribution method of torque is shown in the embodiment, and is not described herein again).
The control interface module 202 of the anti-backlash control card is a bus control interface, the main control module 201 sends a control instruction through the control interface module 202, the control instruction is mainly a speed control signal, and the speed control signal is respectively used as an azimuth speed input of the first speed matching module 203 and a pitch speed input of the second speed matching module 219. Taking the azimuth motion control process as an example, the first fieldbus 208 acquires speed and current signals of the drivers 209 to 212 to obtain process data of the first current acquisition module 206 and the first speed fusion module 207 of the motors 213 to 216, inputs the signal data and the azimuth speed of the first speed matching module 203, performs speed correction, sends the corrected data to the first adaptive anti-backlash distribution module 205, performs reasonable expert diagnosis on the fault states of the drivers and the motors in the first adaptive anti-backlash distribution module 205, performs adaptive redundant distribution of driving torque required by the motors, generates anti-backlash torques required by the drivers 209 to 212 and the motors 213 to 216 through the first fieldbus 208, and drives the azimuth turntable 217 to perform anti-backlash rotation. The pitching motion process is the same as the azimuth motion process.
The radar multi-motor self-adaptive synchronous anti-backlash control system adopted in the embodiment can realize anti-backlash control and redundant torque distribution of multiple motors by carrying out torque distribution on the multiple motors, and improves the reliability of the system. The backlash elimination control system is realized based on a field bus and a servo driver, an acquisition port is configured by external digital parameters, and the hardware composition of the servo system is optimized.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (8)
1. The utility model provides a many motors of radar self-adaptation synchronous anti-backlash control card which characterized in that: comprises a self-adaptive anti-backlash distribution module, the self-adaptive anti-backlash distribution module judges the state of the motor according to the current information of the motor and the driver and carries out anti-backlash distribution,
the self-adaptive anti-backlash allocation method of the self-adaptive anti-backlash allocation module comprises the following steps:
the motors work in a torque mode, the motors are divided into two groups, the torque synthesized by all the motors in the first group is M1, and the torque synthesized by all the motors in the second group is M2;
according to the condition of radar load and motor, self-adaptive control is carried out on two groups of motors, including:
at light load, setting the direction of the moment M1 opposite to that of the moment M2;
when the load is heavy, the setting moment M1 and the setting moment M2 have the same direction;
when a part of motors in a certain group of motors have faults, the resultant torque of the group of motors is generated by the group of motors which normally work;
when all the motors of one group of motors are in fault, the other group of motors are divided into two groups and controlled according to the self-adaptive anti-backlash distribution method.
2. The radar multi-motor self-adaptive synchronous anti-backlash control card according to claim 1, characterized in that: in S2, the torque distribution of the motors in each group is: and M is M1/M, wherein M is the torque distributed to each motor in the group, and M is the number of the motors which normally work in the group.
3. The radar multi-motor self-adaptive synchronous anti-backlash control card according to claim 1, characterized in that: the anti-backlash control card further comprises a speed matching module, a parameter configuration module, a current acquisition module and a speed fusion module, wherein the speed output by the speed matching module enters the self-adaptive anti-backlash distribution module after being corrected by the speed fusion module, the self-adaptive anti-backlash distribution module also receives parameters configured by the parameter configuration module and current acquired by the current acquisition module, generates anti-backlash torque according to the received data, transmits the anti-backlash torque to the driver, and then drives the radar antenna pedestal turntable to rotate through a motor corresponding to the driver.
4. The radar multi-motor self-adaptive synchronous anti-backlash control card according to claim 3, wherein: the control interface module receives an external control signal and inputs the external control signal to the speed matching module, and the process monitoring module monitors process information in the anti-backlash control card and transmits the process information to external display equipment.
5. The radar multi-motor self-adaptive synchronous anti-backlash control card according to claim 3, wherein: the anti-backlash control card respectively performs anti-backlash control on the azimuth motion process and the pitching motion process of the radar antenna pedestal, and the drivers in the azimuth motion process and the pitching motion process respectively perform speed and current data transmission and anti-backlash torque distribution through a field bus in the anti-backlash control card.
6. The utility model provides a many motors of radar self-adaptation control system that disappears that moves in step which characterized in that: the adaptive synchronous anti-backlash control card of any one of claims 1 to 5, further comprising a main control module, wherein the main control module is connected with a control interface of the anti-backlash control card.
7. The radar multi-motor adaptive synchronous anti-backlash control system according to claim 6, wherein: the system further comprises a touch screen, and the touch screen exchanges data of process information in the anti-backlash control card with the parameter configuration module, the self-adaptive anti-backlash distribution module and the current acquisition module through the process monitoring module.
8. The radar multi-motor adaptive synchronous anti-backlash control system according to claim 6, wherein: the process of the anti-backlash control card for anti-backlash control is as follows:
s1, configuring parameters, setting the parameters through an external digital parameter configuration acquisition port, and sending the parameters to the self-adaptive anti-backlash distribution module through the parameter configuration module;
s2, processing the control interface, and connecting the control interface with the main control module through a field bus;
s3, collecting load information, and collecting current information of a plurality of motors and drivers corresponding to the azimuth turntable and the pitching turntable through a current collecting module;
s4, judging whether redundant gap elimination is needed according to the load information, if the load information is normal, the redundant gap elimination is not needed; if the load information is abnormal, redundant gap elimination is needed, and adaptive distribution of torque is carried out on the motor which normally works.
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| CN202010841360.XA CN112003500A (en) | 2020-08-20 | 2020-08-20 | Radar multi-motor self-adaptive synchronous anti-backlash control card and system |
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| CN202010841360.XA CN112003500A (en) | 2020-08-20 | 2020-08-20 | Radar multi-motor self-adaptive synchronous anti-backlash control card and system |
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