CN113110163A - Scanning mechanism control system and method thereof - Google Patents
Scanning mechanism control system and method thereof Download PDFInfo
- Publication number
- CN113110163A CN113110163A CN202110391344.XA CN202110391344A CN113110163A CN 113110163 A CN113110163 A CN 113110163A CN 202110391344 A CN202110391344 A CN 202110391344A CN 113110163 A CN113110163 A CN 113110163A
- Authority
- CN
- China
- Prior art keywords
- scanning mechanism
- ultrasonic motor
- controller
- control
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention provides a scanning mechanism control system, comprising: the device comprises an upper computer, a controller, a driver and a scanning mechanism; the controller processes the set signal and the position and temperature feedback signals by digital signals, and then generates a control signal required by the driver, and the driver generates a corresponding excitation signal and transmits the excitation signal to the scanning mechanism to work; the upper computer is used for the controller to control the instruction sending and the real-time scanning mechanism running state displaying. The scanning mechanism comprises a thermocouple, an ultrasonic motor and an absolute photoelectric encoder, and a second input end of the controller is connected with an output end of the thermocouple; the third input end of the controller is connected with the output end of the absolute photoelectric encoder; the output end of the driver is connected with the input end of the ultrasonic motor. The ultrasonic motor is used for driving the scanning mechanism control system to operate, and the ultrasonic motor has the characteristics of good low-speed performance, high response speed, electromagnetic interference resistance, high control precision, flexible control mode, easiness in expansion and the like.
Description
Technical Field
The invention relates to the technical field of electromechanical control, in particular to a scanning mechanism control system and a method thereof.
Background
The scanning mechanism is used as an important component of a spacecraft remote sensing load represented by a satellite, and drives the scanning load to realize imaging of a target. With the continuous improvement of the requirement of the spatial resolution of the load, the requirements on indexes such as the quality, the rotation stability and the like of the scanning mechanism are higher and higher. With the continuous development of the scanning control technology and the improvement of the requirements of the application field of the scanning mechanism, it is more and more necessary to realize a scanning mechanism control system with high control precision, fast response speed, small volume and light weight.
Through retrieval, patent document CN103607149A discloses an ultrasonic motor rudder servo system and a control method thereof, wherein the ultrasonic motor rudder servo system comprises a controller, a driver, an ultrasonic motor servo mechanism, a control signal interface, a comparator and an isolated pole feedback circuit; a first input end of the controller is connected with the control signal interface, a second input end of the controller is connected with an output end of the comparator, and a third input end of the controller is connected with a first output end of the ultrasonic motor servo mechanism; the input end of the driver is connected to the output end of the controller; the input end of the ultrasonic motor servo mechanism is connected with the output end of the driver; the input end of the isolated pole feedback circuit is connected with the second output end of the ultrasonic motor servo mechanism, and the output end of the isolated pole feedback circuit is connected with the input end of the comparator. The prior art utilizes a conventional PID control algorithm and four paths of PWM control signals, and is less related to the aspects of a high-precision control algorithm of a control system, the reliability of the control signals, the flexibility of a control mode and the like.
Therefore, it is desirable to develop a system and a method capable of improving the output performance and the control accuracy of the control system and simplifying the storage and operation of the control algorithm.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a scanning mechanism control system and a method thereof, which solve the technical problems of poor low-speed performance, slow response speed and low control precision of the traditional scanning mechanism control system driven by an electromagnetic motor, so that the scanning mechanism driven by an ultrasonic motor can keep the stability of constant-speed rotary scanning motion, and the reliable operation of the scanning mechanism is ensured.
According to the present invention, there is provided a scanning mechanism control system comprising: the device comprises an upper computer, a controller, a driver and a scanning mechanism; the controller processes the set signal and the position and temperature feedback signals by digital signals, and then generates a control signal required by the driver, and the driver generates a corresponding excitation signal and transmits the excitation signal to the scanning mechanism to work; the upper computer is used for the controller to control the instruction sending and the real-time scanning mechanism running state displaying.
Preferably, the scanning mechanism comprises a thermocouple, an ultrasonic motor and an absolute photoelectric encoder, and the second input end of the controller is connected with the output end of the thermocouple; the third input end of the controller is connected with the output end of the absolute photoelectric encoder; the output end of the driver is connected with the input end of the ultrasonic motor.
Preferably, the first input end of the controller is connected with the upper computer; the input of the driver is connected to the output of the controller.
Preferably, the controller comprises a DSP module and an FPGA module; the DSP module processes the control instruction and the feedback signal to obtain a control signal, and the control signal is transmitted to the FPGA module through an XINTF interface;
the DSP module adopts a digital signal processor TMS320F28335, and the FPGA module adopts a programmable logic gate array EP4CE10E22C 8.
Preferably, the driver comprises a half-bridge circuit, a matching inductor, a push-pull circuit and a step-up transformer; the half-bridge circuit is connected with the push-pull circuit in parallel, and the output end of the half-bridge circuit is connected with the input end of the matching inductor; the output end of the push-pull circuit is connected with the input end of the step-up transformer; the output end of the matching inductor is connected with the input end of the boosting transformer.
Preferably, the ultrasonic motor is used for providing torque and rotating speed for the scanning mechanism; the thermocouple is used for feeding back the real-time temperature of the ultrasonic motor; the absolute photoelectric encoder is used for feeding back an output shaft position signal of the scanning mechanism.
According to the control method of the scanning mechanism provided by the invention, the scanning mechanism control system is adopted for controlling, and the method comprises the following steps:
step S1: the scanning mechanism control system carries out system initialization;
step S2: the controller enters an instruction identification module to carry out cyclic waiting;
step S3: the upper computer sends a control instruction to the controller, and the control instruction is judged by the instruction identification module;
step S4: judging whether the ultrasonic motor is started, and if so, entering step S5; if not, go to step S2;
step S5: if the ultrasonic motor is started, the ultrasonic motor is operated in a preset state;
step S6: judging whether the state of the ultrasonic motor is changed, and if so, entering the step S7; if not, go to step S2;
step S7: the ultrasonic motor is operated in a new state;
step S8: judging whether the ultrasonic motor stops, and if so, entering the step S9; if not, go to step S2;
step S9: and stopping the ultrasonic motor to finish the operation.
Preferably, the speed stabilizing control of the ultrasonic motor is carried out according to the increment type PI algorithm set by the expert rule in the steps S5 and S7;
the incremental PI algorithm is as follows:
u(k)＝u(k-1)+KP[e(k)-e(k-1)]+KIe(k)；
e(k)＝r(k)-y(k)，Δe(k)＝e(k)-e(k-1)；
wherein r (k) is the rotation speedSetting value, y (K) is actual rotating speed value, e (K) is rotating speed error value at current moment, e (K-1) is rotating speed error value at previous moment, delta e (K) is rotating speed error variable quantity, K is rotating speed error variable quantityPIs a proportionality coefficient, KIIs an integral coefficient.
Preferably, the expert rules include rule one and rule two;
rule one is as follows: if e (k) Δ e (k)<0, the calculation formula of the control quantity is based on the formula
To calculate;
rule two: if e (k) Δ e (k)>When 0 or e (k) ≠ 0 and Δ e (k) ═ 0, the formula for calculating the control amount is based on the formula
To calculate; in the formula, a is regulation KP，KIThe delta coefficient of the variance, b, is used to determine a reasonable error variable | Δ e (k) |, which can be made equal to the desired | Δ e (k) |.
Compared with the prior art, the invention has the following beneficial effects:
1. the ultrasonic motor is used for driving the scanning mechanism control system to operate, and the ultrasonic motor has the characteristics of good low-speed performance, high response speed, electromagnetic interference resistance, high control precision, flexible control mode, easiness in expansion and the like.
2. According to the invention, the feedback data of the absolute photoelectric encoder is analyzed and calculated by using an incremental PI algorithm set by an expert rule to obtain a corresponding control signal to control the scanning mechanism to work at a stable speed, so that the stability and reliability of the system are improved.
3. The invention can keep the stability of the uniform-speed rotation scanning movement through the scanning mechanism driven by the ultrasonic motor, and ensure the reliable operation of the scanning mechanism.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a scanning mechanism control system according to the present invention;
FIG. 2 is a schematic flow chart of the control system of the scanning mechanism according to the present invention;
fig. 3 is a flow chart illustrating a control method of the scanning mechanism according to the present invention.
In the figure: an upper computer 1; a controller 2; a driver 3; a thermocouple 4; an ultrasonic motor 5; an absolute photoelectric encoder 6; a scanning mechanism 7.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides a scanning mechanism control system, which includes an upper computer 1, a controller 2, a driver 3 and a scanning mechanism 7, wherein the controller 2 performs digital signal processing on a setting signal, a position feedback signal and a temperature feedback signal to generate a control signal required by the driver 2, and then the driver 2 generates a corresponding excitation signal and transmits the excitation signal to the scanning mechanism 7 for operation; the upper computer 1 is used for the controller 2 to control the instruction sending and the real-time scanning mechanism running state displaying.
The setting signals of the scanning mechanism control system comprise signals of starting, stopping, frequency modulation, voltage regulation, phase modulation, positive and negative rotation, open-loop control, closed-loop control, directional control and the like; the control signal of the controller is mainly eight paths of PWM signals; the excitation signal of the driver is mainly a two-phase high-frequency sinusoidal signal.
In the embodiment of the invention, the controller calculates the set signal and the feedback signal through the control algorithm of the controller to obtain eight paths of PWM signals with specific frequency and phase relation, and the signals control the driver to generate a high-frequency high-voltage sine excitation signal with a phase difference of 90 degrees for driving the ultrasonic motor to operate, thereby realizing the closed-loop control work of the scanning mechanism. The bus of the spacecraft supplies power to be low-voltage direct current DC, and the working voltage of the ultrasonic motor is alternating current with the peak value reaching hundreds of volts, so that a push-pull circuit and a step-up transformer are adopted to form a DC/AC converter, the direct current of the power supply is converted into the high-voltage alternating current required by the work of the ultrasonic motor, and the driving circuit is simple and efficient. Due to the vibration friction mechanism of the ultrasonic motor, the temperature of a stator and a rotor of the motor is inevitably increased after long-time work, so that the mechanical characteristics of the motor, such as the resonance frequency, are changed, and the fluctuation of the rotating speed is large. At the moment, the controller processes the signals fed back by the thermocouple and the absolute photoelectric encoder in the scanning mechanism and the set signals by an algorithm to obtain correct control signals, and the rotating speed of the motor is changed by the driving circuit, so that the rotating speed correction of the scanning mechanism is realized to achieve the purpose of closed-loop control.
Further, the scanning mechanism 7 comprises a thermocouple 4, an ultrasonic motor 5 and an absolute photoelectric encoder 6, a first input end of the controller 2 is connected with the upper computer 1, a second input end of the controller 2 is connected with an output end of the thermocouple 4, and a third input end of the controller 2 is connected with an output end of the absolute photoelectric encoder 6; the input end of the driver 3 is connected to the output end of the controller 2; the input end of the ultrasonic motor 4 is connected with the output end of the driver 3. The ultrasonic motor 5 is used as a driving source of the scanning mechanism 7 for providing torque and rotating speed, the thermocouple 4 is used for feeding back the operating temperature information of the ultrasonic motor 5, and the absolute photoelectric encoder 6 is used for feeding back an output shaft position signal of the scanning mechanism 7 to realize system closed loop.
Furthermore, as shown in fig. 2, the controller 2 includes a power module, a DSP module, a serial module, and an FPGA module, where the DSP module processes the control command and the feedback signal to obtain a control signal, and transmits the control signal to the FPGA module through an XINTF interface; the power module can generate direct current required by the operation of the controller 2 and the driver 3, and the serial port module is used for modulating the receiving and transmitting signals of the absolute photoelectric encoder 6. The FPGA module generates corresponding eight paths of PWM signals according to the control signals: PWM 1-PWM 8. That is, the controller 2 receives the control instruction of the upper computer through the serial port, processes the control instruction, then calculates the control quantity by combining the feedback signal, and outputs the control quantity to the scanning mechanism through the driver, thereby completing the closed-loop control of the whole system.
The driver 3 comprises a half-bridge circuit, a matching inductor, a push-pull circuit and a step-up transformer; the half-bridge circuit is connected with the push-pull circuit in parallel, and the output end of the half-bridge circuit is connected with the input end of the matching inductor; the output end of the push-pull circuit is connected with the input end of the step-up transformer; the output end of the matching inductor is connected with the input end of the boosting transformer. The input end of the driver is connected with the output end of the controller, the output end of the driver is connected with the scanning mechanism, and two-phase excitation signals of SinA and CosB required by the driving of the scanning mechanism are output.
The PWM 1-PWM 4 are transmitted to the half-bridge circuit and are used for controlling the amplitude of an excitation signal output by the driver; the PWM 5-8 are transmitted to a push-pull circuit for controlling the phase difference and frequency between the driver output excitation signals. The Sin1 and Cos1 generated by the half-bridge circuit are transmitted to matching inductors to obtain Sin2 and Cos 2. The matching inductor not only provides impedance matching for the whole circuit system, but also plays a role in isolating the half-bridge circuit and the push-pull circuit, and avoids crosstalk of control signals of the half-bridge circuit and the push-pull circuit. And Sin2 and Cos2 are connected with the homonymous terminal of the primary side of the boosting transformer, and A +, A-, B + and B-are connected with the synonym terminal of the primary side of the boosting transformer. The secondary side of the booster transformer outputs two-phase driving signals of SinA and CosB to drive the scanning mechanism to work.
The DSP module adopts a digital signal processor TMS320F28335, and the FPGA module adopts a programmable logic gate array EP4CE10E22C 8.
The DSP and the FPGA chip respectively adopt CCS6.1.3 and a quartz II13.1 software development platform to carry out programming, compiling, burning and the like. And the upper computer is compiled and designed by APP designer of MATLAB software. Firstly, the two chips carry out initialization setting on modules such as SCI, GPIO and serial ports in an internal program. After the system initialization is completed, the upper computer sends a control instruction to the DSP module of the controller, the control instruction identification module in the DSP module identifies and processes the instruction, judges whether the system is started, stopped and changed, transmits control bytes to the FPGA module to generate a high-precision PWM control signal, and controls a driver to generate a corresponding excitation signal to drive the scanning mechanism to work. In the process of the scanning mechanism working at a stable speed, an incremental PI algorithm set by an expert rule is used for setting and a feedback signal is used for solving a correct control signal to carry out the speed stabilization control.
The control system of the scanning mechanism driven by the ultrasonic motor has the advantages that: the controller, the driver and the scanning mechanism designed by the invention have the advantages of large low-speed output torque, quick dynamic response, strong anti-interference capability, good stable speed control, power failure self-locking and the like.
As shown in fig. 3, the present invention further provides a scanning mechanism control method, which is controlled by the scanning mechanism control system, and includes the following steps:
step S1: the scanning mechanism control system carries out system initialization;
step S2: the controller 2 enters an instruction identification module to carry out circulating waiting;
step S3: the upper computer 1 sends a control instruction to the controller 2, and the judgment is carried out through an instruction identification module;
step S4: judging whether the ultrasonic motor 5 is started, and if so, entering step S5; if not, go to step S2;
step S5: if the ultrasonic motor 5 is started, the ultrasonic motor operates in a preset state;
step S6: judging whether the state of the ultrasonic motor 5 is changed, and if so, entering the step S7; if not, go to step S2;
step S7: the ultrasonic motor 5 is operated in a new state;
step S8: judging whether the ultrasonic motor 5 stops, and if the ultrasonic motor stops, entering the step S9; if not, go to step S2;
step S9: the ultrasonic motor 5 is stopped, and the operation is ended.
Continuing further, in step S5 and step S7, performing speed stabilization control on the ultrasonic motor according to an incremental PI algorithm set by expert rules;
the incremental PI algorithm is as follows:
u(k)＝u(k-1)+KP[e(k)-e(k-1)]+KIe(k)；
e(k)＝r(k)-y(k)，Δe(k)＝e(k)-e(k-1)；
wherein r (K) is a set value of rotation speed, y (K) is an actual rotation speed, e (K) is a rotation speed error value at the current moment, e (K-1) is a rotation speed error value at the previous moment, Δ e (K) is a rotation speed error variation, and K isPIs a proportionality coefficient, KIIs an integral coefficient.
Still further, the expert rules include rule one and rule two;
rule one is as follows: if e (k) Δ e (k)<0, the calculation formula of the control quantity is based on the formula
To calculate;
rule two: if e (k) Δ e (k)>When 0 or e (k) ≠ 0 and Δ e (k) ═ 0, the formula for calculating the control amount is based on the formula
To calculate; in the formula, a is regulation KP，KIThe delta coefficient of the variance, b, is used to determine a reasonable error variable | Δ e (k) |, which can be made equal to the desired | Δ e (k) |.
The control method provided by the invention has the advantages that: the PI control algorithm set by the expert rules adopted by the design has high control precision, the control rules are simple and efficient, and the occupancy rate of chip system resources is effectively reduced. In the invention, most hardware functions are realized by software, a better basis can be provided for the subsequent drive control research of the motor, and more functions are realized by the software on the basis of minimum modification of a hardware circuit, thereby greatly shortening the research and development period of a software and hardware control system.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (9)
1. A scanning mechanism control system, comprising: the device comprises an upper computer (1), a controller (2), a driver (3) and a scanning mechanism (7); the controller (2) performs digital signal processing on the setting signal and the position and temperature feedback signal to generate a control signal required by the driver (3), and then the driver (3) generates a corresponding excitation signal and transmits the excitation signal to the scanning mechanism (7) for working;
the upper computer (1) is used for the controller (2) to control command sending and display of the running state of the real-time scanning mechanism.
2. Scanning mechanism control system according to claim 1, characterized in that the scanning mechanism (7) comprises a thermocouple (4), an ultrasonic motor (5) and an absolute photoelectric encoder (6),
the second input end of the controller (2) is connected with the output end of the thermocouple (4);
the third input end of the controller (2) is connected with the output end of the absolute photoelectric encoder (6);
the output end of the driver (3) is connected with the input end of the ultrasonic motor (5).
3. The scanning mechanism control system according to claim 1, characterized in that a first input of the controller (2) is connected with the upper computer (1); the input end of the driver (3) is connected to the output end of the controller (2).
4. Scanning mechanism control system according to claim 1, characterized in that the controller (2) comprises a DSP module and an FPGA module;
the DSP module processes the control instruction and the feedback signal to obtain a control signal, and the control signal is transmitted to the FPGA module through an XINTF interface;
the DSP module adopts a digital signal processor TMS320F28335, and the FPGA module adopts a programmable logic gate array EP4CE10E22C 8.
5. The scanning mechanism control system according to claim 1, wherein the driver (3) comprises a half-bridge circuit, a matching inductor, a push-pull circuit and a step-up transformer;
the half-bridge circuit is connected with the push-pull circuit in parallel, and the output end of the half-bridge circuit is connected with the input end of the matching inductor;
the output end of the push-pull circuit is connected with the input end of the boosting transformer;
and the output end of the matching inductor is connected with the input end of the boosting transformer.
6. The scanning mechanism control system according to claim 1, characterized in that the ultrasonic motor (5) is used to provide torque and rotational speed to the scanning mechanism (7); the thermocouple (4) is used for feeding back the real-time temperature of the ultrasonic motor (5); the absolute photoelectric encoder (6) is used for feeding back an output shaft position signal of the scanning mechanism (7).
7. A scanning mechanism control method characterized by being controlled by the scanning mechanism control system according to any one of claims 1 to 5, comprising the steps of:
step S1: the scanning mechanism control system carries out system initialization;
step S2: the controller (2) enters an instruction identification module to carry out circulating waiting;
step S3: the upper computer (1) sends a control instruction to the controller (2), and the judgment is carried out through the instruction identification module;
step S4: judging whether the ultrasonic motor (5) is started or not, and if so, entering the step S5; if not, go to step S2;
step S5: if the ultrasonic motor (5) is started, the ultrasonic motor operates in a preset state;
step S6: judging whether the state of the ultrasonic motor (5) is changed, and if so, entering the step S7; if not, go to step S2;
step S7: the ultrasonic motor (5) is operated in a new state;
step S8: judging whether the ultrasonic motor (5) stops or not, and if so, entering the step S9; if not, go to step S2;
step S9: and stopping the ultrasonic motor (5) and finishing the operation.
8. The scanning mechanism control method according to claim 7, characterized in that the steady speed control of the ultrasonic motor (5) is performed in the steps S5 and S7 according to an incremental PI algorithm set by expert rules;
the incremental PI algorithm is as follows:
u(k)＝u(k-1)+KP[e(k)-e(k-1)]+KIe(k)；
e(k)＝r(k)-y(k)，Δe(k)＝e(k)-e(k-1)；
wherein r (K) is a set value of rotation speed, y (K) is an actual rotation speed, e (K) is a rotation speed error value at the current moment, e (K-1) is a rotation speed error value at the previous moment, Δ e (K) is a rotation speed error variation, and K isPIs a proportionality coefficient, KIIs an integral coefficient.
9. The scanning mechanism control method according to claim 8, wherein the expert rules include rule one and rule two;
the ruleFirstly, the method comprises the following steps: if e (k) Δ e (k)<0, the calculation formula of the control quantity is based on the formula
To calculate;
the second rule is as follows: if e (k) Δ e (k) > 0 or e (k) ≠ 0 and Δ e (k) ═ 0, the formula for calculating the control amount follows the formula
To calculate; in the formula, a is regulation KP，KIThe delta coefficient of the variance, b, is used to determine a reasonable error variable | Δ e (k) |, which can be made equal to the desired | Δ e (k) |.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110391344.XA CN113110163A (en) | 2021-04-13 | 2021-04-13 | Scanning mechanism control system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110391344.XA CN113110163A (en) | 2021-04-13 | 2021-04-13 | Scanning mechanism control system and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113110163A true CN113110163A (en) | 2021-07-13 |
Family
ID=76715817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110391344.XA Pending CN113110163A (en) | 2021-04-13 | 2021-04-13 | Scanning mechanism control system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113110163A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105978400A (en) * | 2016-06-14 | 2016-09-28 | 四川航天系统工程研究所 | Ultrasonic motor control method |
| CN106787939A (en) * | 2017-03-06 | 2017-05-31 | 北京卫星制造厂 | A kind of high accuracy drive control device of piezoelectric ceramic ultrasonic motor |
| CN106849768A (en) * | 2017-01-24 | 2017-06-13 | 上海宇航系统工程研究所 | A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors |
| CN110018416A (en) * | 2019-05-21 | 2019-07-16 | 黑龙江工程学院 | Ultrasound electric machine test device based on LabVIEW virtual instrument platform |
| CN110667895A (en) * | 2019-09-19 | 2020-01-10 | 上海卫星工程研究所 | Non-contact scanning satellite platform for space debris monitoring and assembling method |
| CN110959254A (en) * | 2017-07-25 | 2020-04-03 | 物理仪器(Pi)两合有限公司 | Method for closed-loop motion control of ultrasonic motor |
| CN111416562A (en) * | 2020-04-30 | 2020-07-14 | 河南科技大学 | Motor control method and system |
-
2021
- 2021-04-13 CN CN202110391344.XA patent/CN113110163A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105978400A (en) * | 2016-06-14 | 2016-09-28 | 四川航天系统工程研究所 | Ultrasonic motor control method |
| CN106849768A (en) * | 2017-01-24 | 2017-06-13 | 上海宇航系统工程研究所 | A kind of superhigh precision TMI scanning control system based on FPGA uniprocessors |
| CN106787939A (en) * | 2017-03-06 | 2017-05-31 | 北京卫星制造厂 | A kind of high accuracy drive control device of piezoelectric ceramic ultrasonic motor |
| CN110959254A (en) * | 2017-07-25 | 2020-04-03 | 物理仪器(Pi)两合有限公司 | Method for closed-loop motion control of ultrasonic motor |
| CN110018416A (en) * | 2019-05-21 | 2019-07-16 | 黑龙江工程学院 | Ultrasound electric machine test device based on LabVIEW virtual instrument platform |
| CN110667895A (en) * | 2019-09-19 | 2020-01-10 | 上海卫星工程研究所 | Non-contact scanning satellite platform for space debris monitoring and assembling method |
| CN111416562A (en) * | 2020-04-30 | 2020-07-14 | 河南科技大学 | Motor control method and system |
Non-Patent Citations (1)
| Title |
|---|
| 薛久明 等: ""超声电机驱动的轻量化扫描机构高精度控制"", 《压电与声光》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100420145C (en) | A low-loss, high reliability integration magnetic levitation flywheel DC brushless motor control system | |
| Sun et al. | An improved direct instantaneous torque control based on adaptive terminal sliding mode for a segmented-rotor SRM | |
| CN100566109C (en) | Power-converting device and the motor drive that uses this device | |
| CN205212743U (en) | AC motor control system | |
| US8552672B2 (en) | Method and apparatus to drive two-phase motors from a three-phase bridge | |
| CN108448965B (en) | Heavy-load closed-loop driving system and method of two-phase hybrid stepping motor | |
| US6700342B2 (en) | Method and apparatus for high performance permanent magnet motor speed control with limited position information | |
| Rambabu | Modeling and control of a brushless DC motor | |
| CN105673540B (en) | The rotation speed regulating method of fan, the adjustment of rotational speed system of device and fan | |
| JPH0956187A (en) | Controller of motor for centrifugal apparatus | |
| CN104300852B (en) | Small-sized electric brushed servo controller | |
| CN103607149B (en) | A kind of ultrasonic motor rudder servo system and control method thereof | |
| CN1169618A (en) | Voltage type inverter and control method thereof | |
| CN113110163A (en) | Scanning mechanism control system and method thereof | |
| US9188966B2 (en) | Host controller generating position control gain | |
| CN116317748B (en) | Double closed loop BLDC controller based on neuron proportional integral-fuzzy integral algorithm | |
| CN111934587A (en) | Servo motor, driver, control system and control method thereof | |
| CN109861618B (en) | Construction method of anti-interference composite controller of BSG alternating current motor for hybrid electric vehicle | |
| CN108748157B (en) | Control device and method for driving space manipulator joint | |
| CN113467229B (en) | Alternating current servo driving method | |
| CN110912475B (en) | Stepping motor driving method and system | |
| CN108988720B (en) | Three-phase asynchronous motor controller based on slip automatic optimization and control method | |
| CN105186951A (en) | Four-closed-loop stepping servo control method | |
| Paul et al. | A novel vector control strategy for bipolar stepper motor | |
| CN109428523A (en) | Method and system for feedback control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210713 |