CN114113339A - Method for detecting scanning frame by using motor to stably drive - Google Patents
Method for detecting scanning frame by using motor to stably drive Download PDFInfo
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- CN114113339A CN114113339A CN202111444984.9A CN202111444984A CN114113339A CN 114113339 A CN114113339 A CN 114113339A CN 202111444984 A CN202111444984 A CN 202111444984A CN 114113339 A CN114113339 A CN 114113339A
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
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- 238000000429 assembly Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/267—Welds
Abstract
The invention relates to the field of ultrasonic detection, in particular to a method for stably driving and detecting a scanning frame by using a motor. The following technical scheme is adopted: the scanning frame is subjected to motion attitude detection by utilizing an attitude sensor arranged on the scanning frame, and a system board arranged on the scanning frame drives and controls the brushless motor through a motor driving board according to the motion attitude of the scanning frame detected by the attitude sensor. The invention has the advantages that: the brushless motor is driven by utilizing a magnetic field orientation control algorithm to realize accurate control of the torque and the direction of the scanning frame, and the brushless motor can quickly and accurately provide a dynamic moment or a resisting moment according to the motion attitude of the scanning frame; the output power of the scanning frame is ensured by simultaneously cooperating with a plurality of brushless motors to work synchronously; on the premise of ensuring accurate and stable scanning, the electric energy for driving the scanning frame is effectively saved, the working time of the scanning frame is prolonged, and the scanning efficiency is improved.
Description
Technical Field
The invention relates to the field of ultrasonic detection, in particular to a method for stably driving and detecting a scanning frame by using a motor.
Background
In the weld joint detection of oil, natural gas and other long transmission pipelines, most of the existing scanning frames still adopt a manual scanning mode to detect weld joints. The operation process is often influenced by the field working condition, so that the scanning speed is unbalanced, and the scanning data is incomplete due to sudden change of the operation speed of the scanning frame, so that the detection is missed. If the data loss is too large, the scanning result is invalid, scanning needs to be carried out again, and the measurement progress is influenced by repeated detection.
The first scheme is as follows: in order to solve the problem of uneven stepping of the scanning frame, most of the existing automatic scanning frames on the market are driven by stepping motors or use complicated mechanical transmission structures to reduce the influence of the self weight of the scanning frame on acceleration and deceleration. For example, in a scanner (No. CN 214054122U) for pipeline girth weld detection, a worm and worm gear is adopted to realize the deceleration of a motor. In addition, in order to reduce the influence of the dead weight of the scanning frame on the motor, mechanical damping, an electromagnetic clutch and other devices are usually added between a driving wheel and a power output shaft to prevent the motor from stalling and other abnormalities, so that the operating speed of the scanning frame is suddenly changed.
Scheme II: for example, in a phased array detection servo stepping automatic scanning device (publication number CN 107064308A), a stepping motor and a micro encoder are used to form a motor servo system. The stepping motor has the characteristic of keeping the moment, and the moment is amplified by matching with the gear assembly to prevent the scanning frame from stalling in the operation process.
The existing scanning device has the following defects: the scheme is that in order to guarantee that the scanning frame runs stably under any working condition, a complex mechanical mechanism is added to improve the torque of the driving wheel and reduce the influence of external factors on the motor. The scheme has the obvious defects that a large amount of mechanical loss exists, and the actual working efficiency of the motor is low. And because the output power of the motor is limited, the higher scanning speed cannot be met. The volume and the mass of the whole machine are increased by a large number of mechanical structures, and the effective working time is reduced under the same battery capacity. The second scheme adopts a stepping motor to be matched with a small number of gear assemblies to drive, and the obvious defects of the second scheme are that the stepping motor is large in size and easy to heat, and the scanning frame cannot be miniaturized and designed in a light weight mode. In addition, the torque of the stepping motor is related to the rotating speed, namely the stepping motor must work in an optimal rotating speed interval to ensure the normal work of the motor, so that the normal work speed range of the scanning frame is limited. In addition, the self-adaptive adjustment of the output power of the motor can not be realized by monitoring the torque of the motor in real time in the two schemes, and the problem that the motors cannot work in coordination is easily caused on a scanning frame which is driven by a plurality of motors at the same time, namely the problem that the service life of the motors is not facilitated and unnecessary electric quantity consumption is caused.
Disclosure of Invention
The invention aims to provide a method for stably driving and detecting a scanning frame by using a motor, in particular to a method for stably driving scanning by using a magnetic field directional control algorithm to drive a brushless coreless motor.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for stably driving and detecting a scanning frame by using a motor comprises the following steps: the scanning frame is subjected to motion attitude detection by utilizing an attitude sensor arranged on the scanning frame, a system board arranged on the scanning frame drives and controls a brushless motor through a motor driving board according to the motion attitude of the scanning frame detected by the attitude sensor, wherein the brushless motor is in driving connection with a driving wheel of the scanning frame to drive and move the scanning frame; the motor driving board is used for driving and controlling the brushless motor by collecting three-phase current of the brushless motor, motor rotating speed and a phase position where a rotor of the brushless motor is located and combining with driving requirement parameters of the system board for the brushless motor.
Furthermore, at least two brushless motors are adopted, and a set of independent control closed-loop logic is adopted by the motor drive board for the drive control of each brushless motor; meanwhile, the system board is in synchronous communication with the motor driving board through the CAN bus.
Furthermore, the system board detects the real-time moving speed of the whole scanning frame through a wheel speed sensor arranged on a driven wheel of the scanning frame, acquires the real-time rotating speed of each brushless motor from a motor driving board through a CAN bus and converts the real-time rotating speed into the theoretical speed of the driving wheel corresponding to the brushless motor, and after the real-time moving speed of the whole scanning frame is compared with the real-time moving speed of the whole scanning frame, the rotating speed expected value of each brushless motor is subjected to fine adjustment and correction through the motor driving board, so that the actual speed of the whole scanning frame approaches to the required scanning speed.
Furthermore, when the system board detects that the difference between the theoretical speed of the driving wheel driven by the brushless motor and the actual speed of the whole scanning frame exceeds a certain threshold value, the system board judges that the scanning frame cannot work normally, and the motor output is stopped through the motor driving board.
Specifically, the attitude sensor on the scanning frame comprises a three-axis gyroscope, a three-axis magnetometer and a three-axis accelerometer, the system board converts data detected by the three-axis gyroscope, the three-axis magnetometer and the three-axis accelerometer into Euler angles reflecting attitude transformation of the scanning frame, and dynamically adjusts control parameters of each brushless motor according to the Euler angles.
Specifically, the motor drive board detects three-phase current of the brushless motor through a current detection circuit, detects the rotating speed of the brushless motor through a motor encoder, and detects the phase of a rotor of the brushless motor through a Hall sensor; and the motor drive board adopts a magnetic field directional control algorithm to carry out drive control on the brushless motor.
Furthermore, the system board also positions the geographical position of the scanning frame by installing a GPS and a range radar.
The invention has the advantages that: the brushless motor is driven by utilizing a magnetic field orientation control algorithm to realize accurate control of the torque and the direction of the scanning frame, and the brushless motor can quickly and accurately provide a dynamic moment or a resisting moment according to the motion attitude of the scanning frame; the output power of the scanning frame is ensured by simultaneously cooperating with a plurality of brushless motors to work synchronously; on the premise of ensuring accurate and stable scanning, the electric energy for driving the scanning frame is effectively saved, the working time of the scanning frame is prolonged, and the scanning efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the connection of the detection scanning frame driven stably by a motor in the embodiment;
fig. 2 is a schematic diagram of connection of a brushless motor driven by a motor driving board in the embodiment.
Detailed Description
Embodiment 1, referring to fig. 1-2, a method for detecting a scanning frame by using smooth driving of a motor: the scanning frame is subjected to motion attitude detection by utilizing an attitude sensor arranged on the scanning frame, a system board arranged on the scanning frame drives and controls a brushless motor through a motor driving board according to the motion attitude of the scanning frame detected by the attitude sensor, wherein the brushless motor is in driving connection with a driving wheel of the scanning frame to drive and move the scanning frame; the motor driving board is used for driving and controlling the brushless motor by collecting three-phase current of the brushless motor, motor rotating speed and a phase position where a rotor of the brushless motor is located and combining with driving requirement parameters of the system board for the brushless motor.
In this embodiment, the attitude sensor mounted on the scanning frame is used to detect the motion attitude of the scanning frame, such as the inclination state, the acceleration state, the position direction, and the like of the scanning frame, the system board obtains the motion attitude of the scanning frame through the attitude sensor, and drives the brushless motor through the motor drive board according to the expected value of the scanning speed, and the motor drive board can drive the brushless motor by outputting a certain three-phase current, so as to realize the stable driving of the scanning frame. The motor driving board detects three-phase current of the brushless motor through a current detection circuit, detects the rotating speed of the brushless motor through a motor encoder, and detects the phase of a rotor of the brushless motor through a Hall sensor; and the motor drive board adopts a magnetic field directional control algorithm to carry out drive control on the brushless motor.
In addition, the number of the brushless motors is at least two, and the motor driving board respectively adopts a set of independent control closed-loop logic for the driving control of each brushless motor; meanwhile, the system board is in synchronous communication with the motor driving board through the CAN bus. The output shaft of the brushless motor is connected with the driving wheel after being decelerated through the planetary gear set, although the driving structure of the brushless motor is simple, light and small in size, the load capacity of the brushless motor is low, and by arranging the plurality of brushless motors, enough driving power can be provided for the scanning frame on the premise of limiting the size and the weight of the scanning frame, and the load of the scanning frame is improved. Every brushless motor all adopts one set of independent control closed loop logic to carry out drive control, CAN carry out solitary drive control to each brushless motor, and simultaneously, the system board carries out synchronous communication through CAN bus and motor drive board, CAN gather and carry out corresponding control to a plurality of brushless motor's real-time operating data simultaneously.
The system board converts data detected by the three-axis gyroscope, the three-axis magnetometer and the three-axis accelerometer into Euler angles reflecting attitude transformation of the scanning frame, and dynamically adjusts control parameters of each brushless motor according to the Euler angles. For example, when the attitude sensor detects that the scanning frame inclines towards the gravity direction, namely, is in a downhill state, and the required scanning speed can be driven by using one brushless motor, the system board disables other brushless motors to reduce the overall power consumption of the scanning frame and increase the working time of the scanning frame; on the contrary, when the scanning frame is detected to be in an uphill state, the system board can enable the brushless motors to work simultaneously in advance, so that sufficient load power is provided for the scanning frame, and stable movement of the scanning frame is ensured.
The system board detects the real-time moving speed of the whole scanning frame through a wheel speed sensor arranged on a driven wheel of the scanning frame, acquires the real-time rotating speed of each brushless motor from a motor driving board through a CAN bus and converts the real-time rotating speed into the theoretical speed of a driving wheel corresponding to the brushless motor, and after the real-time moving speed of the whole scanning frame is compared with the real-time moving speed of the whole scanning frame, the rotating speed expected value of each brushless motor is subjected to fine adjustment and correction through the motor driving board, so that the actual speed of the whole scanning frame approaches to the required scanning speed.
In addition, when the system board detects that the difference between the theoretical speed of the driving wheel driven by the brushless motor and the actual speed of the whole scanning frame exceeds a certain threshold value, the system board judges that the scanning frame cannot work normally, and the motor driving board stops the motor output.
Furthermore, the system board is also used for positioning the geographical position of the scanning frame by installing a GPS and a range radar, so that the scanning frame is remotely positioned, and an operator can conveniently scan the pipeline with the invisible distance or the pipeline with the view line shielded.
It should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, therefore, all equivalent changes in the principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A method for stably driving and detecting a scanning frame by using a motor is characterized by comprising the following steps: the scanning frame is subjected to motion attitude detection by utilizing an attitude sensor arranged on the scanning frame, a system board arranged on the scanning frame drives and controls a brushless motor through a motor driving board according to the motion attitude of the scanning frame detected by the attitude sensor, wherein the brushless motor is in driving connection with a driving wheel of the scanning frame to drive and move the scanning frame; the motor driving board is used for driving and controlling the brushless motor by collecting three-phase current of the brushless motor, motor rotating speed and a phase position where a rotor of the brushless motor is located and combining with driving requirement parameters of the system board for the brushless motor.
2. The method for smoothly driving and detecting the scanning frame by using the motor as claimed in claim 1, wherein the method comprises the following steps: the number of the brushless motors is at least two, and the motor driving board respectively adopts a set of independent control closed-loop logic for the driving control of each brushless motor; meanwhile, the system board is in synchronous communication with the motor driving board through the CAN bus.
3. The method for smoothly driving and detecting the scanning frame by using the motor as claimed in claim 2, wherein the method comprises the following steps: the system board also detects the real-time moving speed of the whole scanning frame through a wheel speed sensor arranged on a driven wheel of the scanning frame, acquires the real-time rotating speed of each brushless motor from a motor driving board through a CAN bus and converts the real-time rotating speed into the theoretical speed of a driving wheel corresponding to the brushless motor, and after the real-time moving speed of the whole scanning frame is compared with the real-time moving speed of the whole scanning frame, the rotating speed expected value of each brushless motor is finely adjusted and corrected through the motor driving board, so that the actual speed of the whole scanning frame approaches to the required scanning speed.
4. The method for smoothly driving and detecting the scanning frame by using the motor as claimed in claim 3, wherein the method comprises the following steps: when the system board detects that the difference between the theoretical speed of the driving wheel driven by the brushless motor and the actual speed of the whole scanning frame exceeds a certain threshold value, the system board judges that the scanning frame cannot work normally, and the motor output is stopped through the motor driving board.
5. The method for smoothly driving and detecting the scanning frame by using the motor as claimed in claim 1, wherein the method comprises the following steps: the attitude sensor on the scanning frame comprises a three-axis gyroscope, a three-axis magnetometer and a three-axis accelerometer, the system board converts data detected by the three-axis gyroscope, the three-axis magnetometer and the three-axis accelerometer into Euler angles reflecting attitude transformation of the scanning frame, and dynamically adjusts control parameters of each brushless motor according to the Euler angles.
6. The method for smoothly driving and detecting the scanning frame by using the motor as claimed in claim 1, wherein the method comprises the following steps: the motor driving board detects three-phase current of the brushless motor through the current detection circuit, detects the rotating speed of the brushless motor through the motor encoder, and detects the phase position of a rotor of the brushless motor through the Hall sensor; and the motor drive board adopts a magnetic field directional control algorithm to carry out drive control on the brushless motor.
7. The method for detecting the scanning frame by using the motor to drive smoothly as claimed in any one of claims 1 to 6, wherein: the system board also locates the geographical position of the scanning frame by installing GPS and a range radar.
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| CN202111444984.9A CN114113339A (en) | 2021-11-30 | 2021-11-30 | Method for detecting scanning frame by using motor to stably drive |
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| CN202111444984.9A CN114113339A (en) | 2021-11-30 | 2021-11-30 | Method for detecting scanning frame by using motor to stably drive |
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