KR101052044B1 - Motor controlling apparatus including resolver sensor and gyro sensor - Google Patents

Abstract

PURPOSE: A motor controlling apparatus including a resolver sensor and a gyro sensor is provided to aim a target more accurately by minimizing jumping phenomenon from a gyro error due to drift applied to a gyro sensor. CONSTITUTION: In a motor controlling apparatus including a resolver sensor and a gyro sensor, a resolver sensor(110) detects the rotation angle of a motor(160) and outputs an analog signal. A resolver digital converter(130) changes the analog signal of the rotation angle of the motor outputted from the resolver sensor into a digital signal. A gyro sensor(120) detects the rotation angle of the motor. A sensor selector(140) selects one of the outputs of the resolver sensor and the gyro sensor A motor controller(150) controls the rotation of the motor.

Description

MOTOR CONTROLLING APPARATUS INCLUDING RESOLVER SENSOR AND GYRO SENSOR}

The present invention relates to a motor control device, and more particularly, to a motor control device including a resolver sensor and a gyro sensor.

In general, a gyro sensor detects an angular motion of an object and outputs a voltage corresponding to the detected angular motion. The gyro sensor is precessed by electric factors or earth rotation factors. As a result, the axis of the gyro is changed in fine amount with time. When the amount of change accumulates, the aiming line flows vertically or horizontally in the aimed stabilization device, that is, it is a drift phenomenon, and the stabilization line moves regardless of the driving signal.

There is a motor control system that uses a combination of a resolver sensor and a gyro sensor. The resolver sensor outputs the rotation angle as an analog signal. The analog signal output from the resolver sensor is converted into a digital value through a resolver to digital converter (RDC). The controller converges the target angle by rotating the motor in a direction to reduce an error between the angle value converted through the resolver digital converter (RDC) and the target target angle.

The gyro sensor outputs a gyro error signal, and the controller stabilizes the target by driving the motor in a direction to cancel the gyro error signal.

As described above, in a motor control system using a resolver sensor and a gyro sensor in combination, when a switch is made to a position control mode using a gyro sensor during position control using the resolver sensor, a gyro error signal may be generated due to the drift in the gyro sensor. Can be. The momentary motor drive to compensate for this gyro error can cause the target to deviate approximately 0.5 degrees from the target position. This phenomenon may be referred to as a jumping phenomenon. Due to the jumping phenomenon, a problem arises in that the motor cannot but operate to accurately aim at the target. Therefore, development of a motor control apparatus capable of preventing such a jumping phenomenon in advance is required.

An object of the present invention is to provide a motor control device including a resolver sensor and a gyro sensor.

A motor control apparatus including a resolver sensor and a gyro sensor according to an object of the present invention includes a resolver sensor that detects a rotation angle of a motor and outputs an analog signal, and a rotation angle of the motor output from the resolver sensor. A resolver digital converter (RDC) for converting and outputting an analog signal to a digital signal, a gyro sensor for detecting and outputting a rotation angle of the motor, the output of the resolver sensor and the gyro sensor The motor through the error correction between the sensor selector for selecting and outputting any one of the output as the motor position data for the position control of the motor, and the motor position data and the predetermined target position data output from the sensor selector, And a motor controller for controlling the rotation of the sensor. While the first detection operation of the motor with respect to the target is performed according to an algorithm, the output of the resolver sensor is selected as motor position data and output to the motor controller, and after the first detection operation of the motor according to the algorithm. The second tracking operation may be configured to select the output of the gyro sensor as the motor position data and output the motor position data to the motor controller, wherein the sensor selector outputs the output of the gyro sensor to the motor position data. In the case of selecting and outputting, after compensating a gyro error included in the output of the gyro sensor, the motor controller may be configured to control the rotation of the motor through the compensated data. The gyro of the containing gyro error value is limited to -10 to +10. It may be configured to compensate for the error.

According to the motor control apparatus including the resolver sensor and the gyro sensor of the present invention, it is possible to minimize the jumping phenomenon due to the gyro error caused by the drift acting on the gyro sensor to ensure the operation of the motor to more accurately aim the target target. You can get the effect.

1 is a block diagram showing the configuration of a motor control apparatus according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of a motor control apparatus according to an embodiment of the present invention.

Motor control apparatus according to an embodiment of the present invention is a resolver (110) sensor, a gyro (Gyro) sensor 120, a resolver digital converter (RDC: 130), a sensor selector 140 , Motor controller 150, and motor 160.

The resolver sensor 110 detects a rotation angle of the motor and outputs the analog signal. The gyro sensor 120 may also detect and output a rotation angle of the motor. That is, the rotation angle detection of the direction of the motor may be implemented through any one of the resolver sensor 110 and the gyro sensor 120. For example, after determining the target by acquiring an image for detection and recognition of the target through the position control using the resolver sensor 110, the target may be tracked through the position control using the gyro sensor 120. .

The resolver digital converter (RDC) 130 converts the rotation angle analog signal of the motor output from the resolver sensor 110 into a digital signal and outputs the digital signal.

The sensor selector 140 selects and outputs any one of an output of the resolver sensor 110 and an output of the gyro sensor 120 as motor position data for position control of the motor 160. The sensor selector 140 selects the output of the resolver sensor 110 as motor position data and outputs it to the motor controller 150 during the first detection operation of the motor 160 with respect to the target according to the selected algorithm. According to the algorithm, when the second tracking operation is started after the first detection operation of the motor, the output of the gyro sensor 120 may be selected as the motor position data and output to the motor controller 150.

For example, when the sensor selector 140 acquires an image for detecting and recognizing a target and determines a target, the sensor selector 140 selects and outputs the output of the resolver sensor 110 as motor position data for position control of the motor 160. can do. In addition, the sensor selector 140 acquires an image for detecting and recognizing a target to determine a target, and then selects and outputs the output of the gyro sensor 120 as motor position data for position control of the motor 160. Can be.

The motor controller 150 controls the rotation of the motor 160 through the error correction between the motor position data output from the sensor selector 140 and the predetermined target position data. When the sensor selector 140 selects and outputs the output of the gyro sensor 120 as motor position data, the motor controller 150 compensates for the gyro error included in the output of the gyro sensor 120 and then compensates for the compensation. The rotation of the motor 160 may be controlled through the data. In this case, the motor controller 150 may compensate for the gyro error by limiting the size of the gyro error value included in the output of the gyro sensor 120 to −10 to +10.

To compensate for the gyro error, the motor controller 150 may maintain an anti-jumping source code program for the gyro error compensation. An example of the anti-jumping source code program may be implemented with Table 1.

adc_start (ADCH_GYRO_ERROR);
el_gyro_error = EL_GYRO_ERROR;
az_gyro_error = AZ_GYRO_ERROR;
if (el_gyro_error> +9.999) el_gyro_error = +9.999;
if (el_gyro_error <-9.999) el_gyro_error = -9.999;
if (az_gyro_error> +9.999) az_gyro_error = +9.999;
if (az_gyro_error <-9.999) az_gyro_error = -9.999;
EL_LOS_VAL = el_gyro_error;
AZ_LOS_VAL = az_gyro_error;

As shown in Table 1, when the gyro error value is acquired, the acquired gyro error value is stored in a variable, and the gyro error value outside +10 or -10 is meaningless, so the error size of the gyro sensor is +10 and -10. After limiting, it can finally perform the motor output to compensate for the gyro error.

Although described with reference to the embodiments above, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the spirit and scope of the invention as set forth in the claims below. Could be.

110: resolver sensor
120: gyro sensor
130: resolver digital converter (RDC)
140: sensor selector
150: motor controller
160: motor

Claims (4)

A resolver sensor which detects a rotation angle of the motor and outputs the analog signal as an analog signal;
A resolver digital converter (RDC) for converting the rotation angle analog signal of the motor output from the resolver sensor into a digital signal and outputting the digital signal;
A gyro sensor for detecting and outputting a rotation angle of the motor;
A sensor selector for selecting and outputting any one of an output of the resolver sensor and an output of the gyro sensor as motor position data for position control of the motor; And
And a motor controller controlling the rotation of the motor through the error correction between the motor position data output from the sensor selector and the predetermined target position data.
The sensor selector selects the output of the resolver sensor as motor position data and outputs the motor position data to the motor controller during the first detection operation of the motor with respect to the target according to the selected algorithm, and outputs the motor to the motor controller according to the algorithm. Resolver sensor and a gyro sensor, characterized in that when the secondary tracking operation is started after the first detection operation of the output of the gyro sensor as the motor position data and output to the motor controller. delete The method of claim 1, wherein the motor controller,
When the sensor selector selects and outputs the output of the gyro sensor as motor position data, after compensating a gyro error included in the output of the gyro sensor, controlling the rotation of the motor through the compensated data. Motor control device comprising a resolver sensor and a gyro sensor. The method of claim 3, wherein the motor controller,
And a resolver sensor and a gyro sensor to compensate for the gyro error by limiting the size of the gyro error value included in the output of the gyro sensor to -10 to +10.

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