CN216118472U - High-precision master control tracking control circuit of rotary table - Google Patents
High-precision master control tracking control circuit of rotary table Download PDFInfo
- Publication number
- CN216118472U CN216118472U CN202123418974.6U CN202123418974U CN216118472U CN 216118472 U CN216118472 U CN 216118472U CN 202123418974 U CN202123418974 U CN 202123418974U CN 216118472 U CN216118472 U CN 216118472U
- Authority
- CN
- China
- Prior art keywords
- module
- phase
- input end
- output end
- acquisition module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The utility model provides a high-precision main control tracking control circuit of a turntable, which solves the defects of poor environmental adaptability, poor control precision and the like of the existing tracking control circuit, wherein a DSP chip and an FPGA chip are connected with each other in the circuit; the output end of the AD conversion module is connected with the FPGA chip, the input end of the AD conversion module is respectively connected with the output end of the phase current acquisition module and the output end of the phase voltage acquisition module, and the input end of the phase current acquisition module is used for acquiring phase current output by the three-phase bridge module in real time; the input end of the phase voltage acquisition module is used for acquiring the motor phase voltage output by the three-phase bridge module in real time; the input end of the PWM isolation driving module is connected with the DSP, and the output end of the PWM isolation driving module is connected with the input end of the three-phase bridge module; the input end of the overcurrent protection module is connected with the output end of the phase current acquisition module, and the output end of the overcurrent protection module is connected with the input end of the PWM isolation driving module.
Description
Technical Field
The utility model relates to a circuit structure, in particular to a high-precision main control tracking control circuit of a rotary table.
Background
High resolution imaging has become a trend and is widely used in military and civilian applications. The tracking turntable is used as carrying equipment of an imaging system, the speed stability of the tracking turntable is the basis of high-resolution stable imaging, so that the tracking control of the turntable is very important, particularly in the aerospace field, the tracking control system has higher requirements on the volume and weight, most of the existing tracking control systems comprise a motor driving board, a sensor collecting board, a secondary power board, a master control tracking circuit and the like, and the tracking control system has the defects of larger volume, larger weight, large power consumption and the like during actual use.
Based on the above problems, chinese patent, publication No.: CN112987800A discloses "a digital swing mirror control system", its control circuit that adopts DSP + FPGA as the master control combines full-bridge circuit drive voice coil motor work, has overcome current system bulk greatly, and weight is great, defects such as consumption are big, but this system still has following problem:
one, among this control system, the pendulum mirror adopts the drive of voice coil motor, consequently gather the electric eddy current sensor through AD in this system and control the swing of voice coil motor, but current revolving stage adopts the motor form more, for example direct current rotating electrical machines, PMSM and brushless motor, these motors need prepare the encoder when control and carry out the collection of motor signal, AD need gather the encoder signal and give the master control part, thereby realize feedback control, but when some vibrations are great, or under the high-speed rotatory environment, the mode that AD need gather the encoder signal is no longer suitable, thereby lead to this system environment adaptability poor.
In the control system, the driving part formed by the full-bridge module and the PWM driving module can interfere with the operation part formed by the DSP and the FPGA, so that the whole control precision can be influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a high-precision main control tracking control circuit of a rotary table, aiming at solving the defects of poor environmental adaptability, poor control precision and the like of the traditional tracking control circuit.
The specific technical scheme of the utility model is as follows:
a high-precision main control tracking control circuit of a rotary table comprises a DSP chip, an FPGA chip, an AD conversion module, a DCDC module, a bus switch, a three-phase bridge module, a PWM isolation driving module, a phase voltage acquisition module, a phase current acquisition module and an overcurrent protection module;
the DSP chip is connected with the FPGA chip and is communicated with the FPGA chip;
the output end of the AD conversion module is connected with the FPGA chip, the current input end of the AD conversion module is connected with the output end of the phase current acquisition module, the voltage input end of the AD conversion module is connected with the output end of the phase voltage acquisition module, and the input end of the phase current acquisition module is used for acquiring phase current output by the three-phase bridge module in real time; the input end of the phase voltage acquisition module is used for acquiring phase voltages output by the three-phase bridge module in real time;
the DCDC module is used for receiving 28V rated voltage input from the outside and providing corresponding working voltage for each module;
the bus switch is connected with the three-phase bridge module and used for taking the received 28V rated voltage as the bus voltage of the controlled motor;
the input end of the PWM isolation driving module is connected with the DSP, and the output end of the PWM isolation driving module is connected with the input end of the three-phase bridge module;
the input end of the overcurrent protection module is connected with the output end of the phase current acquisition module, and the output end of the overcurrent protection module is connected with the input end of the PWM isolation driving module.
Preferably, the phase voltage acquisition module comprises a phase voltage sampling circuit, a transformer isolation circuit and a first low-pass filter circuit which are electrically connected in sequence; the input end of the phase voltage acquisition circuit is connected with the output end of the three-phase bridge module, and the output end of the first low-pass filter circuit is connected with the input end of the AD conversion module.
Preferably, the phase current acquisition module comprises a hall current acquisition circuit and a second low-pass filter circuit which are electrically connected in sequence; the input end of the Hall current acquisition circuit is connected with the output end of the three-phase bridge module, and the output end of the second low-pass filter circuit is connected with the input end of the AD conversion module.
Preferably, the DCDC module has the external dimension of 50.8mm multiplied by 11.4mm and the power of 20W.
Preferably, the three-phase bridge module is composed of six N-channel MOSFETs.
Preferably, the three-phase bridge module, the PWM isolation driving module, the phase current collecting module and the overcurrent protection module are all two.
The utility model has the following beneficial effects:
1. the high-speed optical coupler type PWM isolation driving module is combined with the three-phase bridge module to form a driving part of the control circuit, so that the complete isolation of an operation part formed by a DSP + FPGA and the driving part is realized, the anti-interference capability and the control precision of the system are improved, and meanwhile, the dual-loop feedback of the phase voltage acquisition module and the phase current acquisition module is adopted, so that the acquisition of motor signals when a sensor and an encoder cannot be installed in a special environment is met, the system can be suitable for the control of all motors in any environment, and the adaptability is greatly improved.
2. The phase voltage acquisition module adopts the transformer isolation circuit, and the phase current acquisition module adopts the Hall current acquisition circuit, so that the anti-interference capability and the control precision of the system are further improved.
3. The utility model is double-loop feedback of the phase voltage acquisition module and the phase current acquisition module, the phase voltage acquisition module acquires the phase voltage of the motor operation in real time, and the phase voltage acquisition module and the phase current acquisition module acquire the phase current of the motor operation in real time to carry out operation processing, thereby realizing control without a position sensor and reducing the system cost.
4. The utility model adopts DSP to realize control algorithm and FPGA to finish external communication, the combination of the DSP and the FPGA is used as a control core, and the DCDC module is arranged, so that no separate secondary power panel is needed, and the utility model has the advantages of small volume, light weight, low power and the like, and can be widely applied to commercial projects.
Drawings
Fig. 1 is a schematic diagram of a structure of a master tracking control circuit.
Fig. 2 is a circuit configuration diagram of a three-phase bridge module.
Fig. 3 is a schematic diagram of phase voltage acquisition.
Fig. 4 is a schematic diagram of phase current acquisition.
Fig. 5 is an operation schematic diagram of overcurrent protection.
FIG. 6 is a schematic diagram of the FPGA chip communicating with the outside.
Fig. 7 is a schematic diagram of the master tracking control circuit communicating with the outside.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanying figures and detailed description thereof are described in detail below, it being understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
The embodiment provides a specific structure of a high-precision master control tracking control circuit of a turntable, and the structure is shown in fig. 1 and mainly comprises the following functional modules: the device comprises a DSP chip, an FPGA chip, an AD conversion module, a DCDC module, a bus switch, a three-phase bridge module, a PWM isolation driving module, a phase voltage acquisition module, a phase current acquisition module and an overcurrent protection module;
the DSP chip and the FPGA chip form an operation part; the DCDC module and the bus switch form a power supply part; the three-phase bridge module and the PWM isolation driving module form a driving part; the electrical connection relationship among the modules is as follows:
the DSP chip is connected with the FPGA chip and is communicated with the FPGA chip;
the output end of the AD conversion module is connected with the FPGA chip, the current input end of the AD conversion module is connected with the output end of the phase current acquisition module, the voltage input end of the AD conversion module is connected with the output end of the phase voltage acquisition module, and the input end of the phase current acquisition module is used for acquiring phase current output by the three-phase bridge module in real time; the input end of the phase voltage acquisition module is used for acquiring phase voltages output by the three-phase bridge module in real time;
the DCDC module is used for receiving 28V rated voltage input from the outside and providing corresponding working voltage for each module; the bus switch is connected with the three-phase bridge module and used for receiving 28V rated voltage as the bus voltage of the controlled motor; the input end of the PWM isolation driving module is connected with the DSP, and the output end of the PWM isolation driving module is connected with the input end of the three-phase bridge module; the input end of the overcurrent protection module is connected with the output end of the phase current acquisition module, and the output end of the overcurrent protection module is connected with the input end of the PWM isolation driving module.
Based on the above description of the circuit configuration and the electrical connection relationship of each component, the functions of each component module in the circuit will now be described:
operation section
The FPGA is used for realizing acquisition of phase current and phase voltage and communication with external equipment;
power supply part
The rated input voltage of the circuit is 28V, the allowed input voltage range is 18-75V, the input voltage is used as the motor bus voltage, and meanwhile the 28V voltage is converted by DCDC to supply power for all parts in the circuit;
in the embodiment, a DCDC module with three outputs of DATEL company is selected, three voltages of 5V, +15V and-15V can be simultaneously output, the size is small, the power is large, the size is only 50.8mm multiplied by 11.4mm, and the power is 20W.
Driving part
The main control tracking control circuit comprises two driving parts consisting of two three-phase bridge modules and two PWM (pulse width modulation) isolation driving modules, and can simultaneously drive a position motor and a pitching motor of a rotary table. The three-phase bridge module amplifies the power of the PWM pulse output by the DSP to realize the motor drive control; and the high-speed optical coupling type PWM isolation driving module realizes the complete isolation of an operation part and a driving part which are formed by DSP + FPGA, improves the anti-interference capability and the control precision of the system, and a three-phase bridge circuit is shown in figure 2 and consists of six N-channel MOSFETs.
The selected MOSFET has short turn-on and turn-off time, thereby ensuring the control frequency of PWM.
Maximum drive capability of MOSFET: 75V, 30A; total on-off time: 451 ns;
phase voltage acquisition module
The main control tracking control circuit is provided with two phase voltage acquisition modules which can acquire phase voltages when two motors run, each phase voltage acquisition module comprises a phase voltage sampling circuit, a transformer isolation circuit and a first low-pass filter circuit which are sequentially and electrically connected, and the AD conversion module converts the acquired phase voltages and then completes sampling by an FPGA. The phase voltage after sampling is matched with the phase current in the DSP to complete a position-sensorless control algorithm, and the basic principle of the phase voltage acquisition module for realizing phase voltage acquisition is shown in FIG. 3.
Phase current acquisition module
The main control tracking control circuit is internally provided with two phase current acquisition modules, and each phase current acquisition module comprises a Hall current acquisition circuit and a low-pass filter circuit which are sequentially connected; the working principle of the module is shown in fig. 4, phase current output by the three-phase bridge module is acquired and amplified by the Hall current acquisition circuit, filtered by the second low-pass filter circuit, converted by the AD conversion module and finally sampled by the FPGA. The collected phase current participates in the closed-loop control of the current after coordinate transformation is completed in the DSP. The collection precision affects the current control precision of the motor. The sampling resolution of the AD conversion module is 16 bits.
Overcurrent protection module
In order to prevent the motor driving side circuit from overcurrent, an overcurrent protection module is designed, and the module adopts a voltage comparator and a logic AND arithmetic unit to cut off PWM output. Because software judgment is not needed, the response speed is high and the reliability is high.
The schematic block diagram is shown in fig. 5, the PWM pulse signal output by the DSP is and-operated with the output signal of the voltage comparator in the logical and operator. When overcurrent occurs, the overcurrent signal is set low, so that PWM is forbidden to be output to the three-phase bridge, PWM pulses are completely forbidden to be output when overcurrent occurs, and the three-phase bridge cannot output power current to the motor. The function is completely realized by hardware circuits without software participation.
Communication system
The FPGA and the external communication are realized by RS422, and AM26LV31 and AM26LV32 are selected to realize the transmission and the reception of differential signals, as shown in FIG. 6.
Based on the introduction of the master control tracking control circuit, a principle of communication with the outside by using the circuit is explained, as shown in fig. 7, 28V voltage provided by a satellite is used as bus voltage of a control motor, and 5V voltage is used for supplying power to a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), an analog-to-digital (AD) device, an encoder reading head and the like in the master control tracking control circuit; the +/-15V is used for supplying power to an overcurrent protection module and a phase current sampling module in the master control tracking control circuit;
the main control tracking control circuit mainly comprises an external interface: primary power input, PPS interface, RS422 communication, analog remote control and remote measurement, etc.
The main control tracking control circuit realizes synchronization and communication with a satellite through a PPS interface and an RS422 interface, and realizes angle receiving of the azimuth and the pitching turntable through the RS422, so that driving of the turntable is completed. And receiving the real-time image miss amount information of the tracking processor through an RS422 interface.
The real-time tracking control is based on a main control tracking control circuit, after the real-time miss distance of a tracking processor is obtained, a control algorithm is realized through a DSP, the FPGA realizes the acquisition of position, phase current and phase voltage, and finally the driving control of the rotary table is realized.
Claims (6)
1. The utility model provides a revolving stage high accuracy master control tracking control circuit which characterized in that: the system comprises a DSP chip, an FPGA chip, an AD conversion module, a DCDC module, a bus switch, a three-phase bridge module, a PWM isolation driving module, a phase voltage acquisition module, a phase current acquisition module and an overcurrent protection module;
the DSP chip and the FPGA chip are connected with each other;
the output end of the AD conversion module is connected with the FPGA chip, the current input end of the AD conversion module is connected with the output end of the phase current acquisition module, the voltage input end of the AD conversion module is connected with the output end of the phase voltage acquisition module, and the input end of the phase current acquisition module is used for acquiring phase current output by the three-phase bridge module in real time; the input end of the phase voltage acquisition module is used for acquiring phase voltages output by the three-phase bridge module in real time;
the DCDC module is used for receiving 28V rated voltage input from the outside and providing corresponding working voltage for each module;
the bus switch is connected with the three-phase bridge module;
the input end of the PWM isolation driving module is connected with the DSP, and the output end of the PWM isolation driving module is connected with the input end of the three-phase bridge module;
the input end of the overcurrent protection module is connected with the output end of the phase current acquisition module, and the output end of the overcurrent protection module is connected with the input end of the PWM isolation driving module.
2. The turntable high-precision master control tracking control circuit according to claim 1, wherein: the phase voltage acquisition module comprises a phase voltage sampling circuit, a transformer isolation circuit and a first low-pass filter circuit which are sequentially and electrically connected; the input end of the phase voltage acquisition circuit is connected with the output end of the three-phase bridge module, and the output end of the first low-pass filter circuit is connected with the input end of the AD conversion module.
3. The turntable high-precision master control tracking control circuit according to claim 2, wherein: the phase current acquisition module comprises a Hall current acquisition circuit and a second low-pass filter circuit which are sequentially and electrically connected; the input end of the Hall current acquisition circuit is connected with the output end of the three-phase bridge module, and the output end of the second low-pass filter circuit is connected with the input end of the AD conversion module.
4. The turntable high-precision master control tracking control circuit according to claim 3, wherein: the DCDC module has the external dimension of 50.8mm multiplied by 11.4mm and the power of 20W.
5. The turntable high-precision master control tracking control circuit according to claim 4, wherein: the three-phase bridge module is composed of six N-channel MOSFETs.
6. The turntable high-precision master control tracking control circuit according to claim 5, wherein: the three-phase bridge module, the PWM isolation driving module, the phase current acquisition module and the overcurrent protection module are all two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123418974.6U CN216118472U (en) | 2021-12-31 | 2021-12-31 | High-precision master control tracking control circuit of rotary table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123418974.6U CN216118472U (en) | 2021-12-31 | 2021-12-31 | High-precision master control tracking control circuit of rotary table |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216118472U true CN216118472U (en) | 2022-03-22 |
Family
ID=80719299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123418974.6U Active CN216118472U (en) | 2021-12-31 | 2021-12-31 | High-precision master control tracking control circuit of rotary table |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216118472U (en) |
-
2021
- 2021-12-31 CN CN202123418974.6U patent/CN216118472U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207200605U (en) | The more motor real-time control platforms of modularization based on DSP and FPGA | |
| CN100549752C (en) | The movement in a curve control system of heavy caliber astronomical telescope azimuth axis | |
| CN103457536A (en) | Alternating current servo driver based on current detection and position feedback structure | |
| CN101729002A (en) | SOPC-based remote monitoring system of no-position sensor brushless DC motor | |
| CN102230945B (en) | High-voltage isolation direct-current voltage acquisition circuit | |
| CN104749997A (en) | Driving control circuit used for laser tracker precision servo system | |
| CN216118472U (en) | High-precision master control tracking control circuit of rotary table | |
| CN112179591A (en) | Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation | |
| CN208752434U (en) | A kind of power supply device | |
| CN101846990A (en) | Control device for servo power turret | |
| CN204421956U (en) | A kind of beacon telemetering remote control terminal based on Beidou satellite navigation and system | |
| CN102751924B (en) | Linear power driving controller based on large-power operational amplifier for three-phase alternating current motor | |
| CN109639112A (en) | A kind of feed circuit and system that secondary voltage is fed back to primary side | |
| CN106610612B (en) | Antenna driving control unit | |
| CN207010540U (en) | The driving control system and its draw-out power supply of electric and electronic power module | |
| CN109445348B (en) | Missile detection simulation device for missile weapon system | |
| CN210191583U (en) | Steering wheel steering engine and driving system and automatic driving system applying steering engine | |
| CN201173961Y (en) | Large power simulation accumulator | |
| CN112398288A (en) | Integrated motor controller system | |
| CN113866492A (en) | Linear isolation sampling method for direct-current voltage signal | |
| CN208736930U (en) | Micro-grid energy storage system current detection means | |
| CN216014018U (en) | Azimuth and pitching limiting anti-interference detection module of radar system servo turntable | |
| CN211180636U (en) | Control circuit of motion control system of numerical control machine tool | |
| CN207410257U (en) | A kind of four road servo controller for position of high integration | |
| CN220517993U (en) | Electric chassis control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |