CN103001563A - Driving method for vertical motor of tripod head - Google Patents
Driving method for vertical motor of tripod head Download PDFInfo
- Publication number
- CN103001563A CN103001563A CN2012104971481A CN201210497148A CN103001563A CN 103001563 A CN103001563 A CN 103001563A CN 2012104971481 A CN2012104971481 A CN 2012104971481A CN 201210497148 A CN201210497148 A CN 201210497148A CN 103001563 A CN103001563 A CN 103001563A
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- motor
- vertical
- cloud terrace
- drive current
- tripod head
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000011218 segmentation Effects 0.000 claims description 36
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000001172 regenerating effect Effects 0.000 abstract description 2
- 239000003550 marker Substances 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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- Control Of Electric Motors In General (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a driving method for a vertical motor of a tripod head, comprising the following steps: (1) firstly obtaining an angular value at the vertical position of the tripod head at present after a control command is received; (2) obtaining the numerical value of a marker bit at the vertical movement state of the tripod head at present so as to determine the vertical movement state of the tripod head; (3) regenerating a new drive current subdivision table according to the drive current subdivision table of the vertical motor, the angular value at the vertical position of the tripod head and the vertical movement state of the tripod head; and (4) driving the vertical motor to move to a set vertical position according to the new regenerated drive current subdivision table. According to the method, the current subdivision table can be updated combined with the angle at the vertical position of the tripod head and the movement state so as to realize flexible control of the torque of the vertical motor; the self-adaptation of the torque size in the full angle range of the vertical motor can be realized; and the problems that the motor loses steps or even cannot start under the position and movement states of the original tripod head with relatively high requirement of motor torque are efficiently solved.
Description
Technical field
The present invention relates to technical field of video monitoring, particularly relate to a kind of motor vertical driving method of controlling motor torque according to The Cloud Terrace position and motion state.
Background technology
In protection and monitor field, stepping motor is with its Position Control accurately, and cheap cost, the simple and efficient plurality of advantages such as control mode are on the Position Control of The Cloud Terrace supervisory control system level and vertical direction, have very widely and use, taking on the dominant position of supervisory control system angle control.And the type of drive of software segmentation because it can make the stepping motor running status more steady, control more flexibly, is utilized by increasing developer.
But traditional software segmentation mode is not effectively controlled flexibly to the amplitude of drive current, in the situation that drive mechanism is fixed, can not control effectively to motor output torque size; In protection and monitor field, because The Cloud Terrace is subject to gravity effect, cause vertical direction different angles and the needed motor torque of different motion state different, utilize traditional segmentation mode to drive, in the time of will causing motor to continue high-torque work, can be under torque demand lower position and motion state, meaningless consumed power, so that the heating of motor vertical and driving chip, reduce parts useful life; When motor continued little moment work, meeting reduced the quality monitoring of The Cloud Terrace supervisory control system greatly so that The Cloud Terrace motor under the higher position of motor torque demand and motion state is lost and gone on foot even can't start.
Summary of the invention
The objective of the invention is for the technological deficiency that exists in the prior art, operate steadily without the driving method of losing the The Cloud Terrace motor vertical in step and provide a kind of.
For realizing that the technical scheme that purpose of the present invention adopts is:
A kind of driving method of The Cloud Terrace motor vertical may further comprise the steps:
(1) after receiving control command, acquires first the angle value of present The Cloud Terrace upright position;
(2) obtain current The Cloud Terrace and move both vertically the numerical value of state flag bit to determine the The Cloud Terrace state that moves both vertically;
(3) regenerate new drive current segmentation table according to the drive current segmentation table of motor vertical, angle value and the The Cloud Terrace state of moving both vertically of The Cloud Terrace upright position;
(4) drive the upright position that motor vertical moves to setting according to the new drive current segmentation table that regenerates.
Regenerating new drive current segmentation table in the described step 3 refers to read the drive current segmentation table of motor vertical and multiply by an amplitude regulatory factor A
Fz(θ, z) to generate new drive current segmentation table, wherein, and A
Fz(θ, z)=A (θ) * B (z).
Described step 1 medium cloud platform angle value calculates by The Cloud Terrace maximum perpendicular angle and corresponding maximum motor step number and current motor step numerical value thereof.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention can upgrade electric current segmentation table in conjunction with The Cloud Terrace upright position angle and motion state, has realized the flexible control of motor vertical moment; In the practical application, because The Cloud Terrace is subject to gravity effect, cause vertical direction different angles and the needed motor torque of different motion state different, by the present invention, just can realize in the motor vertical full angle scope moment size adaptation; Effectively having solved the motor under the higher position of motor torque demand and motion state of The Cloud Terrace in the past loses the step even the situation such as can't start, and effectively reduce the unnecessary consumption of power under the lower position of torque demand and motion state, also can reduce to a certain extent motor vertical and the caloric value that drives chip, prolong parts useful life; Have the power consumption of reduction, strengthen adaptability, use the characteristics such as easy.
Embodiment
Below in conjunction with specific embodiment the present invention is described in further detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Of the present inventionly control the method for motor torque according to The Cloud Terrace position and motion state, may further comprise the steps:
Step 1: calculate the present vertical angle information of The Cloud Terrace by The Cloud Terrace maximum perpendicular angle and corresponding maximum perpendicular number of motor steps and current motor vertical step Numerical thereof; This step be The Cloud Terrace receive rotate order after execution, this utilize program to calculate current angle information method is simple, detect in real time The Cloud Terrace vertical angle information without the additional hardware circuit, cost-saved.
Step 2: obtain The Cloud Terrace and move both vertically the numerical value of state flag bit to determine the motion rotation direction; The state flag bit that moves both vertically refers to represent the direction that The Cloud Terrace moves both vertically, and comprises upwards, downwards and translation, and three kinds different different stressed of three kinds of Determines that move both vertically composed with different amplitudes so the present invention distinguishes it.
Step 3: read the drive current segmentation table of motor vertical and angle value and the motion state of the present The Cloud Terrace upright position of basis and regenerate new drive current segmentation table, namely regenerate new drive current segmentation table in conjunction with the residing position of The Cloud Terrace and the motion that will carry out, because start bit and the direction of each motion are had nothing in common with each other, so regenerate new drive current segmentation table according to actual conditions, can improve better the motor-driven effect of motion;
Step 4: by motor-drive circuit according to the new drive current segmentation table drive motors work that regenerates, motor drives according to drive current segmentation table, realize the motor smooth drive, utilize drive current segmentation table drive motors to be prior art, do not repeat them here;
Step 5: judge whether a segmentation cycle is complete, if so, then return step 1 circulation execution in step 1 to step 4, if not, then return step 4 and continue to carry out according to the current new drive current segmentation table that regenerates.Specifically, executing an all after date of segmentation, send a flag bit, judge by flag bit whether this segmentation cycle executes and judge that the main cause whether a segmentation cycle finish is, if a segmentation cycle is not when having carried out, directly the next segmentation table of execution can cause the motor operation not steady, as blocking, shaking or lose the step etc.;
Step 6 motor is received the instruction that stops, and stops operating, and wherein the electric current of motor internal is the fixed value that generates according to current location in the time of stop motion, and the coefficient B 2 in the time of according to the corresponding A value of vertical angle θ and inactive state is determined.
Specifically, wherein, the computing formula of step 1 angle value is:
θ=θ
max(M/M
max)
In the formula: θ
MaxBe the vertical maximum angle of The Cloud Terrace; M is the current step number of motor vertical; M
MaxBe maximum perpendicular number of motor steps corresponding to the vertical maximum angle of The Cloud Terrace.
Wherein, the step that step 3 regenerates new drive current segmentation table is according to The Cloud Terrace upright position angle value and motion state, and the electric current that carries out corresponding drive current segmentation table carries out amplitude to be regulated.Because the structure of pyrotechnical actuator is fixed, so stepping motor moment size depends primarily on the size of electric machine phase current, and the amplitude of Subdivision Curves can affect the size of stepping motor phase current to a great extent, therefore, adjusting amplitude can play the effect of regulating electric machine moment to a certain extent, can satisfy the different motion demand like this.
The Mathematical Modeling of amplitude regulatory factor is:
A
fz(θ,z)=A(θ)B(z) （1）
Wherein A (θ) is amplitude and vertical angle relation function; B (z) for move both vertically state factor function amplitude and vertical angle relation function factor expression formula is:
Motion state saturation factor expression formula is:
Wherein z=-1 represents The Cloud Terrace and moves vertically downward; It is static that z=0 represents the The Cloud Terrace vertical direction; Z=1 represents The Cloud Terrace and moves vertically upward;
Need to prove A
1-A
nAnd B
1, B
2, B
3Be one group of experiment value or empirical value, it is according to different types or environment is set and slightly different, great angular interval is set and how above-mentioned each value is set, and can arrange according to demand, does not give unnecessary details at this.
For the present invention, the drive current segmentation table of motor vertical can adopt the Subdivision Curves of arbitrary form, such as sine or triangle etc., the present invention does not change the fractionized of drive current segmentation table, only be subdivided data in the segmentation table is read and to carry out amplitude and regulate, do not need hardware supports, need not that existing apparatus is done improvement can realize, realizes simple.Determining of the new drive current segmentation table that motor vertical regenerates can be along with vertical angle information θ and current The Cloud Terrace the move both vertically variation of state z and flexibly change, thereby make The Cloud Terrace under different vertical angle and motion state, realize motor vertical moment self adaptation.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. the driving method of a The Cloud Terrace motor vertical is characterized in that, may further comprise the steps:
(1) after receiving control command, acquires first the angle value of present The Cloud Terrace upright position;
(2) obtain current The Cloud Terrace and move both vertically the numerical value of state flag bit to determine the The Cloud Terrace state that moves both vertically;
(3) regenerate new drive current segmentation table according to the drive current segmentation table of motor vertical, angle value and the The Cloud Terrace state of moving both vertically of The Cloud Terrace upright position;
(4) drive the upright position that motor vertical moves to setting according to the new drive current segmentation table that regenerates.
2. driving method as claimed in claim 1 is characterized in that, regenerates new drive current segmentation table in the described step 3 and refers to read the drive current segmentation table of motor vertical and multiply by an amplitude regulatory factor A
Fz(θ, z) to generate new drive current segmentation table, wherein, and A
Fz(θ, z)=A (θ) * B (z),
3. driving method as claimed in claim 1 or 2 is characterized in that, described step 1 medium cloud platform angle value calculates by The Cloud Terrace maximum perpendicular angle and corresponding maximum motor step number and current motor step numerical value thereof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210497148.1A CN103001563B (en) | 2012-11-28 | 2012-11-28 | A kind of driving method of The Cloud Terrace motor vertical |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210497148.1A CN103001563B (en) | 2012-11-28 | 2012-11-28 | A kind of driving method of The Cloud Terrace motor vertical |
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| Publication Number | Publication Date |
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| CN103001563A true CN103001563A (en) | 2013-03-27 |
| CN103001563B CN103001563B (en) | 2016-08-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016000193A1 (en) * | 2014-06-30 | 2016-01-07 | 深圳市大疆创新科技有限公司 | Support parameter adjustment method, device and support device |
| CN106330052A (en) * | 2015-06-23 | 2017-01-11 | 杭州海康威视数字技术股份有限公司 | Method and system for driving pan-tilt motor |
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| CN101119092A (en) * | 2007-09-06 | 2008-02-06 | 哈尔滨工业大学 | High subdivided integration type stepper motor driver |
| CN101452286A (en) * | 2007-11-30 | 2009-06-10 | 沈阳新松机器人自动化股份有限公司 | Stepper motor drive device based on CAN bus |
| CN101471621A (en) * | 2007-12-24 | 2009-07-01 | 深圳易拓科技有限公司 | Drive circuit board for hard disk assembly line corner stepper motor and method of processing the same |
| CN101594111A (en) * | 2009-07-07 | 2009-12-02 | 浙江新飞跃股份有限公司 | Controllor for step-by-step motor |
| CN101615879A (en) * | 2009-07-01 | 2009-12-30 | 苏州大学 | Subdivision drive method for step motor |
-
2012
- 2012-11-28 CN CN201210497148.1A patent/CN103001563B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101119092A (en) * | 2007-09-06 | 2008-02-06 | 哈尔滨工业大学 | High subdivided integration type stepper motor driver |
| CN101452286A (en) * | 2007-11-30 | 2009-06-10 | 沈阳新松机器人自动化股份有限公司 | Stepper motor drive device based on CAN bus |
| CN101471621A (en) * | 2007-12-24 | 2009-07-01 | 深圳易拓科技有限公司 | Drive circuit board for hard disk assembly line corner stepper motor and method of processing the same |
| CN101615879A (en) * | 2009-07-01 | 2009-12-30 | 苏州大学 | Subdivision drive method for step motor |
| CN101594111A (en) * | 2009-07-07 | 2009-12-02 | 浙江新飞跃股份有限公司 | Controllor for step-by-step motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016000193A1 (en) * | 2014-06-30 | 2016-01-07 | 深圳市大疆创新科技有限公司 | Support parameter adjustment method, device and support device |
| US10060576B2 (en) | 2014-06-30 | 2018-08-28 | Sz Dji Osmo Technology Co., Ltd. | Method, device, and apparatus for gimbal parameter adjustment |
| CN106330052A (en) * | 2015-06-23 | 2017-01-11 | 杭州海康威视数字技术股份有限公司 | Method and system for driving pan-tilt motor |
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| CN103001563B (en) | 2016-08-17 |
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