CN114244219A - Micro motor control system and method for gyro north finder - Google Patents
Micro motor control system and method for gyro north finder Download PDFInfo
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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Abstract
The invention discloses a micro motor control system and a method for a gyro north seeker. The invention has the beneficial effects that: the positioning accuracy of the gyro north finder in a multi-position modulation north finding mode is improved; the speed stability of the gyro north seeker in a continuous rotation modulation north seeking mode is improved; the micro turntable with reliable performance is provided for the high-precision MEMS gyro north seeker, and the requirements of a continuous rotation modulation north-seeking algorithm and a multipoint positioning modulation north-seeking algorithm are met.
Description
Technical Field
The invention relates to a micro motor control system and a method, in particular to a micro motor control system and a method for a gyro north seeker, and belongs to the technical field of motor control.
Background
The gyro north finder can automatically determine the true north direction value of the attached carrier by measuring the rotational angular velocity of the earth without being interfered and influenced by an external magnetic field or other environments. During working, the gyro north finder needs to be subjected to rotation modulation, and a rotating mechanism needs to accurately position the gyro to a plurality of angular positions. The gyro north finder has the advantages of impact resistance, high sensitivity, long service life, low power consumption, reliable integration and the like, and is an ideal inertial device used as a navigation system.
However, in the case of the conventional gyro north seeker satisfying both the continuous rotation modulation north-seeking algorithm and the multi-position modulation north-seeking algorithm, the angular velocity stability and the angular positioning accuracy cannot meet the requirements, and therefore, a micro motor control system and a method for the gyro north seeker need to be designed to satisfy the requirements of high-precision north-seeking of the gyro north seeker and miniaturization of the gyro north seeker.
Disclosure of Invention
The technical solution of the present invention to achieve the above object is as follows,
a micro motor control system for a gyro north seeker comprises external hardware, a functional module and a feedback module, wherein the external hardware comprises an FPGA, a power supply, a power device, a current sampling circuit module, a motor, an encoder and a communication IO;
the functional module includes:
the control input module is used for inputting signals, wherein the input signals comprise a target angular position, a target angular velocity and a working mode signal, the control input module is input by the MCU through the communication IO, and the communication IO comprises the SPI;
the control output module is used for outputting space vector pulse width modulation signals;
the feedback input module is used for inputting a feedback signal, and the feedback signal comprises an encoder pulse signal and a three-phase driving phase current;
the position ring self-adaptive PI control module controls the position ring through position proportional integral and position amplitude limiting of self-adaptive parameters;
the speed loop self-adaptive PI control module controls the speed loop through speed proportional integral and speed amplitude limiting of self-adaptive parameters;
the self-adaptive direct-axis control module is used for self-adaptively adjusting through a working mode and a target angular speed so as to directly control the target direct-axis current;
the current loop quadrature axis self-adaptive PI module is used for controlling through first current proportional integral and current amplitude limiting;
the current loop straight axis self-adaptive PI module is controlled through second current proportional integral;
the Park inverse transformation module is used for completing the calculation of the stator rectangular coordinate voltage through Park inverse transformation;
and the SVPWM module is used for finishing the calculation of the space vector pulse width modulation signal through the space vector pulse width modulation signal.
Preferably, the following modes of operation are included: the system comprises a multi-position modulation north-seeking mode, a continuous rotation modulation north-seeking mode, a fast origin-seeking mode and a precise origin-seeking mode.
Preferably, the feedback module includes a Park transformation module, a Clarke transformation module, and a position and velocity calculation module, wherein:
the Park conversion module is used for completing the calculation of the actual quadrature-axis current and the actual direct-axis current through Park conversion;
the Clarke transformation module is used for completing the calculation of the stator rectangular coordinate current through Clarke transformation;
and the position and speed calculation module is used for obtaining the actual angular speed and the actual angular position through calculation.
Preferably, the power device is operable as a three-phase bridge.
Preferably, the motor is a three-phase permanent magnet synchronous servo motor.
Preferably, the encoder is an encoder that can output an ABI format encoder pulse signal.
A micro motor control method for a gyro north seeker comprises the following steps,
s1: inputting signals, and inputting a target angular position, an external target angular speed and a working mode signal to the system through the control input module;
s2: the encoder inputs an encoder pulse signal to the position and speed calculation module, and outputs an actual angular position and an actual angular speed through the position and speed calculation module;
s3: inputting the difference between the target angular position and the actual angular position and the working mode signal to a position ring adaptive PI control module, and outputting an internal target angular velocity by the position ring adaptive PI control module;
s4: adding the internal target angular velocity and the external target angular velocity to obtain a target angular velocity sum;
inputting the difference between the target angular velocity and the actual angular velocity, the target angular velocity and the working mode signal into a velocity ring self-adaptive PI control module, and outputting a target quadrature axis current by the velocity ring self-adaptive PI control module;
s5: meanwhile, inputting the target angular speed and the working mode signal into an adaptive direct-axis control module, and outputting a target direct-axis current by the adaptive direct-axis control module;
s6: inputting the difference between the target quadrature axis current and the actual quadrature axis current and the working mode signal into a current loop quadrature axis adaptive PI control module, and outputting a target quadrature axis voltage by the current loop quadrature axis adaptive PI control module;
s7: inputting the difference between the target direct-axis current and the actual direct-axis current and the working mode signal into a current loop direct-axis adaptive PI control module, and outputting a target direct-axis voltage by the current loop direct-axis adaptive PI control module;
s8: inputting the target quadrature axis voltage, the target direct axis voltage and the actual angular position into a Park inverse transformation module, wherein the Park inverse transformation module outputs a stator rectangular coordinate voltage;
s9: inputting the stator rectangular coordinate voltage into the SVPWM module, and outputting a space vector pulse width modulation signal to a power module by the SVPWM module;
s10: the space vector pulse width modulation signal is input into the power module, and the power module outputs three-phase driving phase current to the motor.
S11: the three-phase driving phase current is input into a Clarke transformation module, and the Clarke transformation module outputs stator rectangular coordinate current to a Park transformation module;
s12: inputting the stator rectangular coordinate current and the actual angular position into a Park conversion module, wherein the Park conversion module outputs the actual quadrature axis current and the actual direct axis current, the actual quadrature axis current is fed back to the input end of the current loop quadrature axis adaptive PI control module, and the actual direct axis current is fed back to the input end of the current loop direct axis adaptive PI control module to complete negative feedback regulation.
Preferably, the position proportional integral parameter in the position loop adaptive PI control module includes a position loop proportion Xkp, a position loop integral Xki, and the position amplitude limiting parameter includes a position loop amplitude limiting Xlim, and the parameter is adaptively adjusted according to the operating mode.
Preferably, the speed proportional integral parameter in the speed loop adaptive PI control module includes a speed loop proportion Vkp, a speed loop integral Vki, and the speed amplitude limiting parameter includes a speed loop amplitude limiting Vlim, and the parameter is adaptively adjusted according to the working mode.
Preferably, the parameters of the first current proportional integral in the current loop quadrature axis adaptive PI control module include a first current loop proportion Ipkp and a first current loop integral Ipki, the parameters of the current amplitude limit include a current loop amplitude limit Iplim, and the parameters are adaptively adjusted according to the working mode.
Preferably, the parameters of the second current proportional integral in the current loop direct axis adaptive PI control module include a second current loop proportion Iqkp and a second current loop integral Iqki, and the parameters are adaptively adjusted according to the working mode.
Preferably, the encoder pulse signal is an ABI three-way pulse signal, the angular velocity can be obtained by the pulse frequency of the a-way and the B-way, the movement direction can be obtained by the pulse phase of the a-way and the B-way, so as to obtain the actual angular velocity, the relative angular position can be obtained by the pulse number and the movement direction of the a-way and the B-way, the origin position can be obtained by the I-way pulse, and the actual angular position can be obtained.
The invention has the beneficial effects that:
1. the positioning accuracy of the gyro north finder in a multi-position modulation north finding mode is improved;
2. the speed stability of the gyro north seeker in a continuous rotation modulation north seeking mode is improved;
3. the micro turntable with reliable performance is provided for the high-precision MEMS gyro north seeker, and the requirements of a continuous rotation modulation north-seeking algorithm and a multipoint positioning modulation north-seeking algorithm are met.
Drawings
FIG. 1 is a block flow diagram of the present invention.
3 self-adaptive PI-position ring self-adaptive PI control module, 4 self-adaptive PI-speed ring self-adaptive PI control module
6 self-adaptive PI-current loop quadrature axis self-adaptive PI control module, and 7 self-adaptive PI-current loop direct axis self-adaptive PI control module.
Detailed Description
The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings and examples to make the technical solution of the present invention easier to understand and grasp, so as to define the protection scope of the present invention more clearly.
A micro motor control system for a gyro north seeker comprises external hardware, a functional module and a feedback module.
The external hardware comprises an FPGA, a power supply, a power device, a current sampling circuit module, a motor, an encoder and a communication IO, and the operation of the control system depends on the external hardware. The FPGA has the characteristics of abundant wiring resources, high repeatable programming and integration level and low cost, and is widely applied to the field of digital circuit design. The power device is a power device which can be used as a three-phase bridge. The motor is a three-phase permanent magnet synchronous servo motor, and the encoder is an encoder capable of outputting ABI format encoder pulse signals.
The functional modules specifically include the following modules:
first, a control input module, which functions to input signals including a target angular position, a target angular velocity, an operation mode signal. The communication IO includes an SPI, and in this embodiment, the control input module performs signal input by the MCU through the SPI interface of the external hardware;
and secondly, controlling an output module for outputting a space vector pulse width modulation signal.
Thirdly, a feedback input module is used for inputting a feedback signal, wherein the feedback signal comprises an encoder pulse signal and a three-phase driving phase current;
fourth, a position loop adaptive PI control module whose input is the difference between the target angular position and the actual angular position, and whose output is the internal target angular velocity, and operating mode.
And fifthly, the speed ring self-adaptive PI control module has the input quantity of the difference between the target angular speed and the actual angular speed, the target angular speed and the working mode and the output quantity of the target quadrature axis current.
And sixthly, the adaptive direct-axis control module has the input quantity of the target angular speed and the working mode and the output quantity of the target direct-axis current.
And seventhly, the input quantity of the current loop quadrature axis self-adaptive PI module is the difference between the target quadrature axis current and the actual quadrature axis current and the working mode, and the output quantity is the target quadrature axis voltage.
And the input quantity of the current loop direct-axis self-adaptive PI module is the difference between the target direct-axis current and the actual direct-axis current and the working mode, and the output quantity is the target direct-axis voltage.
And ninthly, the Park inverse transformation module has the input quantity of target quadrature axis voltage, target direct axis voltage and actual angular position and the output quantity of stator rectangular coordinate voltage.
And tenth, an input quantity of the SVPWM module is a stator rectangular coordinate voltage, and an output quantity of the SVPWM module is a space vector pulse width modulation signal.
The feedback module comprises a Park transformation module, a Clarke transformation module and a position and speed calculation module, wherein:
the input quantity of the Park conversion module is stator rectangular coordinate current and actual angular position, and the output quantity is actual quadrature axis current and actual direct axis current; the input quantity of the Clarke transformation module is three-phase driving phase current, and the output quantity is stator rectangular coordinate current; the input quantity of the position and speed calculation module is an encoder pulse signal, and the output quantity is an actual angular position and an actual angular speed.
The control system operates in the following operating modes, including: the system comprises a multi-position modulation north-seeking mode, a continuous rotation modulation north-seeking mode, a fast origin-seeking mode and a precise origin-seeking mode.
A micro motor control method for a gyro north seeker comprises the following specific steps:
s1: and the control input module inputs signals to the system and inputs a target angular position, an external target angular speed and a working mode signal, wherein the target angular position, the external target angular speed and the working mode signal are all obtained through an IO end of the FPGA.
S2: an encoder arranged on the motor inputs an encoder pulse signal to a position and speed calculation module, and an actual angular position and an actual angular speed are output through the position and speed calculation module. The specific process is that the encoder pulse signals are ABI three paths of pulse signals, the angular velocity can be obtained through the pulse frequency of the path A and the path B, the motion direction can be obtained through the pulse phase of the path A and the path B, so that the actual angular velocity is obtained, the relative angular position can be obtained through the pulse number and the motion direction of the path A and the path B, the origin position can be obtained through the pulse of the path I, and the actual angular position is obtained.
S3: and inputting the difference between the target angular position and the actual angular position and the working mode signal to a position ring self-adaptive PI control module, and outputting an internal target angular speed by the position ring self-adaptive PI control module. The position loop self-adaptive PI control module is controlled through position proportional integral and position amplitude limiting, parameters of the position proportional integral comprise a position loop proportion Xkp and a position loop integral Xki, parameters of the position amplitude limiting comprise a position loop amplitude limiting Xlim, the control method comprises 4 working modes, the working modes correspond to 4 groups of fixed position loop proportions Xkp, the position loop integral Xki and the position loop amplitude limiting Xlim, and a group of corresponding control parameters can be selected according to the working modes.
S4: adding the internal target angular velocity and the external target angular velocity to obtain a target angular velocity sum; and inputting the difference between the target angular velocity and the actual angular velocity, the target angular velocity and the working mode signal into a velocity ring self-adaptive PI control module, wherein the velocity ring self-adaptive PI control module outputs a target quadrature axis current. The speed loop self-adaptive PI control module controls the speed loop self-adaptive PI control module through speed proportional integral and speed amplitude limiting, parameters of the speed proportional integral comprise a speed loop proportion Vkp and a speed loop integral Vki, and parameters of the speed amplitude limiting comprise a speed loop amplitude limiting Vlim. The three parameters are adaptively adjusted according to the working mode and the target angular velocity.
Specifically, in the two modes of the multi-position modulation north-seeking mode and the fast origin-seeking mode, two corresponding sets of fixed speed loop proportions Vkp, speed loop integral Vki, and speed loop clipping Vlim are used. In both the continuous rotation modulation north-seeking mode and the accurate origin-seeking mode, the velocity loop limiter Vlim is a fixed value, and the velocity loop proportion Vkp and the velocity loop integral Vki are adaptively adjusted according to the target angular velocity. At lower target angular velocities, e.g., 0-10 arcmin per second, the velocity ring proportion Vkp and the velocity ring integral Vki are maintained at a lower fixed value Vkp1 and Vki1, and as the target angular velocity increases to a value ω 1, the velocity ring proportion Vkp and the velocity ring integral Vki increase linearly with the target angular velocity at a rate k1, and as the target angular velocity increases further to a value ω 2, the velocity ring proportion Vkp and the velocity ring integral Vki are maintained at a higher fixed value Vkp2 and Vki 2.
S5: and meanwhile, inputting the target angular speed and the working mode signal into an adaptive direct-axis control module, and outputting a target direct-axis current by the adaptive direct-axis control module. The self-adaptive direct-axis control module can perform self-adaptive adjustment according to the working mode and the target angular speed.
Specifically, in the two operation modes of the multi-position modulation north seeking mode and the fast origin seeking mode, the target direct axis current is 0. In the two modes of continuous rotation modulation north seeking and accurate origin seeking, adaptive adjustment is carried out according to the target angular speed, the target direct axis current keeps a higher value Idref1 at a lower target angular speed, such as 0-10 arcmin per second, and when the target angular speed rises to a value omega 1, the target direct axis current linearly decreases with the target angular speed according to a certain ratio k2 until the target direct axis current decreases to a value Idref 2.
S6: and inputting the difference between the target quadrature axis current and the actual quadrature axis current and the working mode signal into a current loop quadrature axis adaptive PI control module, wherein the current loop quadrature axis adaptive PI control module outputs a target quadrature axis voltage. The current loop quadrature axis self-adaptive PI control module is controlled through a first current proportional integral and a first current amplitude limiting, parameters of the first current proportional integral comprise a first current loop proportion Ipkp and a first current loop integral Ipki, parameters of the first current amplitude limiting comprise a current loop amplitude limiting Iplim, and the parameters are self-adaptively adjusted according to a working mode. The control method comprises 4 working modes, wherein the 4 working modes correspond to 4 groups of fixed first current loop proportion Ipkp, first current loop integral Ipki and current loop amplitude limiting Iplim.
S7: and inputting the difference between the target direct-axis current and the actual direct-axis current and the working mode signal into a current loop direct-axis adaptive PI control module, and outputting a target direct-axis voltage by the current loop direct-axis adaptive PI control module. The current loop straight-axis self-adaptive PI control module is controlled through a second current proportional integral, and the second current proportional integral comprises a second current loop proportion Iqkp and a second current loop integral Iqki. The parameters are adjusted in a self-adaptive mode according to working modes, the control method comprises 4 working modes, and the 4 working modes correspond to 4 groups of fixed second current loop proportion Iqkp and second current loop integral Iqki.
S8: and inputting the target quadrature axis voltage, the target direct axis voltage and the actual angular position into a Park inverse transformation module, and outputting a stator rectangular coordinate voltage by the Park inverse transformation module. A fixed conversion gain is added at this step and dimensions are ignored until the calculation of the stator rectangular coordinate voltage is completed.
S9: and inputting the stator rectangular coordinate voltage into the SVPWM module, and outputting a space vector pulse width modulation signal to a power module by the SVPWM module. This step completes the calculation of the stator rectangular coordinate voltage to space vector pulse width modulation signal by space vector pulse width modulation.
S10: and inputting the space vector pulse width modulation signal into the power module, and outputting three-phase driving phase current to the motor by the power module.
S11: the three-phase driving phase current is input into a Clarke transformation module, and the Clarke transformation module outputs stator rectangular coordinate current to a Park transformation module. A fixed conversion gain is added at this step until the calculation of the rectangular current to the stator is completed.
S12: inputting the stator rectangular coordinate current and the actual angular position into a Park conversion module, wherein the Park conversion module outputs the actual quadrature axis current and the actual direct axis current, the actual quadrature axis current is fed back to the input end of the current loop quadrature axis adaptive PI control module, and the actual direct axis current is fed back to the input end of the current loop direct axis adaptive PI control module to complete negative feedback regulation. A fixed conversion gain is added and dimensions are ignored in this step until the calculation of the actual quadrature-axis current and the actual direct-axis current is completed.
The self-adaptive adjustment comprises two modes, wherein one mode is that a fixed control parameter is selected according to a working mode; the other is to determine the control parameter by a function according to the change of the input quantity.
In the micro motor control system for the gyro north finder disclosed by the invention, the motor rotor is directly linked with the rotary table. A single-axis high-precision MEMS gyroscope is arranged on the rotary table. When the north seeker works, the sensitive axis direction of the gyroscope is parallel to the ground plane, a micro rotary table with reliable performance is provided for the high-precision MEMS gyroscope north seeker, and the requirements of a continuous rotation modulation north-seeking algorithm and a multipoint positioning modulation north-seeking algorithm are met.
In conclusion, the beneficial effects of the invention are as follows: the positioning accuracy of the gyro north finder in a multi-position modulation north finding mode is improved; the speed stability of the gyro north seeker in a continuous rotation modulation north seeking mode is improved; the micro turntable with reliable performance is provided for the high-precision MEMS gyro north seeker, and the requirements of a continuous rotation modulation north-seeking algorithm and a multipoint positioning modulation north-seeking algorithm are met.
In addition to the above embodiments, the present invention may have other embodiments, and any technical solutions formed by equivalent substitutions or equivalent transformations are within the scope of the present invention as claimed.
Claims (12)
1. A micro motor control system for a gyro north seeker is characterized by comprising external hardware, a functional module and a feedback module, wherein the external hardware comprises an FPGA (field programmable gate array), a power supply, a power device, a current sampling circuit module, a motor, an encoder and a communication IO (input/output);
the functional module includes:
the control input module is used for inputting signals, wherein the input signals comprise a target angular position, a target angular velocity and a working mode signal, the control input module is input by the MCU through the communication IO, and the communication IO comprises the SPI;
the control output module is used for outputting space vector pulse width modulation signals;
the feedback input module is used for inputting a feedback signal, and the feedback signal comprises an encoder pulse signal and a three-phase driving phase current;
the position ring self-adaptive PI control module controls the position ring through position proportional integral and position amplitude limiting of self-adaptive parameters;
the speed loop self-adaptive PI control module controls the speed loop through speed proportional integral and speed amplitude limiting of self-adaptive parameters;
the self-adaptive direct-axis control module is used for self-adaptively adjusting through a working mode and a target angular speed so as to directly control the target direct-axis current;
the current loop quadrature axis self-adaptive PI module is used for controlling through first current proportional integral and current amplitude limiting;
the current loop straight axis self-adaptive PI module is controlled through second current proportional integral;
the Park inverse transformation module is used for completing the calculation of the stator rectangular coordinate voltage through Park inverse transformation;
and the SVPWM module is used for finishing the calculation of the space vector pulse width modulation signal through the space vector pulse width modulation signal.
2. A micromotor control system for a gyro north seeker as claimed in claim 1, comprising the following modes of operation: the system comprises a multi-position modulation north-seeking mode, a continuous rotation modulation north-seeking mode, a fast origin-seeking mode and a precise origin-seeking mode.
3. The micro-motor control system for a gyro north seeker of claim 1, wherein the feedback module comprises a Park transform module, a Clarke transform module, a position and velocity calculation module, wherein:
the Park conversion module is used for completing the calculation of the actual quadrature-axis current and the actual direct-axis current through Park conversion;
the Clarke transformation module is used for completing the calculation of the stator rectangular coordinate current through Clarke transformation;
and the position and speed calculation module is used for obtaining the actual angular speed and the actual angular position through calculation.
4. The micro-motor control system for a gyro north seeker of claim 1, wherein the power device is operable as a three-phase bridge.
5. The micro-motor control system for a gyro north seeker of claim 1, wherein the motor is a three-phase permanent magnet synchronous servo motor.
6. The micro-motor control system for a gyro north seeker of claim 1, wherein the encoder is an encoder that outputs ABI format encoder pulse signals.
7. A micro motor control method for a gyro north seeker is characterized in that,
s1: inputting signals, and inputting a target angular position, an external target angular speed and a working mode signal to the system through the control input module;
s2: the encoder inputs an encoder pulse signal to the position and speed calculation module, and outputs an actual angular position and an actual angular speed through the position and speed calculation module;
s3: inputting the difference between the target angular position and the actual angular position and the working mode signal to a position ring adaptive PI control module, and outputting an internal target angular velocity by the position ring adaptive PI control module;
s4: adding the internal target angular velocity and the external target angular velocity to obtain a target angular velocity sum;
inputting the difference between the target angular velocity and the actual angular velocity, the target angular velocity and the working mode signal into a velocity ring self-adaptive PI control module, and outputting a target quadrature axis current by the velocity ring self-adaptive PI control module;
s5: meanwhile, inputting the target angular speed and the working mode signal into an adaptive direct-axis control module, and outputting a target direct-axis current by the adaptive direct-axis control module;
s6: inputting the difference between the target quadrature axis current and the actual quadrature axis current and the working mode signal into a current loop quadrature axis adaptive PI control module, and outputting a target quadrature axis voltage by the current loop quadrature axis adaptive PI control module;
s7: inputting the difference between the target direct-axis current and the actual direct-axis current and the working mode signal into a current loop direct-axis adaptive PI control module, and outputting a target direct-axis voltage by the current loop direct-axis adaptive PI control module;
s8: inputting the target quadrature axis voltage, the target direct axis voltage and the actual angular position into a Park inverse transformation module, wherein the Park inverse transformation module outputs a stator rectangular coordinate voltage;
s9: inputting the stator rectangular coordinate voltage into the SVPWM module, and outputting a space vector pulse width modulation signal to a power module by the SVPWM module;
s10: the space vector pulse width modulation signal is input into the power module, and the power module outputs three-phase driving phase current to the motor;
s11: the three-phase driving phase current is input into a Clarke transformation module, and the Clarke transformation module outputs stator rectangular coordinate current to a Park transformation module;
s12: inputting the stator rectangular coordinate current and the actual angular position into a Park conversion module, wherein the Park conversion module outputs the actual quadrature axis current and the actual direct axis current, the actual quadrature axis current is fed back to the input end of the current loop quadrature axis adaptive PI control module, and the actual direct axis current is fed back to the input end of the current loop direct axis adaptive PI control module to complete negative feedback regulation.
8. The method as claimed in claim 7, wherein the position loop adaptive PI control module comprises position loop proportional Xkp, position loop integral Xki, position amplitude limiting Xlim, and the position loop adaptive PI control module is adapted to adjust the position loop proportional Xkp according to the operation mode.
9. The method as claimed in claim 7, wherein the speed loop adaptive PI control module comprises a speed loop proportional Vkp, a speed loop integral Vki, a speed limiting Vlim, and an adaptive operating mode.
10. The method as claimed in claim 7, wherein the parameters of the first current proportional integral in the current loop quadrature axis adaptive PI control module comprise a first current loop proportion Ipkp and a first current loop integral Ipki, and the parameters of the current slice comprise a current loop slice Iplim, and the parameters are adaptively adjusted according to the operation mode.
11. The method as claimed in claim 7, wherein the parameters of the second current proportional integral in the current loop direct axis adaptive PI control module include a second current loop proportion Iqkp and a second current loop integral Iqki, and the parameters are adaptively adjusted according to the operation mode.
12. The method as claimed in claim 7, wherein the encoder pulse signal is an ABI three-way pulse signal, the angular velocity is obtained by the pulse frequency of the a-way and the B-way, the moving direction is obtained by the pulse phase of the a-way and the B-way, so as to obtain the actual angular velocity, the relative angular position is obtained by the pulse number and the moving direction of the a-way and the B-way, and the origin position is obtained by the I-way pulse, so as to obtain the actual angular position.
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