CN116526923A - Motor swing control method and device, radar scanning assembly and readable storage medium - Google Patents

Motor swing control method and device, radar scanning assembly and readable storage medium Download PDF

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Publication number
CN116526923A
CN116526923A CN202310295354.2A CN202310295354A CN116526923A CN 116526923 A CN116526923 A CN 116526923A CN 202310295354 A CN202310295354 A CN 202310295354A CN 116526923 A CN116526923 A CN 116526923A
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CN
China
Prior art keywords
swing
control parameter
pid
motor
radar
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CN202310295354.2A
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Chinese (zh)
Inventor
梁宁忠
张弛
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Benewake Beijing Co Ltd
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Shenzhen North Wake Technology Co ltd
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Priority to CN202310295354.2A priority Critical patent/CN116526923A/en
Publication of CN116526923A publication Critical patent/CN116526923A/en
Pending legal-status Critical Current

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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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/24—Controlling the direction, e.g. clockwise or counterclockwise
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Feedback Control In General (AREA)

Abstract

The application provides a motor swing control method and device, a radar scanning assembly and a readable storage medium, and relates to the technical field of laser radars. According to the method, the actual swing position of the radar galvanometer motor at the current swing moment is obtained, the expected swing position corresponding to the next swing moment of the current swing moment is extracted from the prestored saw tooth wave swing planning track, then the swing position difference value between the expected swing position and the actual swing position is calculated, the PID adjusting unit is called according to the swing position difference value to output the motor duty ratio matched with the expected swing position, then the radar galvanometer motor is controlled to operate according to the motor duty ratio, so that the radar galvanometer motor can swing according to the saw tooth wave swing planning track, the performance requirement of a control chip is effectively reduced while the saw tooth wave swing function of the radar galvanometer motor is realized by using a software algorithm, and the realization cost of the swing function of the galvanometer motor and the chip supply risk are effectively reduced.

Description

Motor swing control method and device, radar scanning assembly and readable storage medium
Technical Field
The application relates to the technical field of laser radars, in particular to a motor swing control method and device, a radar scanning assembly and a readable storage medium.
Background
With the continuous development of science and technology, the application of the laser radar technology in various industries is more and more widespread, wherein the vehicle automatic driving technology is an important application direction of the laser radar technology nowadays. For the laser radar, the radar scanning assembly is an important device for ensuring that the laser radar can realize a high-precision and ultra-stable point cloud scanning function, and whether the radar galvanometer motor can realize a sawtooth wave swinging function or not is an important factor for influencing the laser scanning function of the radar scanning device in the practical application process of the radar scanning device.
At present, the existing scheme for driving the radar galvanometer motor to execute the sawtooth wave swinging motion is generally realized on the basis of a digital control technology by adopting a high-specification control chip with high performance, high main frequency and a floating point arithmetic unit. The existing scheme has extremely high requirements on the performance of the control chip, the scheme has higher implementation cost, and the problem of difficulty in searching the chip goods source exists.
Disclosure of Invention
In view of this, an object of the present application is to provide a motor swing control method and apparatus, a radar scanning assembly and a readable storage medium, which can effectively reduce the performance requirement of a control chip while realizing the saw-tooth wave swing function of a radar galvanometer motor by using a software algorithm, thereby effectively reducing the implementation cost of the galvanometer motor swing function and the chip supply risk.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, the present application provides a motor swing control method applied to a control chip communicatively connected to a radar galvanometer motor, the method including:
acquiring an actual swing position of the radar galvanometer motor at the current swing moment;
extracting an expected swing position corresponding to the next swing time of the current swing time from a prestored saw-tooth wave swing planning track;
calculating a swing position difference between the desired swing position and the actual swing position;
invoking a PID regulating unit to output a motor duty ratio matched with the expected swing position according to the swing position difference value;
and controlling the radar galvanometer motor to run according to the duty ratio of the motor.
In an alternative embodiment, the step of calling a PID adjustment unit to output a motor duty cycle matching the desired wobble position according to the wobble position difference value includes:
determining a target swing period of the radar galvanometer motor at the next swing moment according to the swing position difference value;
acquiring a PID control parameter adjustment strategy matched with the target swing period;
Determining a target PID control parameter corresponding to the PID regulating unit at the next swing moment according to the PID control parameter regulating strategy;
and inputting the swing position difference value to the PID regulating unit, and configuring the PID regulating unit according to the target PID control parameter to enable the PID regulating unit to output the duty ratio of the motor.
In an optional embodiment, the step of determining, according to the swing position difference value, a target swing period in which the radar galvanometer motor is located at the next swing time includes:
detecting whether the swing position difference value is a positive number;
if the swing position difference value is detected to be positive, confirming that the target swing period is a forward swing period;
and if the swing position difference value is detected to be not positive, confirming that the target swing period is a reverse swing period.
In an optional embodiment, when the target swing period is a forward swing period, the step of determining, according to the PID control parameter adjustment policy, a target PID control parameter corresponding to the PID adjustment unit at the next swing time includes:
comparing the swing position difference value with a uniform swing incremental interval distance of the radar galvanometer motor in the forward swing period;
Under the condition that the swing position difference value is larger than the uniform swing incremental interval distance, the current P control parameter of the PID regulating unit is regulated up, and the current I control parameter and D control parameter of the PID regulating unit are maintained unchanged, so that the target PID control parameter is obtained;
under the condition that the swing position difference value is equal to the uniform swing incremental interval distance, taking a default PID control parameter corresponding to the PID regulating unit when the radar galvanometer motor swings at a uniform speed in the forward direction as the target PID control parameter;
and under the condition that the swing position difference value is smaller than the uniform swing incremental interval distance, setting the current I control parameter of the PID regulating unit to be zero, and maintaining the current P control parameter and D control parameter of the PID regulating unit unchanged to obtain the target PID control parameter.
In an optional embodiment, when the target swing period is a reverse swing period, the step of determining, according to the PID control parameter adjustment policy, a target PID control parameter corresponding to the PID adjustment unit at the next swing time includes:
comparing the absolute value of the swing position difference value with the uniform swing decreasing interval distance of the radar galvanometer motor in the reverse swing period;
Setting the current I control parameter of the PID regulating unit to be zero under the condition that the absolute value of the swing position difference value is larger than the constant swing decreasing interval distance, and keeping the current P control parameter and D control parameter of the PID regulating unit unchanged to obtain the target PID control parameter;
under the condition that the absolute value of the swing position difference value is equal to the uniform swing decreasing interval distance, taking a default PID control parameter corresponding to the PID regulating unit when the radar galvanometer motor swings reversely at a uniform speed as the target PID control parameter;
and under the condition that the absolute value of the swing position difference value is smaller than the constant swing decreasing interval distance, the current P control parameter of the PID regulating unit is regulated up, and the current I control parameter and D control parameter of the PID regulating unit are maintained unchanged, so that the target PID control parameter is obtained.
In an alternative embodiment, the method further comprises:
and acquiring sawtooth wave swing demand parameters aiming at the radar galvanometer motor, and planning the radar galvanometer motor according to the sawtooth wave swing demand parameters to obtain a corresponding sawtooth wave swing planning track.
In a second aspect, the present application provides a motor swing control device for a control chip in communication with a radar galvanometer motor, the device comprising:
The actual position acquisition module is used for acquiring the actual swing position of the radar galvanometer motor at the current swing moment;
the expected position extraction module is used for extracting an expected swing position corresponding to the next swing moment of the current swing moment from a prestored saw-tooth wave swing planning track;
a position difference calculation module for calculating a swing position difference between the desired swing position and the actual swing position;
the control parameter output module is used for calling a PID (proportion integration differentiation) regulating unit to output a motor duty ratio matched with the expected swing position according to the swing position difference value;
and the motor operation control module is used for controlling the radar galvanometer motor to operate according to the duty ratio of the motor.
In an alternative embodiment, the apparatus further comprises:
and the swing track planning module is used for acquiring saw-tooth wave swing demand parameters aiming at the radar galvanometer motor and planning and obtaining a corresponding saw-tooth wave swing planning track aiming at the radar galvanometer motor according to the saw-tooth wave swing demand parameters.
In a third aspect, the present application provides a radar scanning assembly, where the radar scanning assembly includes a control chip and a radar galvanometer motor that are communicatively connected to each other;
The control chip stores a PID adjusting unit and a computer program, and can execute the computer program to call the PID adjusting unit to realize the motor swing control method according to any one of the previous embodiments.
In a fourth aspect, the present application provides a readable storage medium having stored thereon a computer program which, when executed by a control chip communicatively coupled to a radar galvanometer motor, implements a motor swing control method according to any one of the preceding embodiments.
In this case, the beneficial effects of the embodiments of the present application may include the following:
according to the method, the actual swing position of the radar galvanometer motor at the current swing moment is obtained, the expected swing position corresponding to the next swing moment of the current swing moment is extracted from the prestored saw tooth wave swing planning track, then the swing position difference value between the expected swing position and the actual swing position is calculated, the PID adjusting unit is called according to the swing position difference value to output the motor duty ratio matched with the expected swing position, then the radar galvanometer motor is controlled to operate according to the motor duty ratio, so that the radar galvanometer motor can swing according to the saw tooth wave swing planning track, the performance requirement of a control chip is effectively reduced while the saw tooth wave swing function of the radar galvanometer motor is realized by using a software algorithm, and the realization cost of the swing function of the galvanometer motor and the chip supply risk are effectively reduced.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a radar scanning assembly according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a motor swing control method according to an embodiment of the present application;
fig. 3 is a schematic track diagram of a saw-tooth wave swing planning track according to an embodiment of the present application;
FIG. 4 is a flow chart illustrating the sub-steps included in step S240 in FIG. 2;
FIG. 5 is a second flow chart of a motor swing control method according to the embodiment of the present disclosure;
fig. 6 is one of schematic diagrams of the composition of the motor swing control device according to the embodiment of the present application;
Fig. 7 is a second schematic diagram of a motor swing control device according to an embodiment of the present disclosure.
Icon: 10-a radar scanning assembly; 11-a control chip; 12-a radar galvanometer motor; 100-motor swing control device; a 200-PID regulating unit; 110-an actual position acquisition module; 120-a desired location extraction module; 130-a position difference calculation module; 140-a control parameter output module; 150-a motor operation control module; 160-a wobble track planning module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be understood that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a radar scanning assembly 10 according to an embodiment of the disclosure. In this embodiment, the radar scanning assembly 10 is applied to a laser radar, and is used to implement a laser scanning function of the laser radar. The radar scanning assembly 10 may include a control chip 11 and a radar galvanometer motor 12 that are communicatively connected to each other, where the control chip 11 stores a PID (proportional-Integral-Differential) adjusting unit 200 and a motor swing control device 100 in the form of a software function module and a computer program, and the control chip 11 may invoke the PID adjusting unit 200 by using a software algorithm by the motor swing control device 100 to implement a sawtooth wave swing function of the radar galvanometer motor 12, so as to effectively reduce performance requirements of the control chip 11, thereby effectively reducing implementation cost of the galvanometer motor swing function and chip supply risk. Wherein, the PID adjusting unit 200 is formed by editing based on a PID control algorithm.
In one implementation of this embodiment, when the radar scanning assembly 10 is applied to a vehicle-mounted laser radar, the control chip 11 included in the radar scanning assembly 10 may use a low-performance carrier-scale control chip of the Ying Fei Ling TLE9879 to achieve the saw-tooth wave swinging effect of the radar galvanometer motor 12.
It will be appreciated that the block diagram shown in fig. 1 is merely a schematic diagram of one component of the radar scanning assembly 10, and that the radar scanning assembly 10 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
In this application, in order to ensure that the control chip 11 can effectively control the radar galvanometer motor 12 to realize the sawtooth wave swinging effect under the condition of low chip performance, so as to effectively reduce the implementation cost of the galvanometer motor swinging function and the chip supply risk, the embodiment of the application realizes the foregoing objective by providing a motor swinging control method. The motor swing control method provided in the present application is described in detail below.
Referring to fig. 2, fig. 2 is a schematic flow chart of a motor swing control method according to an embodiment of the present disclosure. In the embodiment of the present application, the motor swing control method is applied to the control chip 11, and the motor swing control method may include steps S210 to S250.
Step S210, acquiring the actual swing position of the radar galvanometer motor at the current swing moment.
In this embodiment, the control chip 11 may continuously read the encoder data of the radar galvanometer motor 12 according to a certain frequency, so as to obtain the actual oscillation position of the radar galvanometer motor 12 at each oscillation moment in the actual oscillation process.
Step S220, extracting the expected swing position corresponding to the next swing time of the current swing time from the pre-stored saw tooth wave swing planning track.
In this embodiment, after the control chip 11 obtains the actual oscillation position of the radar galvanometer motor 12 at the current oscillation time, a target oscillation time point at which the current oscillation time is in the saw-tooth wave oscillation planning track is effectively determined in the saw-tooth wave oscillation planning track pre-stored for the radar galvanometer motor 12, and then the first oscillation time point arranged after the target oscillation time point is selected as the next oscillation time of the current oscillation time, so that the expected oscillation position corresponding to the next oscillation time of the current oscillation time is extracted from the saw-tooth wave oscillation planning track.
The saw-tooth wave oscillation planning track is used for describing a mapping relationship between an oscillation position and an oscillation time of the corresponding radar galvanometer motor 12, the saw-tooth wave oscillation planning track can be characterized in an array form, numerical element values in the array corresponding to the saw-tooth wave oscillation planning track are sequentially arranged according to the order of the oscillation time points, and each numerical element value is used for representing the oscillation planning position of the corresponding radar galvanometer motor 12 at the corresponding oscillation time point.
It will be understood that, referring to the saw-tooth wave oscillation planning track shown in fig. 3 (T in fig. 3 is used to represent the motor oscillation time, and P is used to represent the motor oscillation position), the complete oscillation period of the radar galvanometer motor 12 for performing the saw-tooth wave oscillation operation may include a forward oscillation period and a reverse oscillation period, the specific time length of the forward oscillation period is (oscillation time point T2-oscillation time point T1), the specific time length of the reverse oscillation period is (oscillation time point T3-oscillation time point T2), the oscillation planning track of the radar galvanometer motor 12 in the forward oscillation period is a track section from the track point a to the track point B, the radar galvanometer motor 12 needs to oscillate from the oscillation planning position P1 corresponding to the track point a to the oscillation planning position P2 corresponding to the track point B in the forward oscillation period, the oscillation track of the radar galvanometer motor 12 in the reverse oscillation period is a track section from the track point B to the track point a' corresponding to the track point B, and the radar galvanometer motor 12 needs to oscillate from the track point a planning position P1 corresponding to the track point B in the reverse oscillation period. The track point a corresponds to the oscillation time point t1, the track point B corresponds to the oscillation time point t2, the track point a' corresponds to the oscillation time point t3, the oscillation planning position p1 is the oscillation starting position of the radar galvanometer motor 12, and the oscillation planning position p2 is the farthest oscillation position of the radar galvanometer motor 12.
In the track section corresponding to the forward swing period, there is a first track section with a longer track length and corresponding to a uniform swing motion, the radar galvanometer motor 12 swings at a uniform speed in a time section corresponding to the first track section, at this time, the distance between the swing planning positions of each swing time point distributed in sequence under the first track section and the swing planning position p1 gradually increases according to a fixed rate, and the distance between the swing planning positions of each adjacent two swing time points in the time section corresponding to the first track section is the uniform swing increasing interval distance of the radar galvanometer motor 12 in the forward swing period.
In the track section corresponding to the reverse swing period, there is a second track section with a longer track length and corresponding to the uniform swing motion, the radar galvanometer motor 12 swings at a uniform speed in a time section corresponding to the second track section, at this time, the distance between the swing planning positions of each swing time point distributed in sequence under the second track section relative to the swing planning position p1 gradually decreases according to a fixed rate, and the distance between the swing planning positions of each of two adjacent swing time points in the time section corresponding to the second track section is the uniform swing decreasing interval distance of the radar galvanometer motor 12 in the reverse swing period. Wherein the uniform velocity swing rate of the radar galvanometer motor 12 in the forward swing period is smaller than the uniform velocity swing rate of the radar galvanometer motor 12 in the reverse swing period.
The saw-tooth wave swing planning track is illustrated by a 5Hz saw-tooth wave track: the complete swing period of the saw-tooth wave swing planning track is 1/5 Hz=200ms, the specific time length of the track section AB in the forward swing period is set to 160ms, and the specific time length of the track section BA' in the reverse swing period is set to 40ms. At this time, if the swing rate variation condition in the forward swing period is ignored and the forward swing period is completely regarded as the first track segment, the uniform swing rate of the radar galvanometer motor 12 in the forward swing period is (p 2-p 1)/160; if the swing rate variation condition in the reverse swing period is ignored and the reverse swing period is completely regarded as the second track segment, the uniform swing rate of the radar galvanometer motor 12 in the reverse swing period is (p 2-p 1)/40.
Step S230, calculating a swing position difference between the desired swing position and the actual swing position.
In this embodiment, the control chip 11 may obtain the swing position difference value of the actual swing position of the desired swing position of the radar galvanometer motor 12 at the next swing moment relative to the current swing moment by subtracting the actual swing position from the desired swing position.
Step S240, calling the PID regulating unit to output the duty ratio of the motor matched with the expected swing position according to the swing position difference value.
In this embodiment, after the control chip 11 determines the swing position difference between the desired swing position and the actual swing position, it may effectively determine, based on the swing position difference, whether the radar galvanometer motor 12 is in a forward swing period or a reverse swing period at a next swing time of a current swing time, then further determine, based on the determined swing period, a PID control parameter (including a P (process) control parameter, an I (Integral) control parameter, and a D (Differential) control parameter) capable of effectively expanding a constant swing period of the radar galvanometer motor 12 in a corresponding swing period, and then configure the PID adjustment unit 200 according to the determined PID control parameter, so that the PID adjustment unit 200 can obtain a corresponding PID control output result for the desired swing position by using a PID control algorithm based on the swing position difference, and finally obtain a motor duty ratio adapted to the radar galvanometer motor 12 by performing a duty ratio conversion process on the PID control output result.
The operation of the PID control unit 200 can be represented by the following formula:
wherein u (t) is used for representing the PID control output result, K, of the PID control unit 200 P For representing the P control parameter, K, currently used by the PID adjustment unit 200 I For indicating the I control parameter, K, currently used by the PID control unit 200 D For representing the D control parameter currently used by the PID control unit 200, e (t) is used for representing the swing position difference of the desired swing position of the radar galvanometer motor 12 at the t+1st swing time with respect to the actual swing position at the t-th swing time.
Optionally, referring to fig. 4, fig. 4 is a flowchart illustrating the sub-steps included in step S240 in fig. 2. In the embodiment of the present application, the step S240 may include sub-steps S241 to S244 to ensure that the calculated motor duty ratio can drive the radar galvanometer motor 12 to maintain the uniform swing state for as long as possible during the corresponding swing period.
And S241, determining the target swing period of the radar galvanometer motor at the next swing moment according to the swing position difference value.
In this embodiment, the step of determining the target swing period of the radar galvanometer motor 12 at the next swing time according to the swing position difference value may include:
Detecting whether the swing position difference value is a positive number;
if the swing position difference value is detected to be positive, confirming that the target swing period is a forward swing period;
and if the swing position difference value is detected to be not positive, confirming that the target swing period is a reverse swing period.
If the swing position difference is a positive number, that is, the actual swing position, which represents the expected swing position of the corresponding radar galvanometer motor 12 at the next swing time, is farther from the swing starting point position p1 of the radar galvanometer motor 12 relative to the current swing time, the radar galvanometer motor 12 performs forward swing at the next swing time, and at this time, the target swing period where the radar galvanometer motor 12 is located at the next swing time is the forward swing period; if the swing position difference is not positive, that is, the actual swing position of the expected swing position of the corresponding radar galvanometer motor 12 at the next swing time is closer to the swing starting point position of the radar galvanometer motor 12 relative to the current swing time, the radar galvanometer motor 12 performs reverse swing at the next swing time, and at this time, the target swing period of the radar galvanometer motor 12 at the next swing time is the reverse swing period.
Sub-step S242, a PID control parameter adjustment strategy matching the target wobble period is obtained.
In this embodiment, the PID control parameter adjustment strategy is used to adjust the PID control parameter of the PID control unit 200, so that the motor duty ratio output by the PID control unit 200 can ensure that the radar galvanometer motor 12 maintains a constant-speed swinging state as long as possible in the target swinging period.
And step S243, determining the target PID control parameters corresponding to the next swing time of the PID regulating unit according to the PID control parameter regulating strategy.
In this embodiment of the present application, if the target swing period is a forward swing period, the step of determining, according to a PID control parameter adjustment policy, a target PID control parameter corresponding to the PID adjustment unit 200 at the next swing time may include:
comparing the swing position difference value with a uniform swing incremental interval distance of the radar galvanometer motor 12 in the forward swing period;
under the condition that the swing position difference value is larger than the uniform swing incremental interval distance, the current P control parameter of the PID regulating unit 200 is regulated up, and the current I control parameter and D control parameter of the PID regulating unit 200 are maintained unchanged, so that the target PID control parameter is obtained;
Taking a default PID control parameter corresponding to the PID regulating unit 200 when the radar galvanometer motor 12 swings at a positive uniform speed as the target PID control parameter under the condition that the swing position difference value is equal to the uniform swing increasing interval distance;
and under the condition that the swing position difference value is smaller than the uniform swing incremental interval distance, setting the current I control parameter of the PID regulating unit 200 to be zero, and maintaining the current P control parameter and D control parameter of the PID regulating unit 200 unchanged to obtain the target PID control parameter.
In this process, the default PID control parameters corresponding to the forward uniform swing of the radar galvanometer motor 12 by the PID control unit 200 may include a default P control parameter, a default I control parameter, and a default D control parameter corresponding to a forward swing period, and the initial PID control parameters used by the PID control unit 200 when the radar galvanometer motor 12 starts to forward swing are the default P control parameter, the default I control parameter, and the default D control parameter corresponding to the forward swing period.
If the swing position difference is greater than the uniform swing incremental spacing distance, it means that the radar galvanometer motor 12 has not entered the forward uniform swing state at present, and at this time, forward acceleration is required to be performed on the forward swing speed of the radar galvanometer motor 12 to increase the current forward swing speed of the radar galvanometer motor 12, so that the radar galvanometer motor 12 enters the forward uniform swing state as soon as possible, and thus, the current P control parameter of the PID adjustment unit 200 can be increased, and the current I control parameter and D control parameter of the PID adjustment unit 200 are maintained unchanged, so as to obtain the target PID control parameter including the P control parameter after the adjustment, the I control parameter and the D control parameter after the maintenance. The constant I control parameter may be a default I control parameter corresponding to the forward swing period directly, and the constant D control parameter may be a default D control parameter corresponding to the forward swing period directly.
If the swing position difference is equal to the uniform swing incremental interval distance, which represents that the radar galvanometer motor 12 is about to enter or has entered into a forward uniform swing state, the current P control parameter of the PID adjustment unit 200 can be reset to a default P control parameter corresponding to a forward swing period, and the current I control parameter and D control parameter of the PID adjustment unit 200 are maintained unchanged, so as to obtain a target PID control parameter including the default P control parameter, the default I control parameter and the default D control parameter corresponding to the forward swing period.
If the swing position difference is smaller than the uniform swing increment interval distance, which represents that the radar galvanometer motor 12 is about to exit the forward uniform swing state, at this time, the forward swing speed of the radar galvanometer motor 12 needs to be accelerated reversely, so as to reduce the current forward swing speed of the radar galvanometer motor 12, make the radar galvanometer motor 12 exit the forward uniform swing state as soon as possible, and make preparations for executing the reverse swing action, thereby obtaining the target PID control parameters including the I control parameter with the value of 0, the P control parameter with the constant value of 0 and the D control parameter by setting the current I control parameter of the PID control unit 200 to zero and keeping the current P control parameter and the D control parameter of the PID control unit 200 unchanged. The constant P control parameter may be a default P control parameter corresponding to the forward swing period directly, and the constant D control parameter may be a default D control parameter corresponding to the forward swing period directly.
Therefore, the specific step flow corresponding to the forward swinging period in the substep S243 can be executed, so that the PID control parameter adjustment strategy corresponding to the forward swinging period can effectively enlarge the uniform swinging time period of the radar galvanometer motor 12 in the forward swinging period, and the radar galvanometer motor 12 can maintain the uniform swinging state for a long time as far as possible in the forward swinging period.
In this embodiment of the present application, if the target swing period is a reverse swing period, the step of determining, according to a PID control parameter adjustment policy, a target PID control parameter corresponding to the next swing time by the PID adjustment unit 200 may include:
comparing the absolute value of the swing position difference value with a uniform swing decreasing interval distance of the radar galvanometer motor 12 in the reverse swing period;
setting the current I control parameter of the PID regulating unit 200 to be zero and maintaining the current P control parameter and D control parameter of the PID regulating unit 200 unchanged under the condition that the absolute value of the swing position difference value is larger than the constant swing decreasing interval distance to obtain the target PID control parameter;
taking a default PID control parameter corresponding to the PID regulating unit 200 when the radar galvanometer motor 12 swings reversely at a constant speed as the target PID control parameter under the condition that the absolute value of the swing position difference value is equal to the constant speed swing decreasing interval distance;
And under the condition that the absolute value of the swing position difference value is smaller than the constant swing decreasing interval distance, the current P control parameter of the PID regulating unit 200 is regulated, and the current I control parameter and D control parameter of the PID regulating unit 200 are maintained unchanged, so that the target PID control parameter is obtained.
In this process, the default PID control parameters corresponding to the reverse uniform swing of the radar galvanometer motor 12 by the PID adjustment unit 200 may include a default P control parameter, a default I control parameter, and a default D control parameter corresponding to a reverse swing period, and the initial PID control parameters used by the PID adjustment unit 200 when the radar galvanometer motor 12 starts to swing in the reverse direction are the default P control parameter, the default I control parameter, and the default D control parameter corresponding to the reverse swing period.
If the absolute value of the swing position difference is greater than the constant swing decreasing interval distance, which means that the radar galvanometer motor 12 does not enter a reverse constant swing state at present, at this time, the reverse swing speed of the radar galvanometer motor 12 needs to be accelerated reversely, so as to increase the current reverse swing speed of the radar galvanometer motor 12, so that the radar galvanometer motor 12 enters the reverse constant swing state as soon as possible, and thus, the target PID control parameters including the I control parameter with the value of 0, the P control parameter with the constant value of 0, and the D control parameter can be obtained by setting the current I control parameter of the PID control unit 200 to zero and maintaining the current P control parameter and D control parameter of the PID control unit 200 unchanged. The constant P control parameter may be a default P control parameter corresponding to the reverse swing period directly, and the constant D control parameter may be a default D control parameter corresponding to the reverse swing period directly.
If the absolute value of the swing position difference is equal to the constant swing decreasing interval distance, which represents that the radar galvanometer motor 12 is about to enter or has entered into a reverse constant swing state, the current I control parameter of the PID adjustment unit 200 is reset to a default I control parameter corresponding to a reverse swing period, and the current P control parameter and D control parameter of the PID adjustment unit 200 are maintained unchanged, so as to obtain a target PID control parameter including a default P control parameter, a default I control parameter and a default D control parameter corresponding to the reverse swing period.
If the absolute value of the swing position difference is smaller than the constant swing decreasing interval distance, which means that the radar galvanometer motor 12 is about to exit from the reverse constant swing state, at this time, the reverse swing speed of the radar galvanometer motor 12 needs to be accelerated forward to reduce the current reverse swing speed of the radar galvanometer motor 12, so that the radar galvanometer motor 12 exits from the reverse constant swing state as soon as possible and performs preparation for executing the forward swing action, thereby obtaining the target PID control parameters including the P control parameters after the elevation, the I control parameters after the maintenance, and the D control parameters after the maintenance by elevating the current P control parameters of the PID control unit 200 and maintaining the current I control parameters and D control parameters of the PID control unit 200 unchanged. The constant I control parameter may be a default I control parameter corresponding to the reverse swing period directly, and the constant D control parameter may be a default D control parameter corresponding to the reverse swing period directly.
Therefore, the specific step flow corresponding to the reverse swing period in the substep S243 can be executed, so that the PID control parameter adjustment strategy corresponding to the reverse swing period can effectively enlarge the constant swing time period of the radar galvanometer motor 12 in the reverse swing period, and the radar galvanometer motor 12 maintains the constant swing state as long as possible in the reverse swing period.
And step S244, inputting the swing position difference value to the PID regulating unit, and configuring the PID regulating unit according to the target PID control parameter to enable the PID regulating unit to output the duty ratio of the motor.
Thus, the present application can ensure that the calculated motor duty ratio can drive the radar galvanometer motor 12 to maintain a uniform swing state for as long as possible in the corresponding swing period by performing the above-described sub-steps S241 to S244.
And step S250, controlling the radar galvanometer motor to operate according to the duty ratio of the motor.
In this embodiment, after the control chip 11 invokes the PID adjustment unit 200 to output a matched motor duty ratio for an expected swing position of the radar galvanometer motor 12 at a next swing time of a current swing time, the radar galvanometer motor 12 may be controlled to operate according to the motor duty ratio, so that an actual swing position of the radar galvanometer motor 12 corresponding to the next swing time may reach the expected swing position, thereby effectively driving the radar galvanometer motor 12 to perform sawtooth wave swing according to a sawtooth wave swing planning track, and ensuring that the control chip 11 may effectively control the radar galvanometer motor 12 to implement a sawtooth wave swing effect under a condition that chip performance is low, so as to effectively reduce implementation cost of a galvanometer motor swing function and chip supply risk.
In one implementation of this embodiment, the radar galvanometer motor 12 is a three-phase controlled swing motor, and the motor duty cycle output by the PID adjustment unit 200 may include an a-phase duty cycle, a B-phase duty cycle, and a C-phase duty cycle. If the duty ratio of the phase a is 0 and the duty ratios of the phase B and the phase C are not 0, the control chip 11 may directly drive the radar galvanometer motor 12 according to the current duty ratio of the phase B and the duty ratio of the phase C to realize a forward swinging function, where different values of the duty ratio of the phase B and the duty ratio of the phase C affect the forward swinging speed of the radar galvanometer motor 12; if the B-phase duty ratio and the C-phase duty ratio are both 0 and the a-phase duty ratio is not 0, the control chip 11 may directly drive the radar galvanometer motor 12 according to the current a-phase duty ratio to implement a reverse swing function, where different values of the a-phase duty ratio may affect the reverse swing speed of the radar galvanometer motor 12.
Therefore, the control chip 11 can effectively control the radar galvanometer motor 12 to realize the sawtooth wave swinging effect under the condition of low chip performance by executing the steps S210 to S250, so that the realization cost of the swinging function of the galvanometer motor and the chip supply risk are effectively reduced.
Optionally, referring to fig. 5, fig. 5 is a second flowchart of a motor swing control method according to an embodiment of the present disclosure. In this embodiment of the present application, compared to the motor swing control method shown in fig. 2, the motor swing control method shown in fig. 5 may further include step S209 to plan a saw-tooth wave swing planning track for the controlled radar galvanometer motor to meet the swing requirement.
Step S209, saw-tooth wave swing demand parameters for the radar galvanometer motor are obtained, and corresponding saw-tooth wave swing planning tracks are planned for the radar galvanometer motor according to the saw-tooth wave swing demand parameters.
The sawtooth wave vibration requirement parameter may include a vibration frequency (e.g., 5 Hz) at which the radar galvanometer motor 12 performs a sawtooth wave vibration operation, a vibration start position of the radar galvanometer motor 12, a farthest vibration position of the radar galvanometer motor 12, a specific time length of a single forward direction vibration period, a desired forward direction uniform velocity vibration period in the single forward direction vibration period, a specific time length of a single reverse direction vibration period, a desired reverse direction uniform velocity vibration period in the single reverse direction vibration period, and the like.
Therefore, the saw-tooth wave swing planning track meeting the swing requirement can be planned for the controlled radar galvanometer motor by executing the step S209.
In this application, in order to ensure that the control chip 11 can execute the above-described motor swing control method by using the motor swing control device 100, the present application implements the foregoing functions by dividing the functional modules of the motor swing control device 100. The specific composition of the motor swing control apparatus 100 provided in the present application will be described accordingly.
Referring to fig. 6, fig. 6 is a schematic diagram of a motor swing control device 100 according to an embodiment of the present disclosure. In this embodiment, the motor swing control device 100 may include an actual position obtaining module 110, an expected position extracting module 120, a position difference calculating module 130, a control parameter output module 140, and a motor operation control module 150.
The actual position obtaining module 110 is configured to obtain an actual swing position of the radar galvanometer motor at a current swing time.
The expected position extraction module 120 is configured to extract an expected swing position corresponding to a next swing time of the current swing time from a pre-stored saw-tooth wave swing planning track.
A position difference calculating module 130 for calculating a swing position difference between the desired swing position and the actual swing position.
And the control parameter output module 140 is used for calling the PID regulating unit to output the duty ratio of the motor matched with the expected swing position according to the swing position difference value.
The motor operation control module 150 is used for controlling the radar galvanometer motor to operate according to the duty ratio of the motor.
Alternatively, referring to fig. 7, fig. 7 is a second schematic diagram of a motor swing control device 100 according to an embodiment of the present disclosure. In this embodiment, the motor swing control apparatus 100 may further include a swing track planning module 160.
And the swing track planning module 160 is used for acquiring saw-tooth wave swing requirement parameters for the radar galvanometer motor and planning the radar galvanometer motor according to the saw-tooth wave swing requirement parameters to obtain a corresponding saw-tooth wave swing planning track.
It should be noted that, the basic principle and the technical effects of the motor swing control device 100 provided in the embodiment of the present application are the same as those of the motor swing control method described above. For a brief description, reference is made to the description of the motor swing control method described above where this embodiment section is not mentioned.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, or a control chip 11 communicatively connected to the radar galvanometer motor 12, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In summary, in the motor oscillation control method and apparatus, the radar scanning assembly and the readable storage medium provided in the embodiments of the present application, by obtaining an actual oscillation position of the radar galvanometer motor at a current oscillation time, extracting an expected oscillation position corresponding to a next oscillation time of the current oscillation time from a prestored sawtooth oscillation planning track, calculating an oscillation position difference value between the expected oscillation position and the actual oscillation position, calling a PID (proportion integration differentiation) adjusting unit according to the oscillation position difference value to output a motor duty ratio matched with the expected oscillation position, and then controlling the radar galvanometer motor to operate according to the motor duty ratio, so that the radar galvanometer motor can oscillate according to the sawtooth oscillation planning track, thereby effectively reducing performance requirements of a control chip while realizing a sawtooth oscillation function of the radar galvanometer motor by using a software algorithm, and effectively reducing implementation cost and chip supply risk of the galvanometer motor oscillation function.
The foregoing is merely various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A motor swing control method, characterized by being applied to a control chip in communication connection with a radar galvanometer motor, the method comprising:
acquiring an actual swing position of the radar galvanometer motor at the current swing moment;
extracting an expected swing position corresponding to the next swing time of the current swing time from a prestored saw-tooth wave swing planning track;
calculating a swing position difference between the desired swing position and the actual swing position;
invoking a PID regulating unit to output a motor duty ratio matched with the expected swing position according to the swing position difference value;
and controlling the radar galvanometer motor to run according to the duty ratio of the motor.
2. The method of claim 1, wherein the step of invoking a PID adjustment unit to output a motor duty cycle matching the desired wobble position based on the wobble position difference comprises:
determining a target swing period of the radar galvanometer motor at the next swing moment according to the swing position difference value;
acquiring a PID control parameter adjustment strategy matched with the target swing period;
determining a target PID control parameter corresponding to the PID regulating unit at the next swing moment according to the PID control parameter regulating strategy;
And inputting the swing position difference value to the PID regulating unit, and configuring the PID regulating unit according to the target PID control parameter to enable the PID regulating unit to output the duty ratio of the motor.
3. The method of claim 2, wherein the step of determining a target swing period in which the radar galvanometer motor is located at the next swing time based on the swing position difference value includes:
detecting whether the swing position difference value is a positive number;
if the swing position difference value is detected to be positive, confirming that the target swing period is a forward swing period;
and if the swing position difference value is detected to be not positive, confirming that the target swing period is a reverse swing period.
4. The method according to claim 2, wherein, in the case where the target swing period is a forward swing period, the step of determining the target PID control parameter corresponding to the PID control parameter adjustment strategy by the PID control unit at the next swing time includes:
comparing the swing position difference value with a uniform swing incremental interval distance of the radar galvanometer motor in the forward swing period;
Under the condition that the swing position difference value is larger than the uniform swing incremental interval distance, the current P control parameter of the PID regulating unit is regulated up, and the current I control parameter and D control parameter of the PID regulating unit are maintained unchanged, so that the target PID control parameter is obtained;
under the condition that the swing position difference value is equal to the uniform swing incremental interval distance, taking a default PID control parameter corresponding to the PID regulating unit when the radar galvanometer motor swings at a uniform speed in the forward direction as the target PID control parameter;
and under the condition that the swing position difference value is smaller than the uniform swing incremental interval distance, setting the current I control parameter of the PID regulating unit to be zero, and maintaining the current P control parameter and D control parameter of the PID regulating unit unchanged to obtain the target PID control parameter.
5. The method according to claim 2, wherein, in the case where the target swing period is a reverse swing period, the step of determining the target PID control parameter corresponding to the PID control unit at the next swing time according to the PID control parameter adjustment policy includes:
comparing the absolute value of the swing position difference value with the uniform swing decreasing interval distance of the radar galvanometer motor in the reverse swing period;
Setting the current I control parameter of the PID regulating unit to be zero under the condition that the absolute value of the swing position difference value is larger than the constant swing decreasing interval distance, and keeping the current P control parameter and D control parameter of the PID regulating unit unchanged to obtain the target PID control parameter;
under the condition that the absolute value of the swing position difference value is equal to the uniform swing decreasing interval distance, taking a default PID control parameter corresponding to the PID regulating unit when the radar galvanometer motor swings reversely at a uniform speed as the target PID control parameter;
and under the condition that the absolute value of the swing position difference value is smaller than the constant swing decreasing interval distance, the current P control parameter of the PID regulating unit is regulated up, and the current I control parameter and D control parameter of the PID regulating unit are maintained unchanged, so that the target PID control parameter is obtained.
6. The method according to any one of claims 1-5, further comprising:
and acquiring sawtooth wave swing demand parameters aiming at the radar galvanometer motor, and planning the radar galvanometer motor according to the sawtooth wave swing demand parameters to obtain a corresponding sawtooth wave swing planning track.
7. A motor swing control device, characterized by being applied to a control chip in communication connection with a radar galvanometer motor, said device comprising:
the actual position acquisition module is used for acquiring the actual swing position of the radar galvanometer motor at the current swing moment;
the expected position extraction module is used for extracting an expected swing position corresponding to the next swing moment of the current swing moment from a prestored saw-tooth wave swing planning track;
a position difference calculation module for calculating a swing position difference between the desired swing position and the actual swing position;
the control parameter output module is used for calling a PID (proportion integration differentiation) regulating unit to output a motor duty ratio matched with the expected swing position according to the swing position difference value;
and the motor operation control module is used for controlling the radar galvanometer motor to operate according to the duty ratio of the motor.
8. The apparatus of claim 7, wherein the apparatus further comprises:
and the swing track planning module is used for acquiring saw-tooth wave swing demand parameters aiming at the radar galvanometer motor and planning and obtaining a corresponding saw-tooth wave swing planning track aiming at the radar galvanometer motor according to the saw-tooth wave swing demand parameters.
9. The radar scanning assembly is characterized by comprising a control chip and a radar galvanometer motor which are in communication connection with each other;
the control chip stores a PID adjusting unit and a computer program, and can execute the computer program to call the PID adjusting unit to realize the motor swing control method according to any one of claims 1 to 6.
10. A readable storage medium having stored thereon a computer program, which when executed by a control chip in communication with a radar galvanometer motor, implements the motor swing control method according to any one of claims 1-6.
CN202310295354.2A 2023-03-23 2023-03-23 Motor swing control method and device, radar scanning assembly and readable storage medium Pending CN116526923A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310295354.2A CN116526923A (en) 2023-03-23 2023-03-23 Motor swing control method and device, radar scanning assembly and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310295354.2A CN116526923A (en) 2023-03-23 2023-03-23 Motor swing control method and device, radar scanning assembly and readable storage medium

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CN116526923A true CN116526923A (en) 2023-08-01

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