CN117938018A - Motor attitude control method, device and equipment of attitude adjustment platform - Google Patents
Motor attitude control method, device and equipment of attitude adjustment platform Download PDFInfo
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Abstract
The invention provides a motor attitude control method, a motor attitude control device and motor attitude control equipment for an attitude adjustment platform. The method comprises the following steps: acquiring displacement state parameters of the linear switch reluctance motor in a working state; performing code conversion on the displacement state parameters to obtain orthogonal code pulse signals; calculating to obtain a motor attitude control signal according to the orthogonal coding pulse signal and the currently detected displacement signal; and controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal. According to the invention, the acquired displacement state parameters of the linear switch reluctance motor in the working state are converted into the orthogonal coding pulse signals, and then the motor attitude control signals are calculated according to the orthogonal coding pulse signals and the currently detected displacement signals, so that the control of the displacement attitude of the linear switch reluctance motor is realized, and the attitude control precision of the attitude adjustment platform is improved.
Description
Technical Field
The invention relates to the technical field of gesture adjustment platforms, and also relates to a motor gesture control method, a motor gesture control device and motor gesture control equipment of a gesture adjustment platform.
Background
The gesture adjustment control platform (gesture adjustment platform) is a software and hardware system for controlling and adjusting the gesture of equipment or a system. Its main function is to receive and process the sensor signal and generate control signal to drive the actuator to adjust the posture of the equipment or system according to the preset control algorithm and parameters. As core equipment for high-precision attitude measurement and calibration, the attitude adjustment control platform is widely used in the fields of navigation control, high-precision intelligent assembly, motion simulation and the like.
At present, the bottleneck problems of the high-precision gesture adjustment platform are as follows: most of hydraulic and pneumatic are lifting platforms, and although the thrust is large and the load capacity is strong, the requirements of high-precision and high-dynamic response posture adjustment are difficult to meet. Based on the centralized control gesture adjusting platform of a rotating motor and a mechanical transmission device, mechanical errors such as dead zones, abrasion and the like of the mechanical transmission device (such as gears, belts and the like) and nonlinear characteristics directly influence the gesture control precision of the gesture adjusting platform.
Disclosure of Invention
The invention aims to solve the technical problem of providing a motor posture control method, a motor posture control device and motor posture control equipment for a posture adjustment platform, so as to solve the problem that the posture control precision of the posture adjustment platform is affected by errors.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the first aspect of the invention provides a motor attitude control method of an attitude adjustment platform, comprising the following steps:
acquiring displacement state parameters of the linear switch reluctance motor in a working state;
Performing code conversion on the displacement state parameters to obtain orthogonal code pulse signals;
calculating to obtain a motor attitude control signal according to the orthogonal coding pulse signal and the currently detected displacement signal;
and controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal.
Optionally, obtaining a displacement state parameter of the linear switched reluctance motor when the linear switched reluctance motor is in a working state includes:
collecting position parameters of the linear switch reluctance motor by using a position sensor;
acquiring a speed parameter of the linear switch reluctance motor by using a speed sensor;
and collecting current parameters of the linear switch reluctance motor by using a current sensor.
Optionally, performing code conversion on the displacement state parameter to obtain an orthogonal code pulse signal, including:
preprocessing the displacement state parameters to obtain preprocessed displacement state parameters;
and performing code conversion on the preprocessed displacement state parameters to obtain orthogonal code pulse signals.
Optionally, performing code conversion on the preprocessed displacement state parameter to obtain an orthogonal coded pulse signal, including:
generating sine waves and cosine waves according to the preprocessed displacement state parameters;
And generating a quadrature code pulse signal according to the phase difference of the sine wave and the cosine wave.
Optionally, according to the quadrature encoded pulse signal and the currently detected displacement signal, a motor attitude control signal is calculated, including:
Inputting the quadrature coded pulse signals and the currently detected displacement signals into the following formula, and calculating to obtain motor attitude control signals;
;
wherein, Is a motor attitude control signal, x is a position parameter, i is a current parameter,As a function of the speed parameter,The difference between the inductance of the rotor salient pole and the stator salient pole is the inductance of the rotor salient pole and the stator salient pole.
Optionally, according to the quadrature encoded pulse signal and the currently detected displacement signal, a motor attitude control signal is calculated, including:
Receiving a target attitude parameter;
and calculating to obtain a motor attitude control signal according to the target attitude parameter, the orthogonal coding pulse signal and the currently detected displacement signal.
Optionally, controlling the displacement gesture of the linear switch reluctance motor includes:
and controlling the position and the motion state of the linear switch reluctance motor.
In a second aspect of the present invention, there is provided a motor attitude control apparatus for an attitude adjustment platform, comprising:
the acquisition module is used for acquiring displacement state parameters when the linear switch reluctance motor is in a working state;
the conversion module is used for carrying out code conversion on the displacement state parameters to obtain orthogonal code pulse signals;
the calculation module is used for calculating and obtaining a motor attitude control signal according to the orthogonal coding pulse signal and the currently detected displacement signal;
and the control module is used for controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal.
In a third aspect of the present invention, there is provided a computing device comprising: a processor, a memory storing a computer program which, when executed by the processor, performs a method as described in the first aspect.
In a fourth aspect of the invention, there is provided a computer readable storage medium storing instructions that when executed on a computer cause the computer to perform the method of the first aspect.
The scheme of the invention at least comprises the following beneficial effects:
According to the scheme, the obtained displacement state parameters of the linear switch reluctance motor in the working state are converted into the orthogonal coding pulse signals, and the motor attitude control signals are obtained through calculation according to the orthogonal coding pulse signals and the currently detected displacement signals, so that the control of the displacement attitude of the linear switch reluctance motor is realized, the improvement of the attitude control precision of an attitude adjustment platform is facilitated, and the linear switch reluctance motor has the advantages of easiness in realization and lower cost.
Drawings
FIG. 1 is a schematic flow chart of a motor attitude control method of an attitude adjustment platform in an embodiment of the invention;
FIG. 2 is a schematic diagram of a phase circuit of a linear switched reluctance motor in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an orthogonal code pulse circuit in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a timer count during forward rotation of a motor in an embodiment of the invention;
FIG. 5 is a schematic diagram of timer counting upon motor reversal in an embodiment of the invention;
FIG. 6 is a schematic diagram of motor speed measurement in an embodiment of the invention;
Fig. 7 is a schematic structural diagram of a motor attitude control device of an attitude adjustment platform in an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a motor gesture control method for a gesture adjustment platform, including the following steps:
Step 101, obtaining displacement state parameters when a linear switch reluctance motor is in a working state;
102, performing code conversion on the displacement state parameter to obtain an orthogonal code pulse signal;
Step 103, calculating to obtain a motor attitude control signal according to the orthogonal code pulse signal and the currently detected displacement signal;
And 104, controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal.
According to the motor posture control method of the posture adjustment platform, the obtained displacement state parameters of the linear switch reluctance motor in the working state are converted into the orthogonal coding pulse signals, and then the motor posture control signals are obtained through calculation according to the orthogonal coding pulse signals and the currently detected displacement signals, so that the control of the displacement posture of the linear switch reluctance motor is realized, and the posture control precision of the posture adjustment platform is improved.
The linear switch reluctance motor is a motor which generates torque by utilizing uneven rotor reluctance and generates torque by means of the 'reluctance minimum principle', namely: the "magnetic flux always closes along the path of least reluctance, thereby generating a magnetic pull, thereby forming an electromagnetic torque of a reluctance nature" and the "magnetic lines of force have the nature of trying to shorten the magnetic flux path to reduce reluctance and increase flux permeability". The reluctance of the motor varies as the rotor salient poles are aligned or offset from the centerline of the stator salient poles, because the inductance is inversely proportional to the reluctance, the phase winding inductance is greatest when the rotor salient poles are aligned with the stator salient poles centerline, the reluctance is smallest, and the phase winding inductance is smallest when the rotor groove is aligned with the stator salient poles centerline, the reluctance is greatest. Taking a three-phase 12/8 pole switched reluctance motor as an example, fig. 2 shows a schematic diagram of a one-phase circuit of the motor, wherein S1 and S2 are electronic switches, D1 and D2 are diodes, and E is a power supply. Assuming that the motor rotor is in the position shown in fig. 2, the switches S1, S2 are closed and the a-phase winding is energized, which phase is energized by the dc power source E, a radial magnetic field having OA as the axis will be established in the motor, and the magnetic flux is closed by the stator yoke, stator poles, air gaps, rotor poles, rotor yoke, etc. The magnetic force lines passing through the air gap are curved, and the magnetic resistance of the magnetic circuit is larger than that of the magnetic circuit when the axes of the magnetic poles of the stator and the rotor are coincident, so that the rotor is subjected to the action of torque generated by tangential magnetic pulling force of the curved magnetic force lines in the air gap, and the axis Oa of the magnetic pole of the rotor moves towards the axis Oa of the magnetic pole of the phase A of the stator, and is subjected to the action of torque in the direction, namely anticlockwise direction. The Oa moves to coincide with the Oa axis, the reluctance is minimal, the a phase will no longer produce torque, and the a phase should be switched on, such as the B phase, the rotor will rotate counter-clockwise another step angle. If the windings are continuously energized in the order a-B-C, respectively, the motor rotor will continuously rotate in a clockwise direction against the excitation order. Conversely, if the C-B-A phase is powered on in turn, the motor will rotate clockwise. The steering of the switched reluctance motor is independent of the current direction of the phase windings and depends only on the order in which the phase windings are energized.
The motor attitude control method of the attitude adjustment platform of the embodiment utilizes the following advantages of the linear switch reluctance motor: the efficiency is high, the energy-saving effect is good, the starting torque is large, the starting current is small, the speed regulation range is wide, the long-term operation can be realized at low speed, the frequent start and stop can be realized, the frequent forward and reverse rotation can be realized, the phase-lack and overload can still be realized, and the short circuit and the like can not be caused by the control error of the power device. The aim of improving the control precision of the gesture adjusting platform is fulfilled by controlling the linear switch reluctance motor.
In an alternative embodiment of the present invention, step 101 includes:
Step 1011, acquiring position parameters of the linear switch reluctance motor by using a position sensor;
Specifically, three hall elements are installed on the stator of the linear switch reluctance motor at positions spaced 120 degrees from each other, the permanent magnets are located on the rotor, when the rotor rotates, the permanent magnets influence the three-phase hall elements to output square wave signals with 120 degrees of phase difference and 50% of duty ratio. According to the angle between the three-phase Hall and the rotor, the position information of the motor can be divided into Hall intervals with 60 degrees of interval, and the accurate position, namely the position parameter, of the rotor can be obtained by performing linear fitting on discrete Hall positions.
Step 1012, acquiring a speed parameter of the linear switch reluctance motor by using a speed sensor;
Specifically, hall sensors are respectively installed at positions (U phase/V phase/W phase) corresponding to 3 coils of a stator of the linear switch reluctance motor, permanent magnets of a sensing rotor are used for monitoring the rotation of the rotor. Specifically, the motor rotor part is provided with 12 permanent magnets with S poles and N poles which are arranged in a crossed mode, and the Hall sensor senses the change of magnetic poles during rotation. The motor rotating speed, namely the speed parameter, can be obtained according to the change period of the Hall sensor signal, namely the period of the magnetic pole change.
In step 1013, current parameters of the linear switched reluctance motor are collected using a current sensor.
Specifically, when the current sensor is connected with a power supply or a load circuit of the linear switch reluctance motor, a magnetic field is generated in the sensor when the current passes through the current sensor, the current is measured by detecting the change of the magnetic field, and the measurement of the current sensor is generally realized by using a Hall sensor or a reluctance effect. In practical application, a proper current sensor can be selected according to rated current of the linear switch reluctance motor, and signals output by the sensor are converted into voltage or digital signals for processing and display.
In an alternative embodiment of the present invention, step 102 includes:
step 1021, preprocessing the displacement state parameter to obtain a preprocessed displacement state parameter;
and step 1022, performing code conversion on the preprocessed displacement state parameter to obtain an orthogonal code pulse signal.
Specifically, the displacement state parameter may be first preprocessed, such as amplified, filtered, or shaped, to ensure stability and accuracy of the signal, and then subjected to code conversion to obtain the quadrature encoded pulse signal. The method is beneficial to improving the accuracy of subsequent calculation and the control precision of the motor and the gesture control precision of the gesture adjusting platform.
In an alternative embodiment of the present invention, step 1022 includes:
step 10221, generating sine waves and cosine waves according to the preprocessed displacement state parameters;
Step 10222, generating quadrature encoded pulse signals according to the phase difference of the sine wave and the cosine wave.
Specifically, the preprocessed displacement state parameters are used for generating two sine waves and cosine waves with 90-degree phase difference, and the frequencies and the amplitudes of the sine waves and the cosine waves correspond to the original signals; based on the phase difference between the sine wave and the cosine wave, corresponding quadrature encoded pulse signals are generated, the width and spacing of which may represent the angle or speed of rotation.
In an alternative embodiment of the invention, an incremental photoelectric encoder may be mounted on the rotor of the motor to determine the rotational speed, position and direction of rotation of the rotor of the motor. The continuous pulse signals can be output by means of the incremental photoelectric encoder, and the current rotating speed of the motor can be obtained by calculating the output pulse signals. The incremental photoelectric encoder can provide pulse signals output by two sensors with pulse signals which are 90 degrees different, the two pulse signals are orthogonal signals, and the rotation direction of the motor can be determined through state changes of the two orthogonal signals. The orthogonal pulse signals output by the incremental photoelectric encoder can be decoded through an orthogonal encoding pulse circuit, and information such as the rotating speed, the rotating direction and the position of the motor rotor can be obtained.
The incremental photoelectric encoder is used to convert the linear shift into a pulse signal. By monitoring the number of pulses and the relative phase of the two signals, the rotational position, rotational direction and speed of the motor can be obtained. Specifically, the incremental photoelectric encoder converts the steering of the encoder into the time sequence and phase relation of A phase and B phase pulses through two photosensitive receiving pipes, and simultaneously outputs a Z phase pulse to represent zero reference bits. The distance D2 between the two photosensitive receiving pipes is equal to 1/4 period of the two photosensitive receiving pipes, and the grating distances of the incremental photoelectric encoder are respectively D0 and D1. When the incremental photoelectric encoder rotates at a constant speed, D0 in the output waveform: d1: ratio of D2 to D0 of the actual incremental photoelectric encoder: d1: the ratio of D2 is the same. If the incremental photoelectric encoder is in variable speed motion, it can be considered as a combination of a plurality of motion periods, each of which outputs a waveform of D0: d1: ratio of D2 to D0 of the actual incremental photoelectric encoder: d1: the ratio of D2 remains the same. The current output values of the A phase and the B phase are stored, and compared with the output values of the next A phase and the next B phase, the movement direction of the encoder can be obtained. Dividing the angular displacement of the encoder by the elapsed time gives the angular velocity of the encoder motion. If d0=d1 and d2=d0/2, 1/4 of the movement cycles can be used to obtain the movement direction and the displacement angle, otherwise, 1 movement cycle can be used to obtain the movement direction and the displacement angle. Thus, the positive and negative rotation of the encoder can be determined by determining the phase relationship of the A-phase and B-phase, and the zero reference bit resolution (the number of on or dark scribe lines provided per revolution of the encoder) can be obtained by the Z-phase pulse. Typically 5 to 10000 lines per revolution.
The orthogonal coding pulse circuit can decode and technology the orthogonal coding pulse A, B paths of signals generated by the photoelectric encoder fixed on the motor shaft, so that information such as the position and the speed of the motor can be obtained. The quadrature encoded pulse signals of the incremental photoelectric encoder are input to CAPI/QEPI and CAP2/QEP2 pins of the quadrature encoded pulse circuit, and a general timer is generally selected to decode and count the input quadrature pulses. In addition, in order for the quadrature encoded pulse circuit to operate properly, the universal timer must be operated in a directional up/down mode in which the quadrature encoded pulse circuit not only provides count pulses to the universal timer, but also determines its count direction. The orthogonal code pulse circuit counts the rising edge and the falling edge of the input orthogonal code pulse, so that the input orthogonal code pulse is subjected to 4 times frequency to be used as the count pulse of the universal timer, the direction detection logic of the orthogonal code pulse circuit determines which pulse sequence is advanced in phase, a direction signal is generated to be used as the direction input of the universal timer, the universal timer is increased when the motor rotates positively, and the universal timer is decreased when the motor rotates reversely.
As shown in fig. 3, a schematic diagram of the quadrature encoding pulse circuit is shown. CAP1/QEP1 and CAP2/QEP2 in the figure are input pins, T2CON [4,5], T2CON [8,9, 10], T2CON [13, 14] are timers, TCLKIN are clock pins, TDIRA is counter direction, CLK is clock signal, DIR is direction signal, and CLKOUT is output of clock signal. The quadrature encoding pulse circuit converts the pulse number transmitted by the incremental photoelectric encoder into an absolute rotor shaft mechanical position, and the absolute rotor shaft mechanical position is stored in a variable beta. By each time a cycle is adoptedChange amount of count pulse of internal timerCan obtain corresponding position incrementIn the followingThe mechanical angle of the rotation of the motor rotor in time is as follows:
;
Wherein P is the pulse count value, f (t) and Respectively representing the values of two adjacent sampling instants.
In the quadrature encoded pulse circuit, the timer will automatically flip when counting edges, will return to 0 to restart counting when counting up to 0FFFFh (all 1), and will start counting down when counting down to 0FFFFh, since the number of counted pulses is much smaller than the number of periods 0 ffh of the timer in the sampling time, there is at most one flip during the up/down counting process. As shown in fig. 4, when the timer count-up is not flipped,When the timer count-up has been turned over,At this time, the first and second electrodes are connected,. As shown in fig. 5, when the timer count-down is not flipped,When the timer count-down has been flipped,At this time。
FIG. 6 is a schematic diagram of motor speed measurement, in whichFor measuring pulse count, i.e. change，For the high frequency clock pulse count value,For the period of use, althoughIn each of the counting pulses,There is one more error but since the frequency of the clock pulses is much higher than the count pulse frequency, the error caused is negligible and therefore the rotational speed of the motor can be calculated using the following formula:
(r/min); where f is the frequency of the clock pulse.
In an alternative embodiment of the present invention, step 103 includes:
Inputting the quadrature coded pulse signals and the currently detected displacement signals into the following formula, and calculating to obtain motor attitude control signals;
;
wherein, Is a motor attitude control signal, x is a position parameter, i is a current parameter,As a function of the speed parameter,The difference between the inductance of the rotor salient pole and the stator salient pole is the inductance of the rotor salient pole and the stator salient pole.
Specifically, when the motor runs, the sensor continuously detects the displacement of the motor, namely the currently detected displacement signal, and calculates the displacement signal and the orthogonal code pulse signal together to obtain a motor attitude control signal. The motor attitude control signals comprise at least one control signal of the position, the speed, the acceleration and the track of the motor.
The method comprises the steps of setting an initial position, powering on a certain phase winding of the linear switch reluctance motor when the motor is started, aligning corresponding rotor salient poles with stator salient poles, setting a current position value to zero, dividing a stator pole pitch into a plurality of areas by taking an A alignment position as a starting point, determining which phase winding is electrified by judging the position of the A phase rotor in different areas and a positive and negative phase instruction, namely, controlling the absolute position of the linear switch reluctance motor by the relative position of the A phase rotor.
In an alternative embodiment of the present invention, step 103 includes:
Step 1031, receiving target attitude parameters;
Step 1032, calculating to obtain a motor attitude control signal according to the target attitude parameter, the orthogonal code pulse signal and the currently detected displacement signal.
Specifically, the target attitude parameter formulated by the user can be received, and the motor attitude control signal is calculated according to the target attitude parameter, the orthogonal coding pulse signal and the currently detected displacement signal, so that the actual requirements of the user can be met, and the user experience can be improved. In particular, step 1032 includes:
Step 10321, calculating to obtain a gesture deviation according to the target gesture parameter and the current detected motor gesture;
Specifically, the target attitude parameters include a target position, a target speed, etc., which are the final positions that the user wishes the motor to reach, typically expressed in terms of angles or radians. The current detected motor gesture, such as the current position, the current speed and the like of the motor, and the difference between the target gesture parameter and the current detected motor gesture is gesture deviation;
step 10322, calculating to obtain a motor attitude control signal according to the attitude deviation, the change rate of the deviation and the change trend of the deviation, wherein the formula is as follows:
。
wherein, 、、Is a constant representing proportional, derivative and integral gains, which are adapted according to the actual situation to ensure good control performance.
Wherein the rate of change of the bias is the rate of change of the attitude bias in the current and previous periods; the variation trend of the deviation is the cumulative effect of the variation over time, and can be obtained by integration.
The motor attitude control signal includes at least one control signal of a position, a speed, an acceleration, and a trajectory of the motor.
In an alternative embodiment of the present invention, controlling the displacement gesture of the linear switched reluctance motor in step 104 includes:
and controlling the position and the motion state of the linear switch reluctance motor.
Note that, the posture generally refers to a position and a direction, and thus, the displacement posture of the motor mainly includes a position, a speed, an acceleration, a track, and the like of the motor. In this embodiment, the position of the linear switched reluctance motor may be controlled by a position signal in the motor attitude control signal, and the motion state of the linear switched reluctance motor, such as start or stop, may be controlled by at least one of a speed signal, an acceleration signal, a track signal, and the like in the motor attitude control signal.
In this embodiment, the position of the linear switched reluctance motor may be controlled by a hybrid position controller, specifically by the following formulas (1) and (2):
（1）
（2）
wherein u is the terminal voltage, i is the phase current, R is the phase resistance, L is the inductance, F is the propulsive force, Is the loading force, M is the mass of the mover of the linear switch reluctance motor, D is the damping coefficient, and x is the displacement.
Under zero current excitation, the permanent magnet PM has free tooth cutting force. Magnetic potential of permanent magnetCan be expressed as:
（3）
wherein, Magnetic flux generated for the permanent magnet PM. If the magnetic field is excited by a current and in the opposite direction, it is evident that the current excited flux lines first weaken those points that are created, and then the points of the flux lines are forced along the air gap, the stator yoke, and the stator teeth. Thus, the magnetic field in the stator is enhanced, and the flux lines thus generated circulate through the stator yoke and stator teeth, the moving teeth and yoke, and the air gap. Thus, an increase in magnetic flux can be achieved. Air gapThe magnetic flux in (a) can be expressed as:
（4）
wherein, For the flux generated by the current flow,Is generated by the permanent magnet PM. The value of K describes the fraction of permanent magnet PM flux lines that successfully reach the mover by crossing the air gap. It is clear that K depends on the total reluctance, which varies with the displacement x of the moving platform. The value of K is:
（5）
neglecting magnetic saturation, one phase of the propulsive force output can be described as:
（6）
Where i is the excitation current, L is the self-inductance, It is the permanent magnet PM that produces an equivalent force of current.
According to formula (4),Can be expressed as:
（7）
By means of the embedded permanent magnets PM, it is evident that the flux density is increased, thereby enhancing the propulsive force output.
The dual control scheme allows for the bandwidth of the current control loop to be much higher than the speed or position, and the transfer function of the speed control and position control loops can be expressed as:
（8）
（9）
wherein, AndFor speed and position reference, v and x are speed and position feedback,AndThe gains of the position and velocity loops are indicated, these include P, I and D gains of the velocity loop, and P and D gains of the position loop.
PID and fuzzy PD algorithms are used for speed and position cycling using force distribution functions. Updated P and D gains Kpp and Kpd of the position controller are recursively calculated based on fuzzy logic, which can be expressed as:
（10）
Where Kpp and Kpd are the incremental P and D gains at initial gain values Kpp0 and Kpd 0. Based on the position error e and the deviation ec, a fuzzy controller is designed, and the fuzzy controller is continuously updated and modified in real time according to a fuzzy control rule meeting the control requirement. The domain of the fuzzy set is determined as e, ec: { -6-4-2 024 6}, word set is { NB NM NS ZO PS PM PB }. The corresponding linguistic variable fuzzy sets consist of negative big, negative middle, negative small, zero, positive small, median and positive big. The parameter setting rule is as follows:
(1) If e is large, the values of Kpp and Kpd should be set to relatively large and small values, respectively, in order to achieve a fast dynamic response.
(2) If e is medium, kpp can be set to a small value, kpd to a large value, and a small overshoot is obtained from the position response.
(3) As the position approaches the reference value, e becomes smaller. Kpp is small to avoid system oscillations. Meanwhile, according to the value of ec, if the value of ec is small, the value of Kpd may be large; if ec is large, the value of Kpd may be small.
According to the setting principles of Kpp and Kpd, a fuzzy rule table can be obtained, as shown in table 1, and a center average defuzzification method is adopted. The upper left table in Table 1 is e, ΔKpp\ΔKpd in order from left to right.
TABLE 1 fuzzy rule TABLE
| NB | NM | NS | ZO | PS | PM | PB | |
| NB | PB\PS | PB\PS | PM\PB | PM\PB | PS\PM | PS\PS | ZO\PS |
| NM | PB\PS | PB\PS | PM\PB | PS\PM | PS\PM | ZO\PS | ZO\ZO |
| NS | PM\ZO | PM\PS | PM\PM | PS\PM | ZO\PS | ZO\PS | ZO\ZO |
| ZO | PM\ZO | PM\PS | PS\PS | ZO\PS | PS\PS | PM\PS | PM\ZO |
| PS | ZO\ZO | ZO\PS | ZO\PS | PS\PM | PS\PM | PM\PS | PM\ZO |
| PM | ZO\ZO | ZO\PS | PS\PM | PS\PM | PM\PB | PM\PS | PB\PS |
| PB | ZO\PS | PS\PS | PM\PM | PM\PB | PM\PB | PB\PS | PB\PS |
According to the motor attitude control method of the attitude adjustment platform, the advantages of the switch reluctance motor and the traditional linear motor are combined by the linear switch reluctance motor, the linear switch reluctance motor is controlled, and as the motor rotor is directly associated with the load, a mechanical transmission mechanism is eliminated, the loss is reduced, the cost is reduced, and the aim of improving the control precision of the attitude adjustment platform is fulfilled.
As shown in fig. 7, an embodiment of the present invention provides a motor posture control device 700 of a posture adjustment platform, including:
the acquisition module 701 is used for acquiring displacement state parameters when the linear switch reluctance motor is in a working state;
The conversion module 702 is configured to perform code conversion on the displacement state parameter to obtain an orthogonal coded pulse signal;
a calculating module 703, configured to calculate a motor attitude control signal according to the quadrature encoded pulse signal and the currently detected displacement signal;
and the control module 704 is used for controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal.
Optionally, obtaining a displacement state parameter of the linear switched reluctance motor when the linear switched reluctance motor is in a working state includes:
collecting position parameters of the linear switch reluctance motor by using a position sensor;
acquiring a speed parameter of the linear switch reluctance motor by using a speed sensor;
and collecting current parameters of the linear switch reluctance motor by using a current sensor.
Optionally, performing code conversion on the displacement state parameter to obtain an orthogonal code pulse signal, including:
preprocessing the displacement state parameters to obtain preprocessed displacement state parameters;
and performing code conversion on the preprocessed displacement state parameters to obtain orthogonal code pulse signals.
Optionally, performing code conversion on the preprocessed displacement state parameter to obtain an orthogonal coded pulse signal, including:
generating sine waves and cosine waves according to the preprocessed displacement state parameters;
And generating a quadrature code pulse signal according to the phase difference of the sine wave and the cosine wave.
Optionally, according to the quadrature encoded pulse signal and the currently detected displacement signal, a motor attitude control signal is calculated, including:
Inputting the quadrature coded pulse signals and the currently detected displacement signals into the following formula, and calculating to obtain motor attitude control signals;
;
wherein, Is a motor attitude control signal, x is a position parameter, i is a current parameter,As a function of the speed parameter,The difference between the inductance of the rotor salient pole and the stator salient pole is the inductance of the rotor salient pole and the stator salient pole.
Optionally, according to the quadrature encoded pulse signal and the currently detected displacement signal, a motor attitude control signal is calculated, including:
Receiving a target attitude parameter;
and calculating to obtain a motor attitude control signal according to the target attitude parameter, the orthogonal coding pulse signal and the currently detected displacement signal.
Optionally, controlling the displacement gesture of the linear switch reluctance motor includes:
and controlling the position and the motion state of the linear switch reluctance motor.
According to the motor posture control device of the posture adjustment platform, the obtained displacement state parameters of the linear switch reluctance motor in the working state are converted into the orthogonal coding pulse signals, and the motor posture control signals are obtained through calculation according to the orthogonal coding pulse signals and the currently detected displacement signals, so that the control of the displacement posture of the linear switch reluctance motor is realized, the posture control precision of the posture adjustment platform is improved, and the motor posture control device has the advantages of easiness in realization and low cost.
It should be noted that, the device is a device corresponding to the above method, and all implementation manners in the above method embodiments are applicable to the embodiment of the device, so that the same technical effects can be achieved. In this embodiment, details are not described again.
The embodiment of the invention also provides a computing device, which comprises: a processor, a memory storing a computer program which, when executed by the processor, performs a method as in any of the above embodiments. All the implementation manners in the method embodiment are applicable to the embodiment of the device, and the same technical effect can be achieved. In this embodiment, details are not described again.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon instructions which, when run on a computer, cause the computer to perform a method according to any of the above embodiments. All the implementation manners in the method embodiment are applicable to the embodiment of the device, and the same technical effect can be achieved. In this embodiment, details are not described again.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (10)
1. The motor attitude control method of the attitude adjustment platform is characterized by comprising the following steps:
acquiring displacement state parameters of the linear switch reluctance motor in a working state;
Performing code conversion on the displacement state parameters to obtain orthogonal code pulse signals;
calculating to obtain a motor attitude control signal according to the orthogonal coding pulse signal and the currently detected displacement signal;
and controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal.
2. The motor attitude control method of an attitude adjustment platform according to claim 1, characterized by obtaining a displacement state parameter when the linear switched reluctance motor is in an operating state, comprising:
collecting position parameters of the linear switch reluctance motor by using a position sensor;
acquiring a speed parameter of the linear switch reluctance motor by using a speed sensor;
and collecting current parameters of the linear switch reluctance motor by using a current sensor.
3. The motor attitude control method of an attitude adjustment platform according to claim 2, characterized in that the code conversion is performed on the displacement state parameter to obtain an orthogonal code pulse signal, comprising:
preprocessing the displacement state parameters to obtain preprocessed displacement state parameters;
and performing code conversion on the preprocessed displacement state parameters to obtain orthogonal code pulse signals.
4. The motor attitude control method of the attitude adjustment platform according to claim 3, characterized by performing code conversion on the preprocessed displacement state parameters to obtain orthogonal code pulse signals, comprising:
generating sine waves and cosine waves according to the preprocessed displacement state parameters;
And generating a quadrature code pulse signal according to the phase difference of the sine wave and the cosine wave.
5. The motor attitude control method of the attitude adjustment platform according to claim 2, characterized in that the motor attitude control signal is calculated according to the orthogonally encoded pulse signal and the currently detected displacement signal, comprising:
Inputting the quadrature coded pulse signals and the currently detected displacement signals into the following formula, and calculating to obtain motor attitude control signals;
;
wherein, Is a motor attitude control signal, x is a position parameter, i is a current parameter,/>Is a speed parameter,/>The difference between the inductance of the rotor salient pole and the stator salient pole is the inductance of the rotor salient pole and the stator salient pole.
6. The motor attitude control method of the attitude adjustment platform according to claim 1, characterized in that the motor attitude control signal is calculated according to the orthogonally encoded pulse signal and the currently detected displacement signal, comprising:
Receiving a target attitude parameter;
and calculating to obtain a motor attitude control signal according to the target attitude parameter, the orthogonal coding pulse signal and the currently detected displacement signal.
7. The motor attitude control method of an attitude adjustment platform according to claim 1, characterized by controlling a displacement attitude of the linear switched reluctance motor, comprising:
and controlling the position and the motion state of the linear switch reluctance motor.
8. The utility model provides a motor gesture controlling means of accent appearance platform which characterized in that includes:
the acquisition module is used for acquiring displacement state parameters when the linear switch reluctance motor is in a working state;
the conversion module is used for carrying out code conversion on the displacement state parameters to obtain orthogonal code pulse signals;
the calculation module is used for calculating and obtaining a motor attitude control signal according to the orthogonal coding pulse signal and the currently detected displacement signal;
and the control module is used for controlling the displacement posture of the linear switch reluctance motor according to the motor posture control signal.
9. A computing device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method of any one of claims 1 to 7.
10. A computer readable storage medium storing instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 7.
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