CN102882447A - Horizontal shaft double-motor device of photoelectric tracking system and synchronous driving tracking control method - Google Patents
Horizontal shaft double-motor device of photoelectric tracking system and synchronous driving tracking control method Download PDFInfo
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Abstract
A horizontal axis double-motor device of a photoelectric tracking system and a synchronous driving tracking control method comprise the following steps: the device comprises a direct-current torque motor, a power driving module, a speed measuring machine, a position encoder, a horizontal shaft load and a control processor; a direct current torque motor and a tachometer are arranged on one side of a horizontal shaft; the other direct-current torque motor and the position encoder are arranged on the other side of the horizontal shaft; the horizontal shaft load is arranged in the middle of the horizontal shaft; the control processor outputs control quantity to pass through the power driving module and then drives the two motors on the horizontal shaft to work together; the invention realizes the stable tracking control under the coaxial synchronous drive of two DC torque motors with the same type, reduces the volume of the frame under the same load condition, and obtains larger load output torque under the condition of not reducing the maximum no-load rotating speed; meanwhile, because the torque output at the two ends of the horizontal shaft is balanced, the rigidity of the whole horizontal shaft system is enhanced, and therefore the closed-loop control bandwidth of the system is improved.
Description
Technical field
The invention belongs to the acquisition and tracking field, relate to a kind of new tracking means and control method, be specifically related to a kind of photoelectric follow-up trunnion axis double-motor device and driven in synchronism tracking and controlling method.
Technical background
Along with current development in science and technology, in the opto-electric tracking and measurement system, more and more higher to the demand of tracking measurement distance, measurement target kind, the opto-electric tracking and measurement system is constantly towards the maximization future development, namely observe bore increasing, separate unit system integration detector kind is more and more.This just means that the loading moment that can provide motor requires increasing.Yet, there is following limitation in traditional single motor-driven: be the restriction that single motor is exported torque on the one hand, single motor-driven can cause the driving moment imbalance at the two ends of trunnion axis on the other hand, make the resonance frequency step-down of trunnion axis, single motor-driven can cause the motor side heating of trunnion axis simultaneously, make trunnion axis because the non-uniform temperature distortion affects the shafting precision of following the tracks of frame.
The bi-motor linkage driving has reduced power and equivalent moment of inertia and the System Computer electrical time constant of single motor, promoted system response speed, reduced the variation of temperature.Can make rapidity, the stationarity of system responses in the situation of controller appropriate design, therefore studying the bi-motor Synchronization Control has very strong realistic meaning.
Summary of the invention
The problem to be solved in the present invention is: overcome the deficiencies in the prior art, a kind of photoelectric follow-up trunnion axis double-motor device and tenacious tracking control method are provided.Adopt the control of bi-motor driven in synchronism, realize the high-accuracy stable tracking; Satisfy existing some high-power system, can not satisfy in the situation of system power needs at a single motor, take bi-motor to drive simultaneously, realize the high-power requirement of system.
One of technical scheme that technical solution problem of the present invention adopts is: a kind of photoelectric follow-up trunnion axis double-motor device comprises: the first direct current torque motor 1, the second direct current torque motor 2, the first power driver module 3, the second power driver module 4, tachometer 5, position coder 6, trunnion axis load 7 and control processor 8; The first direct current torque motor 1 and tachometer 5 are installed in trunnion axis 9 one sides; The second direct current torque motor 2 and position coder 6 are installed in the opposite side of trunnion axis 9; Trunnion axis load 7 is installed in the centre position of trunnion axis 9; Control processor 8 output two-way pwm pulses are transferred wide controlled quentity controlled variable, wherein one tunnel controlled quentity controlled variable is behind the first power driver module 3 drive amplifications, drive the first direct current torque motor 1, another road controlled quentity controlled variable drives the second direct current torque motor 2 behind the second power driver module 4 drive amplifications; During work, the first direct current torque motor 1, second direct current torque motor 2 at trunnion axis 9 two ends are worked simultaneously, jointly drive trunnion axis 9 rotations and carry out tenacious tracking;
Described control processor 8 is control structures of a multiloop closed loop, comprises a position loop, a speed loop and two current circuits; Position loop inputs to the theoretical position (such as sinusoidal pilot signal) that is decided to be tracking target track position or guiding tracking, and data position coder 6 given the input of position loop are subtracted each other, obtain the position loop margin of error, transfer function Gp is proofreaied and correct in position loop margin of error substitution position loop, obtain the specified rate of speed loop after the calculating, again the data of speed loop specified rate and tachometer 5 are subtracted each other, obtain the speed loop margin of error, again speed loop margin of error substitution speed loop is proofreaied and correct transfer function Gv, obtain the current circuit specified rate after the calculating, owing to only have a speed loop output, so the first direct current torque motor 1, the given value of current of the second direct current torque motor 2 also shares, and namely the first direct current torque motor 1 given value of current amount equals the second direct current torque motor 2 given value of current amounts; In the current circuit of the first direct current torque motor 1 and the second direct current torque motor 2, use respectively electric current specified rate and current feedback value separately, namely the first current feedback and the second current feedback are subtracted each other the current circuit error originated from input that obtains separately, simultaneously the first direct current torque motor 1, the current feedback value of the second direct current torque motor 2 is subtracted each other, obtain a spill current value of feedback, revise respectively the current circuit error originated from input amount of two motors with this spill current value of feedback, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback, respectively revised current circuit error originated from input amount substitution current circuit is separately calculated again, the pwm pulse that obtains respectively two motors is transferred wide controlled quentity controlled variable, after being the transfer function Gi1 of the current circuit error originated from input amount of revised the first direct current machine current circuit control object characteristic of proofreading and correct transfer function Ga1 and the first direct current torque motor 1 through the current circuit of the first direct current torque motor 1, the pwm pulse that obtains the first direct current torque motor 1 is transferred wide controlled quentity controlled variable; In like manner, the current circuit error originated from input amount of revised the second direct current machine is proofreaied and correct the transfer function Gi2 of current circuit control object characteristic of transfer function Ga2 and the second direct current torque motor 2 through the current circuit of the second direct current torque motor 2 after, the pwm pulse that obtains the second direct current torque motor 2 is transferred wide controlled quentity controlled variable.Transfer wide controlled quentity controlled variable to send respectively separately power driver module K1 and K2 to carry out power drive amplification processing pwm pulse separately more at last, controlled quentity controlled variable behind the drive amplification directly drives each self-corresponding motor Gd1 and Gd2, because Gd1 and Gd2 are installed on same level axle Go, therefore realize bi-motor Gd1 and Gd2 driven in synchronism trunnion axis Go operation work.
Described the first direct current torque motor 1 and the second direct current torque motor 2 are same model motors, have the same design specifications parameter.
A kind of control method that realizes that driven in synchronism is followed the tracks of, performing step is as follows:
A. before design, each several part coupled together consist of a holonomic system, subtract each other with encoder feedback position loop input is given, obtain the position loop error originated from input, transfer function Gp is proofreaied and correct in this position loop error originated from input substitution position loop, it is given to obtain the speed loop input, speed loop being inputted given the feedback with tachometer subtracts each other again, obtain the speed loop error originated from input, again this speed loop error originated from input substitution speed loop is proofreaied and correct transfer function Gv, the input that obtains current circuit is given, the given current circuit of giving simultaneously respectively two motors of the input of this current circuit, that is to say, the current circuit of two motors is given to be the same, here, in the current circuit of the first direct current torque motor 1 and the second direct current torque motor 2, use respectively electric current specified rate and current feedback value separately, namely the first current feedback and the second current feedback are subtracted each other the current circuit error originated from input that obtains separately, simultaneously the first direct current torque motor 1, the current feedback value of the second direct current torque motor 2 is subtracted each other, obtain a spill current value of feedback, revise respectively the current circuit error originated from input amount of two motors with this spill current value of feedback, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback, respectively revised current circuit error originated from input amount substitution current circuit is separately calculated again, the pwm pulse that obtains respectively two motors is transferred wide controlled quentity controlled variable, after being the transfer function Gi1 of the current circuit error originated from input amount of revised the first direct current machine current circuit control object characteristic of proofreading and correct transfer function Ga1 and direct current torque motor 1 through the current circuit of direct current torque motor 1, the pwm pulse that obtains direct current torque motor 1 is transferred wide controlled quentity controlled variable; In like manner, behind the transfer function Gi2 of the current circuit correction transfer function Ga2 of the current circuit error originated from input amount process direct current torque motor 2 of revised the second direct current machine and the current circuit control object characteristic of direct current torque motor 2, the pwm pulse that obtains direct current torque motor 2 is transferred wide controlled quentity controlled variable; Transfer wide controlled quentity controlled variable to send respectively separately power driver module K1 and K2 to carry out power drive amplification processing pwm pulse separately more at last, controlled quentity controlled variable behind the drive amplification directly drives each self-corresponding motor Gd1 and Gd2, because Gd1 and Gd2 are installed on same level axle Go, therefore realize bi-motor Gd1 and Gd2 driven in synchronism trunnion axis Go operation work;
B. in the whole system design process, the design sequencing in each loop is by interior outward successively design, and namely secondly current circuit before this is speed loop, is at last position loop;
C. design current loop, record respectively first open current loop frequency characteristic Gi1 and the Gi2 of the first direct current torque motor 1 and the second direct current torque motor 2, what general current circuit reflected is the electrical characteristic of control system, therefore the control object characteristic of current circuit is an inertial element, and its transfer function can be made as:
R is the motor internal resistance in the formula, T
aBe the motor electromagnetic time constant, designing its current circuit correction transmission letter is a pure ratio adjustment network, and the Ga1=Ga2=constant is arranged; The current circuit operating frequency is 2kHz, and the current closed-loop bandwidth is not less than 400Hz;
D. desin speed loop, look the first direct current torque motor 1 and the second direct current torque motor 2 as a whole, on the basis of current circuit closed loop, record two motors and the simultaneously response of offset of sinusoidal pumping signal of trunnion axis load 7, obtain its speed open loop frequency characteristic of whole trunnion axis, use frequency domain analysis method, design level axle speed loop is proofreaied and correct transfer function; After speed loop correction transfer function designs, test its speed closed loop bandwidth, the speed loop operating frequency is 400Hz, and the speed closed loop bandwidth is 47Hz;
E. design attitude loop, the position loop control algolithm of system adopts the PID controller, utilizes the PID Tuning, in real time each parameter is adjusted online, makes system keeps track stable, has capability of fast response;
F. on the stable basis of system works, adopt the deviation coupling control method, utilize the given controlled quentity controlled variable of current circuit of spill current feedback modifiers the first direct current torque motor 1 and the second direct current torque motor 2, thereby improve the balance of the first direct current torque motor 1 and the second direct current torque motor 2 real-time output torques, further improve system keeps track stability, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback.
The present invention's advantage compared with prior art is:
(1) the present invention is implemented in bi-motor driven in synchronism tracking control technology in the photoelectric follow-up, compares with single electric system, in the constant situation of motor model, is namely guaranteeing under the constant condition of maximum no-load speed, can obtain the output torque of 2 times of systems in the past.
(2) the present invention has realized that two same model direct current torque motor coaxial synchronous drive lower tenacious tracking and control, and has reduced the frame volume under the identical load condition, obtains larger load output torque under the condition that does not reduce maximum no-load speed; Simultaneously because trunnion axis two end moments output balance, strengthened whole trunnion axis system rigidity, therefore improved system's closed-loop control bandwidth.
(3) structural design of the present invention guarantees the real-time output torque balance in trunnion axis both sides, has strengthened system configuration rigidity, has improved the responsive bandwidth of system speed closed loop.Show all that by theory analysis and experiment results dual motors system speed closed loop bandwidth is about 2 times of single electric system speed closed loop bandwidth.
(4) dual motors system obviously is better than single electric system on to the Disturbance Rejection ability.
(5) control method of the present invention has also been verified the small machine with two 1/2 high-torques, after driven in synchronism, realizes tenacious tracking, can be equivalent to fully with an electric motor with large torque and drive the situation of following the tracks of.This just improved greatly through after the selectivity that designs of system of the present invention mechanical-optical setup.
(6) by adopting deviation coupling control, i.e. the method for spill current feedback modifiers current circuit error originated from input amount is so that in real time control, the size of current of two motors is more approaching, that is to say that the output loading moment of two motors is more steady, the stability of synchronization between two motors is better.
Description of drawings
Fig. 1 is trunnion axis dual motors system structure connection diagram of the present invention;
Fig. 2 is the control block diagram of control processor of the present invention;
Fig. 3 is system control method flow chart of the present invention;
Fig. 4 is in experimental system of the present invention, trunnion axis adopts respectively bi-motor driven in synchronism and single motor-driven, the comparison diagram of the speed closed loop frequency characteristics of trunnion axis system, wherein upper figure adopts single motor-driven measured result, and figure below is for adopting the measured result of Dual-motors Driving;
Fig. 5 is in experimental system of the present invention, and trunnion axis adopts respectively bi-motor driven in synchronism and single motor-driven, and trunnion axis is done sinusoidal guiding and followed the tracks of (v
Max=30 °/s, α
Max=15 °/s
2), the tracking error curve comparison diagram.
Embodiment
Shown in Figure 1, the tracking means of the invention process example comprises: direct current torque motor 1, direct current torque motor 2, power driver module 3, power driver module 4, tachometer 5, position coder 6, trunnion axis load 7 and control processor 8; Direct current torque motor 1 and tachometer 5 are installed in trunnion axis one side; Direct current torque motor 2 and position coder 6 are installed in the trunnion axis opposite side; Trunnion axis load 7 is installed in the trunnion axis centre position, and power driver module 3, power driver module 4 and control processor 8 are positioned under the machine.
Shown in Figure 1, direct current torque motor 1 in the real-time example of the present invention and direct current torque motor 2 are the same model motor, when mounted, owing to be installed in respectively the both sides of trunnion axis, guarantee that motor turns round in the same way, so the installation of the motor lines of both sides motor just is opposite.The corresponding relation of output line of supposing the corresponding power driver module 3 of motor lines of direct current torque motor 1 is: to negative, the corresponding relation of the output line of the corresponding power driver module 4 of the motor lines of direct current torque motor 2 is so over against positive and negative: align over against negative, negative.
As shown in Figure 2, tracking of the present invention also is to have adopted multiloop closed loop tracking mode.Compare with single electric system, the tracking and controlling method flow process as shown in Figure 3, carried out before this position loop control correction calculation, then be the speed loop correction calculation, to be divided into two current circuits at last, obtain the two-way pwm pulse as correction calculation separately respectively and transfer bandwidth signals, the two-way pwm pulse that obtains drives respectively two motors and works simultaneously after transferring bandwidth signals to pass through power driver module again.In addition, increase deviation coupling control at current circuit and improved system keeps track stability, its principle is that the current feedback of two torque motors is subtracted each other, obtain an electric current difference, revise respectively two current circuit error originated from input amounts with this electric current difference, be current of electric large a road deduct this electric current difference, and current of electric little a road add this electric current difference.The method for designing of control loop also is that the design current loop was speed loop more before this, was position loop at last from inner looping.Because dual motors system of the present invention belongs to coaxial rigid and connects, therefore in real-time working, the real-time angular displacement of two motors is identical with angular speed, and therefore in design, position loop and speed loop are in design, and two electric systems share.
The specific design step is as follows:
A. before design, as shown in Figure 1, system's each several part is coupled together consist of a holonomic system first.Set up system simulation model with MATLAB software, as shown in Figure 2.General tracking system is that follow the tracks of the position, angle, subtract each other with encoder feedback position loop input is given, obtain the position loop error originated from input, transfer function Gp is proofreaied and correct in this position loop error originated from input substitution position loop, it is given to obtain the speed loop input, speed loop being inputted given the feedback with tachometer subtracts each other again, obtain the speed loop error originated from input, again this speed loop error originated from input substitution speed loop is proofreaied and correct transfer function Gv, the input that obtains current circuit is given, the given current circuit of giving simultaneously respectively two motors of the input of this current circuit, that is to say, the current circuit of two motors is given to be the same, here, in the current circuit of the first direct current torque motor 1 and the second direct current torque motor 2, use respectively electric current specified rate and current feedback value (current feedback 1 and current feedback 2) separately to subtract each other the current circuit error originated from input that obtains separately, simultaneously the first direct current torque motor 1, the current feedback value of the second direct current torque motor 2 is subtracted each other, obtain a spill current value of feedback, revise respectively the current circuit error originated from input amount of two motors with this spill current value of feedback, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback, respectively revised current circuit error originated from input amount substitution current circuit is separately calculated again, the pwm pulse that obtains respectively two motors is transferred wide controlled quentity controlled variable, after being the transfer function Gi1 of the current circuit error originated from input amount of revised the first direct current machine current circuit control object characteristic of proofreading and correct transfer function Ga1 and the first direct current torque motor 1 through the current circuit of direct current torque motor 1, the pwm pulse that obtains the first direct current torque motor 1 is transferred wide controlled quentity controlled variable; In like manner, the current circuit error originated from input amount of revised the second direct current machine is proofreaied and correct the transfer function Gi2 of current circuit control object characteristic of transfer function Ga2 and the second direct current torque motor 2 through the current circuit of the second direct current torque motor 2 after, the pwm pulse that obtains the second direct current torque motor 2 is transferred wide controlled quentity controlled variable.Transfer wide controlled quentity controlled variable to send respectively separately power driver module K1 and K2 to carry out power drive amplification processing pwm pulse separately more at last, controlled quentity controlled variable behind the drive amplification directly drives each self-corresponding motor Gd1 and Gd2, because Gd1 and Gd2 are installed on same level axle Go, therefore realize bi-motor Gd1 and Gd2 driven in synchronism trunnion axis Go operation work.
B. in the whole system design process, the design sequencing in each loop is by interior outward successively design, and namely secondly current circuit before this is speed loop, is at last position loop.
C. design current loop, record respectively first open current loop frequency characteristic Gi1 and the Gi2 of the first direct current torque motor 1 and the second direct current torque motor 2, what general current circuit reflected is the electrical characteristic of control system, therefore the control object characteristic of current circuit is an inertial element, and its transfer function can be made as:
R is the motor internal resistance in the formula, T
aBe the motor electromagnetic time constant, designing its current circuit correction transmission letter is a pure ratio adjustment network, and the Ga1=Ga2=constant is arranged; The current circuit operating frequency is 2kHz, and the current closed-loop bandwidth is not less than 400Hz;
D. desin speed loop, look the first direct current torque motor 1 and the second direct current torque motor 2 as a whole, on the basis of current circuit closed loop, record two motors and the simultaneously response of offset of sinusoidal pumping signal of trunnion axis load 7, obtain its speed open loop frequency characteristic of whole trunnion axis, use frequency domain analysis method, it is following form that design level axle speed loop is proofreaied and correct transfer function:
After speed loop correction transfer function designs, just can test its speed closed loop bandwidth.The speed loop operating frequency is 400Hz, and the speed closed loop bandwidth is 47Hz;
E. design attitude loop, the position loop control algolithm of system adopts the PID controller, utilizes the PID Tuning, in real time each parameter is adjusted online, makes system keeps track stable, has capability of fast response, and the correction transfer function of position loop is following form:
F. on the stable basis of system works, adopt the deviation coupling control method, utilize the given controlled quentity controlled variable of current circuit of spill current feedback modifiers the first direct current torque motor 1 and the second direct current torque motor 2, thereby improve the balance of the first direct current torque motor 1 and the second direct current torque motor 2 real-time output torques, can further improve system keeps track stability.Namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback.
Fig. 4 is in experimental system of the present invention, and trunnion axis adopts respectively bi-motor driven in synchronism and single motor-driven, the comparison diagram of the speed closed loop frequency characteristics of trunnion axis system.Can see that from measured curve the original position of the amplitude frequency curve of single electric system and dual motors system all is about-3dB, toward moving down 3dB, namely arrive-the corresponding Frequency point of 6dB, be exactly the effective closed-loop bandwidth that system has.From figure, the speed closed loop bandwidth of single electric system is about 33Hz, and the speed closed loop bandwidth of dual motors system is about 47Hz, and thus explanation for same trunnion axis system, adopts Dual-motors Driving can obtain higher system bandwidth.
Fig. 5 is in experimental system of the present invention, and trunnion axis adopts respectively bi-motor driven in synchronism and single motor-driven, and trunnion axis is done sinusoidal guiding and followed the tracks of (v
Max=30 °/s, α
Max=15 °/s
2), the comparison diagram of tracking error curve.As we can see from the figure, in sine guiding tracing process, especially when trunnion axis is reversed end for end, the tracking error of dual motors system will be significantly less than single electric system, when tune, error mainly is subjected to the impact of moment of friction disturbance larger, therefore, Dual-motors Driving can improve system to the inhibition ability of torque disturbance, and sinusoidal guiding tracking error (RMS) is respectively:
Error
Single motor=7.783564 seconds error
Bi-motor=5.428639 seconds
In a word, the present invention has realized photoelectric follow-up trunnion axis bi-motor driven in synchronism tracking control technology, and experimental result shows with single electric system to be compared, and the various functions index all can satisfy engineering demand, has broad application prospects.
The non-elaborated part of the present invention belongs to techniques well known.
Claims (3)
1. a photoelectric follow-up trunnion axis double-motor device is characterized in that comprising: the first direct current torque motor (1), the second direct current torque motor (2), the first power driver module (3), the second power driver module (4), tachometer (5), position coder (6), trunnion axis load (7) and control processor (8); The first direct current torque motor (1) and tachometer (5) are installed in trunnion axis (9) one sides; The second direct current torque motor (2) and position coder (6) are installed in the opposite side of trunnion axis (9); Trunnion axis load (7) is installed in the centre position of trunnion axis (9); Control processor (8) output two-way pwm pulse is transferred wide controlled quentity controlled variable, wherein one tunnel controlled quentity controlled variable is behind the first power driver module (3) drive amplification, drive the first direct current torque motor (1), another road controlled quentity controlled variable drives the second direct current torque motor (2) behind the second power driver module (4) drive amplification; During work, the first direct current torque motor (1), second direct current torque motor (2) at trunnion axis (9) two ends are worked simultaneously, jointly drive trunnion axis (9) rotation and carry out tenacious tracking;
Described control processor (8) is the control structure of a multiloop closed loop, comprises a position loop, a speed loop and two current circuits; Position loop inputs to the theoretical position that is decided to be tracking target track position or guiding tracking, and data position coder (6) given the input of position loop are subtracted each other, obtain the position loop margin of error, transfer function Gp is proofreaied and correct in position loop margin of error substitution position loop, obtain the specified rate of speed loop after the calculating, again the data of speed loop specified rate and tachometer (5) are subtracted each other, obtain the speed loop margin of error, again speed loop margin of error substitution speed loop is proofreaied and correct transfer function Gv, obtain the current circuit specified rate after the calculating, owing to only have a speed loop output, so the first direct current torque motor (1), the given value of current of the second direct current torque motor (2) also shares, and namely the first direct current torque motor (1) given value of current amount equals the second direct current torque motor (2) given value of current amount; In the current circuit of the first direct current torque motor (1) and the second direct current torque motor (2), use respectively electric current specified rate and current feedback value separately, namely the first current feedback and the second current feedback are subtracted each other the current circuit error originated from input that obtains separately, simultaneously the first direct current torque motor (1), the current feedback value of the second direct current torque motor (2) is subtracted each other, obtain a spill current value of feedback, revise respectively the current circuit error originated from input amount of two motors with this spill current value of feedback, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback, respectively revised current circuit error originated from input amount substitution current circuit is separately calculated again, the pwm pulse that obtains respectively two motors is transferred wide controlled quentity controlled variable, after being the transfer function Gi1 of the current circuit error originated from input amount of revised the first direct current machine current circuit control object characteristic of proofreading and correct transfer function Ga1 and the first direct current torque motor (1) through the current circuit of the first direct current torque motor (1), the pwm pulse that obtains the first direct current torque motor (1) is transferred wide controlled quentity controlled variable; In like manner, the current circuit error originated from input amount of revised the second direct current machine is proofreaied and correct the transfer function Gi2 of current circuit control object characteristic of transfer function Ga2 and the second direct current torque motor (2) through the current circuit of the second direct current torque motor (2) after, the pwm pulse that obtains the second direct current torque motor (2) is transferred wide controlled quentity controlled variable.Transfer wide controlled quentity controlled variable to send respectively separately power driver module K1 and K2 to carry out power drive amplification processing pwm pulse separately more at last, controlled quentity controlled variable behind the drive amplification directly drives each self-corresponding motor Gd1 and Gd2, because Gd1 and Gd2 are installed on same level axle Go, therefore realize bi-motor Gd1 and Gd2 driven in synchronism trunnion axis Go operation work.
2. photoelectric follow-up trunnion axis double-motor device according to claim 1, it is characterized in that: described the first direct current torque motor (1) and the second direct current torque motor (2) are same model motors, have the same design specifications parameter.
3. one kind is utilized the described device of claim 1 to realize the control method that driven in synchronism is followed the tracks of, and it is characterized in that performing step is as follows:
A. before design, couple together according to each several part claimed in claim 1 and to consist of a holonomic system, subtract each other with encoder feedback position loop input is given, obtain the position loop error originated from input, transfer function Gp is proofreaied and correct in this position loop error originated from input substitution position loop, it is given to obtain the speed loop input, speed loop being inputted given the feedback with tachometer subtracts each other again, obtain the speed loop error originated from input, again this speed loop error originated from input substitution speed loop is proofreaied and correct transfer function Gv, the input that obtains current circuit is given, the given current circuit of giving simultaneously respectively two motors of the input of this current circuit, that is to say, the current circuit of two motors is given to be the same, here, in the current circuit of the first direct current torque motor (1) and the second direct current torque motor (2), use respectively electric current specified rate and current feedback value separately, namely the first current feedback and the second current feedback are subtracted each other the current circuit error originated from input that obtains separately, simultaneously the first direct current torque motor (1), the current feedback value of the second direct current torque motor (2) is subtracted each other, obtain a spill current value of feedback, revise respectively the current circuit error originated from input amount of two motors with this spill current value of feedback, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback, respectively revised current circuit error originated from input amount substitution current circuit is separately calculated again, the pwm pulse that obtains respectively two motors is transferred wide controlled quentity controlled variable, after being the transfer function Gi 1 of the current circuit error originated from input amount of revised the first direct current machine current circuit control object characteristic of proofreading and correct transfer function Ga1 and direct current torque motor (1) through the current circuit of direct current torque motor (1), the pwm pulse that obtains direct current torque motor (1) is transferred wide controlled quentity controlled variable; In like manner, behind the transfer function Gi2 of the current circuit correction transfer function Ga2 of the current circuit error originated from input amount process direct current torque motor (2) of revised the second direct current machine and the current circuit control object characteristic of direct current torque motor (2), the pwm pulse that obtains direct current torque motor (2) is transferred wide controlled quentity controlled variable; Transfer wide controlled quentity controlled variable to send respectively separately power driver module K1 and K2 to carry out power drive amplification processing pwm pulse separately more at last, controlled quentity controlled variable behind the drive amplification directly drives each self-corresponding motor Gd1 and Gd2, because Gd1 and Gd2 are installed on same level axle Go, namely realized bi-motor Gd1 and Gd2 driven in synchronism trunnion axis Go operation work;
B. in the whole system design process, the design sequencing in each loop is by interior outward successively design, and namely secondly current circuit before this is speed loop, is at last position loop;
C. design current loop, record respectively first open current loop frequency characteristic Gi1 and the Gi2 of the first direct current torque motor (1) and the second direct current torque motor (2), what general current circuit reflected is the electrical characteristic of control system, therefore the control object characteristic of current circuit is an inertial element, and its transfer function can be made as:
R is the motor internal resistance in the formula, T
aBe the motor electromagnetic time constant, designing its current circuit correction transmission letter is a pure ratio adjustment network, and the Ga1=Ga2=constant is arranged;
D. desin speed loop, look the first direct current torque motor (1) and the second direct current torque motor (2) as a whole, on the basis of current circuit closed loop, record the simultaneously response of offset of sinusoidal pumping signal of two motors and trunnion axis load (7), obtain its speed open loop frequency characteristic of whole trunnion axis, use frequency domain analysis method, design level axle speed loop is proofreaied and correct transfer function; After speed loop correction transfer function designs, test its speed closed loop bandwidth;
E. design attitude loop, the position loop control algolithm of system adopts the PID controller, utilizes the PID Tuning, in real time each parameter is adjusted online, makes system keeps track stable;
F. on the stable basis of system works, adopt the deviation coupling control method, utilize the given controlled quentity controlled variable of current circuit of spill current feedback modifiers the first direct current torque motor (1) and the second direct current torque motor (2), thereby improve the in real time balance of output torque of the first direct current torque motor (1) and the second direct current torque motor (2), further improve system keeps track stability, namely carve at a time, the motor large to the current feedback value, current circuit error originated from input amount deducts this spill current value of feedback again, and to the little motor of current feedback value, current circuit error originated from input amount is added this spill current value of feedback.
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