CN206601628U - Commanding officer position finder bidimensional turntable following control system based on stepper drive - Google Patents
Commanding officer position finder bidimensional turntable following control system based on stepper drive Download PDFInfo
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- CN206601628U CN206601628U CN201720352196.XU CN201720352196U CN206601628U CN 206601628 U CN206601628 U CN 206601628U CN 201720352196 U CN201720352196 U CN 201720352196U CN 206601628 U CN206601628 U CN 206601628U
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Abstract
The utility model is a kind of commanding officer position finder bidimensional turntable following control system based on stepper drive, including motion controller, motion controller receives host computer following position and given, orientation, height control instruction signal are produced respectively orientation stepper motor driver, height stepper motor driver are transferred to by the connection cable between orientation stepper motor driver, height stepper motor driver, complete the position control of orientation stepper motor, height stepper motor；By the control for frequency variation being stepper motor speed variable quantity, commanding officer position finder compliant platform is set to avoid velocity jump and sudden change of acceleration in the case of Unknown worm from causing the impact to commanding officer position finder and the step-out problem of driving system of stepping motor, realize it is relatively simple, while based on the hardware structure be very easy to realize more plurality of stepping motors following position system control.
Description
Technical field
The present invention relates to the commanding officer position finder bidimensional turntable following control system based on stepper drive and control method, belong to servo-actuated
Control system technical field.
Background technology
Commanding officer position finder is a kind of optical instrument to sky observation, and commanding officer position finder is arranged on bidimensional turntable, aerial target is realized
The functions such as arrest, identification and instruction.
The general principle of the drive system using step control is to send pulse to stepper motor driver, and the quantity correspondence of pulse is walked
The angle position of stepper motor, the rotating speed of the frequency correspondence stepper motor of pulse, the drive system using step is with respect to servo-drive system, servo electricity
Feedback control is realized by installing rotary encoder inside machine, control accuracy is high, but cost is higher.Driving system of stepping motor
It is a kind of opened loop control, thus line is simple, cost is low.Stepper motor can reach higher precision using technology is segmented, weight
Multiple precision is high, has the disadvantage to there may be step-out phenomenon.
Stepper motor driver system is commonly used to be known a priori by the positioning control system and speed of run location track
Control system, can carry out trajectory planning by appropriate method, prevent stepper motor from step-out phenomenon, such as Chinese patent Shen occur
Please number：CN201210422712.3, the applying date：On October 30th, 2012, patent name is：A kind of control system of stepper motor
And control method, the invention is related to the control system and control method of a kind of stepper motor, using exponential type acceleration and deceleration curves, control
Stepper motor positioning processed, this is the method that current step motor control is more generally used.
Commanding officer position finder Stellungsservosteuerung is because its given position input signal is unknown in advance and changes over time, it is difficult to thing
First motion path is planned, while the compliant platform for carrying the optical device of commanding officer position finder should avoid angular acceleration mutation from causing
The impact of optical device, therefore conventional method for controlling stepping motor is difficult to meet application demand.
The content of the invention
In order to solve above-mentioned deficiency, the invention provides the position following control system based on stepper drive and controlling party
Method.
The technical solution used in the present invention is：
The present invention is a kind of commanding officer position finder bidimensional turntable following control system based on stepper drive, including host computer interface,
Motion controller, orientation stepper motor driver, orientation stepper motor, orientation reductor, height stepper motor driver, height
Stepper motor, height reductor, servo-actuated turntable, commanding officer position finder etc., motion controller receives host computer following position and given, and produces respectively
Raw orientation, height control instruction signal pass through the connection between orientation stepper motor driver, height stepper motor driver
Cable transmission completes orientation stepper motor, height stepper motor to orientation stepper motor driver, height stepper motor driver
Position control；Orientation stepper motor output shaft, height stepper motor output shaft input rotating shaft, height with orientation reductor respectively
Reductor input rotating shaft is connected, and drives orientation reductor, height reductor to rotate；Orientation speed reducer output shaft, height reductor
Output shaft orientation respectively with servo-actuated turntable, height rotating shaft are connected, and the servo-actuated turntable bidimensional of control is rotated, and commanding officer position finder is arranged on servo-actuated
On turntable, servo-actuated turntable is followed to rotate；The control signal shape of the orientation stepper motor driver, height stepper motor driver
Formula is rotation direction signal, frequency signal.
Further improvement of the present invention is：The motion controller includes microprocessor（This example selection meaning method is partly led
Body company STM32F103 series）And PLD (this example selects the EPM570 of altera corp) etc.；It is described micro-
The resource that processor is used includes fieldbus, timer one, timer two, timer three, common output mouth one, common output
Mouth two, data/address bus, address bus etc.；The PLD realizes that function includes forward-backward counter one, reversible counting
Device two, orientation maximum, height maximum etc..Described timer one is used for the side for producing control azimuth stepper motor driver
Digit pulse output signal, while being connected to the counting input end of the forward-backward counter one of PLD by track；
Common output mouthful one is used to produce azimuth direction output signal, while being connected to the reversible of PLD by track
The counting direction input of counter one；Described timer two is used for the height arteries and veins for producing control height stepper motor driver
Output signal is rushed, while being connected to the counting input end of the forward-backward counter two of PLD by track；Commonly
Delivery outlet two is used to produce height direction output signal, while being connected to the reversible counting of PLD by track
The counting direction input of device two；Microprocessor reads forward-backward counter one, reversible counting by data/address bus and address bus
The count value of device two；Microprocessor receives host computer orientation, the following position of height by fieldbus and upper machine communication
Value；Connector and orientation driving stepper motor phase that orientation pulse output signals, azimuth direction output signal pass through microprocessor
Even, control azimuth stepper motor is rotated；The connector that height pulse output signals, height direction output signal pass through microprocessor
It is connected with height driving stepper motor, control height stepper motor is rotated；Described orientation maximum is used to limit reversible counting
The count maximum of device one；Described height maximum is used for the count maximum for limiting forward-backward counter two.
Further improvement of the present invention is：The method of counting of forward-backward counter one in PLD is to work as orientation
During pulse output signals rising edge, if azimuth direction output signal is high level, the counting of forward-backward counter one is first determined whether
Whether value reaches orientation maximum, such as reaches orientation maximum, and the count value zero setting of forward-backward counter one is such as not reaching to orientation
Maximum, then count up；If azimuth direction output signal be low level, first determine whether forward-backward counter one count value whether
It is zero, is such as zero, the count value of forward-backward counter one is set to orientation maximum, is such as not zero, then subtracts counting；Orientation maximum etc.
In orientation reductor speed 1 is subtracted than being multiplied by driving system of stepping motor high-subdividing number.
Further improvement of the present invention is：Timer three is used to produce Interruption in the microprocessor, in timing
The disconnected cycle generally may be selected to beMillisecond, in this Interruption service routine, completes the control of orientation following position, height
Following position controls computing
Further improvement of the present invention is：The orientation following position control includes given position, position correction, frequency
Control function, direction output signal, rate-adaptive pacemaker, position feedback etc.；Described position is given to receive upper by fieldbus
Machine orientation following position set-point, position set-point needs to be converted into number of pulses, described position correction according to actual conditions
The position such as adoption rate integral controller or proportional controller Corrective control algorithm, realizes orientation, the high and low position of servo-actuated turntable
Control；Orientation stepper motor velocity of rotation value is expected in position correction output, expects orientation stepper motor velocity of rotation value and side
Digit pulse frequency is linear, it is expected that orientation stepper motor velocity of rotation value is transferred to voltage control functions；FREQUENCY CONTROL letter
Number output produces orientation pulse output signals, while voltage control functions output control orientation to timer one by timer one
Direction output signal；Described position feedback is that the count value of forward-backward counter one is read by data/address bus and address bus,
Described height following position control is identical with orientation following position control principle, repeats no more.
Described voltage control functions are used to be controlled the output frequency that position is controlled, the servo-actuated turntable orientation of realization,
Height even running.
Described voltage control functions computational methods and step：
1) set the corresponding pulse frequency of expectation orientation stepper motor velocity of rotation value as（Position correction output valve）, last time
Sampling period reality output pulse frequency is（Initial value be 0）；Calculate desired output frequency incrementSuch as formula（1）,（The angular acceleration of physical significance correspondence orientation stepper motor）；
（1）
2) according to formula（2）To formula（1）Result of calculation enter row constraint calculating：
Formula（2）In：
--- sampling period-last time actual pulse frequency increment；
----commanding officer position finder is servo-actuated the maximum variable quantity of operation angular acceleration of turret systems（Corresponding pulse frequency becomes
The variable quantity of change amount）, this value is determined using not damaging commanding officer position finder as principle test in systems in practice, is constant；
Formula（2）InFor the variable quantity of angular acceleration, formula（2）The variable quantity of angular acceleration is limited, i.e. limitation step
Stepper motor angular acceleration is mutated the impact to commanding officer position finder；
3) to prevent step out of stepping motor, to according to formula（3）It is rightFurther constraint is calculated,
(3)
Formula（3）In,The corresponding pulse frequency variable quantity of maximum angular acceleration that turntable allows is servo-actuated for orientation, according to reality
Border system is determined, is constant；
4) reality output pulse frequencyAccording to formula（4）Calculate；
Formula（4）In,For the peak frequency of orientation pulse output signals, the maximum speed of orientation stepper motor is corresponded to,
Determined according to real system, be constant.
If 5), common output mouthful one is set to high level, common output mouthful one is otherwise set to low level；
6) more new variables：；More new variables：；
7) takeAbsolute value is transferred to timer one, and the orientation pulse output signals of respective frequencies are produced by timer one.
8) this sampling period calculates and terminated, and next sampling period is from step（1）Start to perform.
The beneficial effect that the present invention is reached：
（1）, the present invention system by be to frequency variation stepper motor speed variable quantity control, make commanding officer position finder with
Moving platform avoids in the case of Unknown worm velocity jump and sudden change of acceleration from causing impact to commanding officer position finder and stepper motor to drive
The step-out problem of dynamic system；
（2）, the present invention system be combined by using microprocessor and PLD, utilize FPGA
Device record output umber of pulse is fed back as position, and the control method for being servo-actuated turntable is similar to generic servo system, realizes more
Simplicity, while being very easy to realize the control of the following position system of more plurality of stepping motors based on the hardware structure.
Brief description of the drawings
Fig. 1 is the commanding officer position finder bidimensional turntable following control system composition schematic diagram based on stepper drive of the present invention.
Fig. 2 is the motion controller composition schematic diagram of the present invention.
Fig. 3 is the control algolithm composition schematic diagram of timer three in microprocessor of the invention.
Fig. 4 is the orientation following position control algolithm composition schematic diagram of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in commanding officer position finder bidimensional turntable following control system composition schematic diagrams of the Fig. 1 based on stepper drive, the present invention is
A kind of commanding officer position finder bidimensional turntable following control system based on stepper drive, including host computer interface, motion controller, orientation step
Stepper motor driver, orientation stepper motor, orientation reductor, height stepper motor driver, height stepper motor, height slow down
Machine, servo-actuated turntable, commanding officer position finder etc..Motion controller receives host computer following position and given, and orientation, height control are produced respectively and is referred to
Signal is made to be transferred to orientation stepping by the connection cable between orientation stepper motor driver, height stepper motor driver
Motor driver, height stepper motor driver, complete the position control of orientation stepper motor, height stepper motor；Orientation is walked
Stepper motor output shaft, height stepper motor output shaft input rotating shaft phase with orientation reductor input rotating shaft, height reductor respectively
Even, orientation reductor, height reductor is driven to rotate；Orientation speed reducer output shaft, height speed reducer output shaft are respectively with being servo-actuated
The orientation of turntable, height rotating shaft are connected, and the servo-actuated turntable bidimensional of control is rotated, and commanding officer position finder is arranged on servo-actuated turntable, is followed servo-actuated
Turntable is rotated；The orientation stepper motor driver, the control signal form of height stepper motor driver are believed for rotation direction
Number, frequency signal.
As shown in Fig. 2 motion controller composition schematic diagrams, the motion controller includes microprocessor and FPGA
Device etc.；The resource that the microprocessor is used includes fieldbus, timer one, timer two, timer three, common output
Mouth one, common output mouth two, data/address bus, address bus etc.；The PLD realizes that function includes reversible counting
Device one, forward-backward counter two, orientation maximum, height maximum etc..Described timer one is used to produce control azimuth stepping
The orientation pulse output signals of motor driver, while being connected to the forward-backward counter one of PLD by track
Counting input end；Common output mouthful one is used to produce azimuth direction output signal, while being connected to by track programmable
The counting direction input of the forward-backward counter one of logical device；Described timer two is used to produce control height stepper motor
The height pulse output signals of driver, while being connected to the meter of the forward-backward counter two of PLD by track
Number input；Common output mouthful two is used to produce height direction output signal, while being connected to FPGA by track
The counting direction input of the forward-backward counter two of device；Microprocessor reads reversible counting by data/address bus and address bus
The count value of device one, forward-backward counter two；Microprocessor receives host computer orientation, height by fieldbus and upper machine communication
Low following position value；Orientation pulse output signals, azimuth direction output signal are walked by the connector and orientation of microprocessor
Stepper motor driving is connected, and control azimuth stepper motor is rotated；Height pulse output signals, height direction output signal pass through micro- place
The connector of reason device is connected with height driving stepper motor, and control height stepper motor is rotated；Described orientation maximum is used for
Limit the count maximum of forward-backward counter one；The counting that described height maximum is used to limit forward-backward counter two is maximum
Value.
The method of counting of forward-backward counter one in the PLD is to work as orientation pulse output signals rising edge
When, if azimuth direction output signal is high level, first determine whether whether the count value of forward-backward counter one reaches that orientation is maximum
Value, such as reaches orientation maximum, the count value zero setting of forward-backward counter one is such as not reaching to orientation maximum, then counted up；Such as
Fruit azimuth direction output signal is low level, and whether the count value for first determining whether forward-backward counter one is zero, is such as zero, reversible meter
The count value of number device one is set to orientation maximum, is such as not zero, then subtracts counting；Orientation maximum is equal to the fast ratio of orientation reductor and multiplied
With driving system of stepping motor high-subdividing number subtract orientation driving system of stepping motor in 1, this example be subdivided into 1200 pulses/turn,
Orientation reductor speed reducing ratio 10, then orientation maximum be equal to；Described FPGA
The method of counting of forward-backward counter two in device is identical with the method for forward-backward counter two.
As described in Figure 3 in microprocessor shown in the control algolithm composition schematic diagram of timer three, the timer three is used to produce
Raw Interruption, timed interrupt cycle generally may be selected to beMillisecond, Interruption is controlled with conventional servo system position
Method is identical, in this Interruption service routine, completes the control fortune of the control of orientation following position, the control of height following position
Calculate；
Such as Fig. 4 to state shown in orientation following position control algolithm composition schematic diagram, the orientation following position control includes
Position is given, position correction, voltage control functions, direction output signal, rate-adaptive pacemaker, position feedback etc.；Described position is given
Surely host computer orientation following position set-point is received by fieldbus, position set-point needs to be converted into arteries and veins according to actual conditions
Rush in quantity, this application example, driving system of stepping motor is subdivided into 1200 pulses/turn, orientation reductor speed reducing ratio 10, then position
Put set-pointThe individual servo-actuated turntable of pulse correspondence rotates 360 degree；Described position correction use than
Example integral controller or proportional controller etc. position Corrective control algorithm, realizes the position of orientation control of servo-actuated turntable；Position school
Positive output is to expect orientation stepper motor velocity of rotation value, expect orientation stepper motor velocity of rotation value and orientation pulse frequency into
Linear relationship, expects that orientation stepper motor velocity of rotation value is transferred to voltage control functions；Voltage control functions are exported to timing
Device one, orientation pulse output signals are produced by timer one, while voltage control functions output control azimuth direction output signal；
Described position feedback is that the count value of forward-backward counter one is read by data/address bus and address bus.Described height is servo-actuated
Position control is identical with orientation following position control principle, repeats no more.
Described voltage control functions, computational methods and step are as follows：
1) set the corresponding pulse frequency of expectation orientation stepper motor velocity of rotation value as（Position correction output valve）, last time
Sampling period reality output pulse frequency is（Initial value be 0）；Calculate desired output frequency incrementSuch as formula（1）,（The angular acceleration of physical significance correspondence orientation stepper motor）；
（1）
2) according to formula（2）To formula（1）Result of calculationEnter row constraint calculating：
Formula（2）In：
--- sampling period-last time actual pulse frequency increment；
----commanding officer position finder is servo-actuated the maximum variable quantity of operation angular acceleration of turret systems（Corresponding pulse frequency becomes
The variable quantity of change amount）, this value is determined using not damaging commanding officer position finder as principle test in systems in practice, is constant；
Formula（2）InFor the variable quantity of angular acceleration, formula（2）The variable quantity of angular acceleration is limited, i.e. limitation step
Stepper motor angular acceleration is mutated the impact to commanding officer position finder；
3) to prevent step out of stepping motor, to according to formula（3）It is rightFurther constraint is calculated,
(3)
Formula（3）In,The corresponding pulse frequency variable quantity of maximum angular acceleration that turntable allows is servo-actuated for orientation, according to reality
Border system is determined, is constant；
4) reality output pulse frequencyAccording to formula（4）Calculate；
Formula（4）In,For the peak frequency of orientation pulse output signals, the maximum speed of orientation stepper motor is corresponded to,
Determined according to real system, be constant.
If 5), common output mouthful one is set to high level, common output mouthful one is otherwise set to low level；
6) more new variables：；More new variables：；
7) takeAbsolute value is transferred to timer one, and the orientation pulse output signals of respective frequencies are produced by timer one.
8) this sampling period calculates and terminated, and next sampling period is from step（1）Start to perform.
Claims (4)
1. the commanding officer position finder bidimensional turntable following control system based on stepper drive, it is characterised in that：Including host computer interface, motion
Controller, orientation stepper motor driver, orientation stepper motor, orientation reductor, height stepper motor driver, height stepping
Motor, height reductor, servo-actuated turntable, commanding officer position finder, motion controller receive host computer following position and given, respectively generation side
Position, height control instruction signal pass through the connection cable between orientation stepper motor driver, height stepper motor driver
Orientation stepper motor driver, height stepper motor driver are transferred to, orientation stepper motor, the position of height stepper motor is completed
Put control；Orientation stepper motor output shaft, height stepper motor output shaft slow down with orientation reductor input rotating shaft, height respectively
Machine input rotating shaft is connected, and drives orientation reductor, height reductor to rotate, orientation speed reducer output shaft, the output of height reductor
Axle orientation respectively with servo-actuated turntable, height rotating shaft are connected, and the servo-actuated turntable bidimensional of control is rotated, and commanding officer position finder is arranged on servo-actuated turntable
On, follow servo-actuated turntable to rotate, the orientation stepper motor driver, the control signal form of height stepper motor driver are
Rotation direction signal, frequency signal.
2. the motion controller of the commanding officer position finder bidimensional turntable following control system based on stepper drive according to claim 1,
It is characterized in that：The motion controller includes microprocessor and PLD；The resource that the microprocessor is used
Including fieldbus, timer one, timer two, timer three, common output mouthful one, common output mouthful two, data/address bus,
Location bus；The PLD realizes that function includes forward-backward counter one, forward-backward counter two, orientation maximum, height
Low maximum, the timer one is used for the orientation pulse output signals for producing control azimuth stepper motor driver, leads to simultaneously
The counting input end that track is connected to the forward-backward counter one of PLD is crossed, common output mouthful one is used for the side of generation
Position direction output signal, while being connected to the counting direction input of the forward-backward counter one of PLD by track
End, the timer two is used for the height pulse output signals for producing control height stepper motor driver, while passing through printing
Line is connected to the counting input end of the forward-backward counter two of PLD, and common output mouthful two is used to produce height direction
Output signal, while being connected to the counting direction input of the forward-backward counter two of PLD by track；It is micro-
Processor reads the count value of forward-backward counter one, forward-backward counter two by data/address bus and address bus, and microprocessor leads to
Fieldbus and upper machine communication are crossed, host computer orientation, the following position value of height, orientation pulse output signals, orientation is received
Direction output signal is connected by the connector of microprocessor with orientation driving stepper motor, and control azimuth stepper motor is rotated,
Height pulse output signals, height direction output signal are connected by the connector of microprocessor with height driving stepper motor,
Height stepper motor is controlled to rotate, the orientation maximum is used for the count maximum for limiting forward-backward counter one, the height
Maximum is used for the count maximum for limiting forward-backward counter two.
3. the motion controller of the commanding officer position finder bidimensional turntable following control system based on stepper drive according to claim 2,
It is characterized in that：Timer three is used to produce Interruption in the microprocessor, and timed interrupt cycle selection is 4-20 milliseconds,
Complete the control of orientation following position, the control computing of height following position control.
4. the motion controller of the commanding officer position finder bidimensional turntable following control system based on stepper drive according to claim 3,
It is characterized in that：The orientation following position control includes given position, position correction, voltage control functions, direction output letter
Number, rate-adaptive pacemaker, position feedback, the position is given to pass through fieldbus reception host computer orientation following position set-point, position
Putting set-point is needed to be converted into number of pulses according to actual conditions, and the position correction adoption rate integral controller or ratio are adjusted
Device position correction control algolithm is saved, the position of orientation control of servo-actuated turntable is realized, orientation stepping electricity is expected in position correction output
Machine velocity of rotation value, expects that orientation stepper motor velocity of rotation value and orientation pulse frequency are linear, expects orientation stepping
Motor rotation speed value is transferred to voltage control functions, and voltage control functions are exported to timer one, by the side of generation of timer one
Digit pulse output signal, while voltage control functions output control azimuth direction output signal, the position feedback is by number
The count value of forward-backward counter one is read according to bus and address bus.
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| CN106774459A (en) * | 2017-04-06 | 2017-05-31 | 南京工程学院 | Commanding officer position finder bidimensional turntable following control system and control method based on stepper drive |
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| CN106774459A (en) * | 2017-04-06 | 2017-05-31 | 南京工程学院 | Commanding officer position finder bidimensional turntable following control system and control method based on stepper drive |
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Effective date of registration: 20211111 Address after: Room 502, No. 238, Sanpailou street, Gulou District, Nanjing, Jiangsu 210000 Patentee after: Nanjing Xinxuan Electronic System Engineering Co., Ltd Address before: 211167 No. 1, Hongjing Avenue, Jiangning Science Park, Nanjing, Jiangsu Patentee before: Nanjing Institute of Technology |
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