CN107357318A - The control method and control system of stable cloud platform rotation and stable head - Google Patents
The control method and control system of stable cloud platform rotation and stable head Download PDFInfo
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- CN107357318A CN107357318A CN201710456655.3A CN201710456655A CN107357318A CN 107357318 A CN107357318 A CN 107357318A CN 201710456655 A CN201710456655 A CN 201710456655A CN 107357318 A CN107357318 A CN 107357318A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
- H02P2006/045—Control of current
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of control method of stable cloud platform rotation, the control method comprises the following steps：The angle of the stable head of self-test and stable head is initialized as zero；Obtain the miss distance at tracked target relative image picture center and the focal length value of camera；According to the miss distance at tracked target relative image picture center and the focal length value of camera, obtain stablizing the angle difference of each axle in three axles of head；Closed-loop tracking controlled quentity controlled variable is obtained according to the angle difference of each axle in three axles for stablizing head；Instruct closed-loop tracking controlled quentity controlled variable as stabilizing ring closed-loop control to carry out closed-loop stabilization control, by the stabilizing ring controlled quentity controlled variable being calculated and export to control the three-axis moving of the stable head.
Description
Technical field
The present invention relates to stablize head technical field, more particularly to a kind of control method of stable cloud platform rotation and control system
System and stable head.
Background technology
In recent years, all kinds of moving bases imaging heads be widely used in take photo by plane, the field such as unmanned vehicle, robot, increasingly by
The concern of people.Taken photo by plane in particular with unmanned plane, have it is quick, flexibly, it is clear, obtain people's region of interest exactly
The photo in domain, the important means of video information.But for the moving base carrier using unmanned plane as representative, in moving process not
Exist with can avoiding change, vibration of attitude of carrier etc. influence, cause video seriously to rock, photographic fog it is unclear.Stable head
Birth solve this problem.Stable head is by the motor on multivariant mechanical mechanism, each axle and control electricity
Road is formed.The steering wheel of common horizontal stage electric machine including model plane, the DC servo motor with reducing gear, stepper motor with
And brushless electric machine etc..But in existing head driving control system, it is difficult to realize the lasting track up to image.
The content of the invention
Present invention seek to address that the technical problem to the lasting track up of image is difficult in the prior art, there is provided one
Kind can carry out continuing the control method and control system and stable head of the stable cloud platform rotation of track up to image.
The present invention provides a kind of control method of the stable cloud platform rotation of embodiment, and the control method includes following step
Suddenly：
The angle of the stable head of self-test and stable head is initialized as zero；
Obtain the miss distance at tracked target relative image picture center and the focal length value of camera；
According to the miss distance at tracked target relative image picture center and the focal length value of camera, obtain stablizing head
The angle difference of each axle in three axles；
Closed-loop tracking controlled quentity controlled variable is obtained according to the angle difference of each axle in three axles for stablizing head；
Instructed using closed-loop tracking controlled quentity controlled variable as stabilizing ring closed-loop control to carry out the stabilizing ring that closed-loop stabilization controls to obtain
Controlled quentity controlled variable, by the obtained stabilizing ring controlled quentity controlled variable and export to control the three-axis moving of the stable head.
The present invention also provides a kind of stationary level numerical control system of embodiment, and the control system includes：
Picture charge pattern device, for detecting and obtaining the miss distance at tracked target relative image picture center；
Multiline message interactive interface, respectively with picture charge pattern device and stablizing the control chip of cloud platform rotation and being connected；
The control chip of stable cloud platform rotation, for the stable head of self-test and the angle for stablizing head is initialized as zero；
The miss distance at tracked target relative image picture center and the focal length value of camera are obtained, according to tracked target relative image
The miss distance at picture center and the focal length value of camera, tracked according to the angle difference of each axle in three axles for stablizing head
Closed-loop control amount, instructed using closed-loop tracking controlled quentity controlled variable as stabilizing ring closed-loop control to carry out the stabilization that closed-loop stabilization controls to obtain
Ring controlled quentity controlled variable, by the obtained stabilizing ring controlled quentity controlled variable and export to control the three-axis moving of the stable head.
The present invention also provides a kind of stable head of embodiment, and it is digital control that the stable head includes above-mentioned stationary level
System.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of above method is realized when sequence is executed by processor.
Compared with prior art, beneficial effect is technical scheme：It is relative according to tracked target by root
The miss distance at image frame center and the focal length value of camera, obtain stablizing the angle difference of each axle in three axles of head, with
And the angle difference according to each axle in three axles for stablizing head obtains closed-loop tracking controlled quentity controlled variable to obtain stabilizing ring control
Amount, stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system, and brushless electric machine is controlled by power stage numerical control system
Rotation to control the motion of each axle of stable head, image is carried out to continue track up so as to realize.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of driving control system of brushless electric machine of the present invention.
Fig. 2 is a kind of circuit diagram of embodiment of multiline message interactive interface of the present invention.
Fig. 3 is the circuit diagram of multiline message interactive interface another kind embodiment of the present invention.
Fig. 4 is a kind of circuit diagram of embodiment of three-phase bridge drive component of the present invention.
Fig. 5 is the circuit diagram of three-phase bridge drive component another kind embodiment of the present invention.
Fig. 6 (a) is the brushless electric machine of the present invention and the first embodiment wiring diagram of power level controller.
Fig. 6 (b) is the brushless electric machine of the present invention and second of embodiment wiring diagram of power level controller.
Fig. 6 (c) is the brushless electric machine of the present invention and the third embodiment wiring diagram of power level controller.
Fig. 7 is a kind of structural representation of embodiment of power stage numerical control system of the present invention.
Fig. 8 is a kind of structural representation of embodiment of stationary level numerical control system of the present invention.
Fig. 9 is the flow chart that the present invention is used for the first embodiment of the vector control method of controlled motor rotation.
Figure 10 is the flow chart that the present invention is used for second of embodiment of vector control method that controlled motor rotates.
Figure 11 is the flow chart that the present invention is used for the third embodiment of the vector control method of controlled motor rotation.
Figure 12 is the flow chart that the present invention is used for the 4th kind of embodiment of vector control method that controlled motor rotates.
Figure 13 is the flow chart of the first embodiment of the control method of the stable cloud platform rotation of the present invention.
Figure 14 is the flow chart of second of embodiment of control method of the stable cloud platform rotation of the present invention.
Figure 15 is the flow chart of the third embodiment of the control method of the stable cloud platform rotation of the present invention.
In figure, 1, stationary level numerical control system, 2, power stage numerical control system, 3, the control core of stable cloud platform rotation
Piece.4th, inertia survey meter, 5, multiline message interactive interface, 6, picture charge pattern device, 7, communication interface, 8, power level controller, 9,
Three-phase bridge drive component, 10, current sensor, 11, brushless electric machine, 12, absolute angular position sensor.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
The driving control system of stable cloud platform rotation is as photography of taking photo by plane, monitoring, remote sensing, the core control dress for sampling head
Put, can be in the case where the stable frame for stablizing head produce the condition of work of angular movement, such as hang over the head on unmanned plane, nothing
Man-machine generation flight attitude change, by controlling the brushless electric machine of each axle of stable head to rotate, ensure what is carried on stable head
Imaging device orientation angle remains stable inertia or points to target interested all the time.
The present invention provides a kind of driving control system of the brushless electric machine of embodiment, as shown in figure 1, the drive control system
System includes stationary level numerical control system 1 and at least one power stage numerical control system 2 connects and according to the power series
The order of word control system 2 is communicated with the power stage numerical control system 2, for according to the stabilization for obtaining stable head
The inertial attitude information of the stable frame of the inertia angular speed of framework and stable head；Obtain the stable frame of stable head around
The relative rotation angle of three axles；According to the inertia angular speed of the stable frame of the stable head, the stable frame of stable head
Inertial attitude information and stable head stable frame around the relative rotation angle of three axles, obtain the angle of each axle in three axles
Speed；According to the inertia angular speed of stable frame and the inertial attitude information for the stable frame for stablizing head of the stable head
Closed-loop stabilization control is carried out, and exports stabilizing ring closed-loop control instruction；Closed according to the angular speed of each axle and stabilizing ring in three axles
The reference value of ring control instruction, obtain stabilizing ring controlled quentity controlled variable and export to the power stage numerical control system 2；
The power stage numerical control system 2 is connected with least one brushless electric machine 11, for judging currently to whether there is
The absolute initial value of electrical angle；During initial value absolute if there is no electrical angle, current electrical angle is obtained under initialization pattern
Value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle；If there is the absolute initial value of electrical angle
When, the angle value of absolute angular position sensor is obtained, it is absolute according to the angle value of the absolute angular position sensor and electrical angle
Current electric angle angle value is initially worth to, and obtains the quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable；According to current
Electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable obtain export PWM dutycycle with the rotation of controlled motor.
Specifically, as shown in figure 1, the driving control system includes n power stage numerical control system 2, first work(
The serial number 2-1 of rate level numerical control system, the sequence number 2-2 of second power stage numerical control system, n-th of power stage numeral
The sequence number 2-n of control system, stationary level numerical control system 1 can according to the power stage numerical control system 2 sequence number from
It is small to be communicated to order big or from big to small with the power stage numerical control system 2, wherein, n is more than or equal to 1 just
Integer.
In specific implementation, the power level controller 8, it is additionally operable to obtain current mode of operation, and judge currently
Mode of operation is open current loop pattern or current closed-loop pattern；
Current mode of operation is current closed-loop pattern, and quadrature-axis voltage control is worth to according to two-phase-region casting electric current is got
Amount and direct-axis voltage controlled quentity controlled variable；
Current mode of operation is open current loop pattern, obtains quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable.
In specific implementation, the power level controller 8, the control instruction got is additionally operable to, and judge control instruction
Whether it is END instruction；If control instruction be for END instruction when, preserve the absolute initial value of electrical angle；If control instruction
It is not to obtain the work of the angle value of absolute angular position sensor for END instruction, then execution.
Specifically, the stabilizing ring controlled quentity controlled variable of three axles must have 3 brushless electric machines to perform, in specific implementation, each
Brushless electric machine is driven using 1 power stage control system 2, and 1 power stage control system 2 can also be realized to more brushless electricity
The driving of machine, but in the case of only 1 power stage control system 2, by driving 3 motors also to realize, 3 axles control.
But if whole system only has 1 motor, that can only just realize the control of 1 axle.
As shown in figure 1, each axle needs a power stage control system 2, each power stage control system has a work(
Rate level digitial controller, therefore three axle heads include 3 power stage digitial controllers, in addition the power stage numerical control system
2 control instruction user can pass the end order sent according to by remote control system or number, and the order is believed also by multichannel
Breath interactive interface 5 receives.
Specifically, the stabilizing ring controlled quentity controlled variable of stationary level numerical control system 1 is when control model is current closed-loop pattern
The current-order or the digital control system of power stage when control model is open current loop pattern that power stage numerical control system 2 obtains
The voltage instruction that system 2 obtains, that is to say, that when control model is current closed-loop pattern, the stationary level got is digital control
The stabilizing ring controlled quentity controlled variable of system 1 is two-phase-region casting current value, when control model is open current loop pattern, the stationary level that gets
The stabilizing ring controlled quentity controlled variable of numerical control system 1 is quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable.
Due to being calculated under open current loop pattern, the pressure of processor can be reduced, when from the relatively low place of performance
When managing device, because processor computing capability is weak, the calculating of current closed-loop algorithm can not be completed within the defined time cycle, can be with
Calculate under open current loop pattern, and calculated under current closed-loop pattern, machine induced electromotive force can be effectively eliminated
Influence, make torque output more steady, while can also make the electric current for flowing through motor to be actively engaged in doing work, Er Qietong
Cross the inertia angular speed of the stable frame according to the stable head, stable head stable frame inertial attitude information and
Stable head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles, and according to each axle in three axles
Angular speed and the reference value of stabilizing ring closed-loop control instruction, obtain stabilizing ring controlled quentity controlled variable, stabilizing ring controlled quentity controlled variable are exported to power
Level numerical control system, the rotation of brushless electric machine is controlled by power stage numerical control system to control each axle of stable head
Motion, so as to realize the high precision image stablized.Due to having used distribution in the driving control system of brushless electric machine
The scheme being combined with practicable vector controlled is controlled, so as to more efficiently improve performance using motor.In addition,
The current control of motor employs vector controlled and is distributed to each power stage numerical control system and handled, so as to
Alleviate the calculating pressure of stationary level control system.
In specific implementation, the quantity of axle of the quantity of the brushless electric machine 11 with stablizing head needs unanimously, i.e., one
Brushless electric machine 11 controls an axle, and the quantity of the power stage numerical control system 2 can be with the quantity of the brushless electric machine 11
It is identical, then power stage numerical control system 2 controls a brushless electric machine 11, certain power stage numerical control system 2
Each and every one more brushless electric machines 11 can be controlled, in the present embodiment, a power stage numerical control system 2 controls a brushless electric machine
Circuit structure between 11 and the multiple power stage numerical control system 2 is identical.
Specifically, as shown in figure 8, the stationary level numerical control system 1 that the present invention also provides a kind of embodiment includes inertia
Measuring appliance 4, for the stable frame that detects and obtain stable head inertia angular speed and stablize head stable frame it is used
Sexual stance information；
Multiline message interactive interface 5, respectively with the inertia survey meter 4 and stablizing the control chip 3 of cloud platform rotation and being connected；
The control chip 3 of stable cloud platform rotation, for the stable head of self-test and the angle for stablizing head is initialized as zero；Obtain stable
The inertial attitude information of the stable frame of the inertia angular speed of the stable frame of head and stable head, obtains stable head
Relative rotation angle of the stable frame around three axles；For the inertia angular speed according to the stable frame for stablizing head, stably
The stable frame of the inertial attitude information of the stable frame of head and stable head obtains three around the relative rotation angle of three axles
The inertia angular speed of each axle in axle；According to the stably inertia angular speed of the stable frame of head and the stabilization for stablizing head
The inertial attitude information of framework carries out closed-loop stabilization control, and exports stabilizing ring closed-loop control instruction；According to each axle in three axles
Inertia angular speed and stabilizing ring closed-loop control instruction reference value, obtain stabilizing ring controlled quentity controlled variable and export to the power series
Word control system 2.
Specifically, the control chip 3 of stable cloud platform rotation is connected by parallel bus mode and multiline message interactive interface 5
Connect.In addition, the control chip 3 of stable cloud platform rotation can be digital control by multiline message interactive interface 5 and multiple power stages
System, inertia survey meter 4 are communicated, and the control chip 3 of stable cloud platform rotation be in order successively with multiple power stages
Numerical control system communicates.The communication mode of multiline message interactive interface 5 includes following manner：PWM pulse width modulation modes,
I2C bus modes, spi bus mode, serial communication mode (RS232, RS422, RS485), CAN mode.
In specific implementation, Fig. 2 is a kind of circuit diagram of embodiment of multiline message interactive interface of the present invention.It is specifically, more
Road information interactive interface 5 uses differential digital communication mode, that is to say, that multiline message interactive interface 5 includes conversion chip
ST16C654 and difference chip max3074, the control chip 3 of stable cloud platform rotation pass through parallel bus mode and conversion chip
ST16C654 is connected, i.e., the control chip 3 of stable cloud platform rotation is connected by data/address bus DB0-DB7 and address bus AB0-AB5
It is connected to conversion chip ST16C654 and converts parallel data into serial data, the control chip 3 of stable cloud platform rotation passes through address
Bus AB0-AB5 is connected with coding chip 74139 to select to need the interface IP address to communicate.Turn by conversion chip ST16C654
The serial data changed is being converted into differential signal by difference chip max3074, passes through port CH0-CH3 and the power series
Word control system 2 is communicated.
In specific implementation, Fig. 3 is the circuit diagram of multiline message interactive interface another kind embodiment of the present invention.Specifically,
Multiline message interactive interface 5 uses analog quantity communication mode, that is to say, that the control chip 3 of stable cloud platform rotation is by parallel
Bus mode is attached with analog-digital chip AD7656 and modulus conversion chip DAC8822, by analog-digital chip
Digital information is converted to analog information and is sent to the power stage numerical control system 2 by AD7656 to be communicated, external module
The analogue data of transmission is converted to the control chip that digital information is sent to stable cloud platform rotation by modulus conversion chip DAC8822
3。
The inertia survey meter 4 is used for the inertia angular speed for measuring the stable frame for stablizing head and stablizes the steady of head
Determine the inertial attitude information of framework, the attitude information includes pitching data, roll data and bearing data, and believes by multichannel
Breath interactive interface 5 transmits data to the control chip 3 of stable cloud platform rotation, and wherein data include angular speed and Angle Position.
In specific implementation, stable frame and three axles are included according to the stable head, three axle including pitch axis X,
Roll axle Y and azimuth axis Z, by the motion of pitch axis X, roll axle Y and the one-to-one axles of brushless electric machine band three of azimuth axis Z,
Specifically, obtain stablizing relative rotation angle of the stable frame around three axles of head by angle transducer, and the stable head
Stable frame inertia angular speed by gyro.
Specifically, the control chip 3 of stable cloud platform rotation stabilizing ring controlled quentity controlled variable is exported it is digital control to the power stage
System 2, the power stage numerical control system 2 control the rotation of brushless electric machine to drive brushless electric machine according to stabilizing ring controlled quentity controlled variable
The motion of corresponding axle.
In specific implementation, the stable closed loop control specifically includes lead-lag control, PID control and sliding formwork control
At least one.
In specific implementation, according to the inertia angular speed of the stable frame of the stable head, the shakeless deckle of stable head
The inertial attitude information and stable frame of frame obtain the public affairs of the angular speed of each axle in three axles around the relative rotation angle of three axles
Formula is as follows：
Wherein, θ, γ,Correspond respectively is relative rotation angle of the stable frame around three axles for stablizing head；[ωpx
ωpy ωpz]TThe inertia angular speed for stable frame, [ω are corresponded respectivelybx ωby ωbz]TIt is three axles to correspond respectively
In each axle inertia angular speed.
In specific implementation, according to the angular speed of each axle in three axles and the reference value of stabilizing ring closed-loop control instruction, obtain
Formula to stabilizing ring controlled quentity controlled variable is as follows：
Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value of stabilizing ring closed-loop control instruction, and ω is wherein one in three axles
The angular speed of individual axle.That is according to above-mentioned formula, stationary level numerical control system 1 obtains controlling for single power stage numeral
The stabilizing ring controlled quentity controlled variable of system 2 processed, by multiline message interactive interface 5 be sent to corresponding to power stage numerical control system 2 with
Realize the control to brushless electric machine.In addition, stabilizing ring closed-loop control instruction generates different controls according to the difference of mode of operation
System instruction, if stable mode, stabilizing ring closed-loop control instruction is the angular speed order received by number biography；If with
The track pattern, stabilizing ring closed-loop control instruction are the controlled quentity controlled variable i.e. closed-loop tracking controlled quentity controlled variable being calculated according to image miss distance.
Pass through the inertia appearance of the inertia angular speed of the stable frame according to the stable head, the stable frame of stable head
The stable frame of state information and stable head obtains the inertia angle speed of each axle in three axles around the relative rotation angle of three axles
Degree, and the reference value instructed according to the inertia angular speed of each axle in three axles and stabilizing ring closed-loop control, obtain stabilizing ring control
Amount processed, stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system, brushless electricity is controlled by power stage numerical control system
The rotation of machine is to control the motion of each axle of stable head, so as to realize the high precision image stablized.It is in addition, described steady
The calculating that deciding grade and level control system only needs to carry out stabilizing ring controlled quentity controlled variable is without being driven control to motor, so as to subtract
The amount of calculation of light stationary level control system.
In specific implementation, stationary level numerical control system 1 also includes picture charge pattern device 6, for detect and obtain by with
The miss distance at track target relative image picture center；
Multiline message interactive interface 5, respectively with picture charge pattern device 6 and stablizing the control chip 3 of cloud platform rotation and being connected；It is stable
The control chip 3 of cloud platform rotation, it is additionally operable to the stable head of self-test and the angle for stablizing head is initialized as zero；Obtain tracked
The miss distance at target relative image picture center and the focal length value of camera, according to tracked target relative image picture center
The focal length value of miss distance and camera, closed-loop tracking control is obtained according to the angle difference of each axle in three axles for stablizing head
Amount, instructed closed-loop tracking controlled quentity controlled variable as stabilizing ring closed-loop control, stable closed loop control is done according to feedback data, will be calculated
To stabilizing ring controlled quentity controlled variable and export.
It is described according to the miss distance at tracked target relative image picture center and the focal length of camera in specific implementation
Value, the formula for obtaining stablizing the angle difference of each axle in three axles of head are as follows：
θ=arctan (n × psize/L)；
Wherein θ is differential seat angle, and n is miss distance, psizeFor pixel dimension, L is focal length.
In specific implementation, the angle difference according to each axle in three axles for stablizing head obtains closed-loop tracking control
The formula of amount is as follows：
Wherein uciFor closed-loop tracking controlled quentity controlled variable, θiFor the angle difference of each axle in three axles.
In specific implementation, control to obtain to carry out closed-loop stabilization using closed-loop tracking controlled quentity controlled variable as stabilizing ring control instruction
Stabilizing ring controlled quentity controlled variable specific formula be this area common knowledge.
By the miss distance and the focal length value of camera according to tracked target relative image picture center, obtain stablizing cloud
The angle difference of each axle in three axles of platform, and the angle difference according to each axle in three axles for stablizing head obtain with
Track closed-loop control amount, instructed using closed-loop tracking controlled quentity controlled variable as stabilizing ring closed-loop control to obtain calculating stabilizing ring controlled quentity controlled variable, will
Stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system, and the rotation of brushless electric machine is controlled by power stage numerical control system
With the motion of each axle of the stable head of control, image is carried out to continue track up so as to realize.Therefore can realize high-precision
The image stabilization of degree and stabilization, the purpose of lasting track up during mobile take photo by plane to moving target.The stabilization
The calculating that level control system only needs to carry out stabilizing ring controlled quentity controlled variable is without being driven control to motor, so as to mitigate
The amount of calculation of stationary level control system.
In specific implementation, it is used for as shown in fig. 7, the present invention provides a kind of power stage numerical control system 2 of embodiment
The gyration vector of motor is controlled, in specific implementation, the present invention provides a kind of digital control system of the power stage of embodiment
System 2 is used for controlled motor and rotated, and the power stage numerical control system 2 includes：
Communication interface 7, the current mode of operation and control instruction for received power level controller；
Power level controller 8, for judging currently to whether there is the absolute initial value of electrical angle；It is exhausted if there is no electrical angle
During to initial value, current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and electricity are obtained under initialization pattern
The absolute initial value of angle；During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to institute
The angle value and electrical angle for stating absolute angular position sensor are definitely initially worth to current electric angle angle value, and obtain the friendship
Shaft voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable；Controlled according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage
Output PWM dutycycle is measured with the rotation of controlled motor；
Three phase bridge drivers 9, for the PWM exported according to power level controller dutycycle output driving current to control
The rotation of motor；
Current sensor 10, the two-phase-region casting current value in driving current for detecting Three phase bridge drivers；
Absolute angular position sensor 12, for detecting the angle value of motor.
In specific implementation, the power level controller 8, it is additionally operable to obtain current mode of operation, and judge currently
Mode of operation is open current loop pattern or current closed-loop pattern；
Current mode of operation is current closed-loop pattern, and quadrature-axis voltage control is worth to according to two-phase-region casting electric current is got
Amount and direct-axis voltage controlled quentity controlled variable；
Current mode of operation is open current loop pattern, obtains quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable.
In specific implementation, the power level controller 8, the control instruction got is additionally operable to, and judge control instruction
Whether it is END instruction；If control instruction be for END instruction when, preserve the absolute initial value of electrical angle；If control instruction
It is not to obtain the work of the angle value of absolute angular position sensor for END instruction, then execution.
Specifically, motor is brushless electric machine 11, the communication interface 7 is the communication with the outside world of power stage numerical control system 2
Interface, it is corresponding with stationary level numerical control system using communication mode.The power level controller 8 reads the absolute angle position
The two-phase-region casting current data of sensor 12 and current sensor 10 is put, obtains the rotor of brushless electric machine 11 relative to stator
The current data of absolute angular position and the adjacent two-phase of brushless electric machine, run vector control algorithm, and the result that will be calculated
Exported by 3 groups of PWM modules on the power level controller 8 to three-phase bridge drive component 9.The three-phase bridge drive component 9
There is provided the interfaces of ABC tri- can be electrically connected with the three-phase of brushless electric machine 11；In electric dress connection, brushless electric machine three-phase line is
Three wires, it may be selected any one and be connected with the A phases of the power chip, remaining two wire selection of brushless electric machine are with having connected
An adjacent conduct B phase of wire is connect, remaining one is connected with C phases.The three-phase bridge drive component 9 and brushless electric machine 11 are electric
Connection, driving brushless electric machine 11 rotates, so as to dynamic stability cloud platform rotation.
That is, the power stage numerical control system 2 can realize following three parts function：Initial electrical angle pair
Standard, Field orientable control, the judgement of current closed-loop and open current loop pattern and gating program；The current closed-loop and open current loop
System is arranged to current closed-loop pattern or open current loop pattern by the judgement of pattern and gating program according to the data received；Institute
State Field orientable control and carry out vector calculus using absolute angular position sensor and biphase current data, under current closed-loop pattern
Brushless electric machine quadrature axis control instruction be the data received, d-axis control instruction is zero, and quadrature-axis voltage control is calculated respectively
Amount and direct-axis voltage controlled quentity controlled variable processed；Under open current loop pattern, quadrature-axis voltage controlled quentity controlled variable is the data directly received, and d-axis is electric
It is zero to press controlled quentity controlled variable.Wherein, system is operated in electricity by the absolute initial value alignment procedure of electrical angle in the vector control algorithm
Flow under closed loop mode, by being controlled quadrature axis current and direct-axis current, electrical angle is forced to be arranged to-pi/2, and read this
When absolute angular position sensor reading to realize the alignment of electrical angle, so as to by program realize initial angle be aligned, then peace
The dress of phase requirements during to(for) motor are just more random.In addition, being calculated under open current loop pattern, the pressure of processor can be reduced
Power, when from performance relatively low processor, because processor computing capability is weak, electricity can not be completed within the defined time cycle
The calculating of closed loop algorithm is flowed, can be calculated under open current loop pattern, and is calculated under current closed-loop pattern, can effectively be disappeared
Except the influence of machine induced electromotive force, make torque output more steady, while can also make the electric current for flowing through motor can be effective
Ground participates in acting.
In specific implementation, the power level controller 8 is additionally operable to：
Two-phase-region casting current value is arranged to the first pre-set current value and the second pre-set current value；
Quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current；
Current electrical angle is arranged to default angle value；
Obtain the angle value of absolute angular position sensor, and the angle value according to absolute angular position sensor and current electricity
Angle obtains the absolute initial value of electrical angle.
Specifically, when the absolute initial value of electrical angle is not present, that is to say, that, it is necessary to calculate the absolute initial value of electrical angle
When, it is necessary to by two-phase-region casting current value force be set as the first pre-set current value Icmdq0 and the second pre-set current value Icmdd0,
Default angle value is-pi/2, gathers the angle value of absolute angular position sensor as the absolute initial value of electrical angle, and deposited
Storage.Because motor is not know the motor absolute angle position corresponding to electrical angle-pi/2 when not setting the absolute initial value of electrical angle
Put, initialization is exactly that both are corresponding, needs electrical angle being set as-pi/2 when motor is arranged on construction package, now reads
The angle value of absolute angular position sensor is taken, and using the angle value record storage as the absolute initial value of electrical angle, will be current
Electrical angle and the absolute initial value of electrical angle carry out correspondingly.
In specific implementation, the power level controller 8 is additionally operable to：
Convert to obtain the first conversion current value and the second conversion electricity according to two-phase-region casting current value progress Clarke is got
Flow valuve；
Park is carried out according to the first conversion current value and the second conversion current value to convert to obtain quadrature axis current value and d-axis electricity
Flow valuve；
Quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to the quadrature axis current value and direct-axis current.
In specific implementation, two-phase-region casting current value is the driving current value I of A phasesaWith the driving current value I of B phasesb, according to
The driving current value I of A phasesaWith the driving current value I of B phasesbClarke is carried out to convert to obtain the first conversion current value IαBecome with second
Change current value IβFormula it is as follows：
According to the first conversion current value IαWith the second conversion current value IβPark is carried out to convert to obtain quadrature axis current value IqWith it is straight
Shaft current value IdFormula it is as follows：
Wherein θ represents electrical angle numerical value.
Specifically, when it is proportional plus integral control to design controller, according to the quadrature axis current value IqWith direct-axis current value Id
Obtain quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCalculation formula is as follows：
Wherein,WithCurrent-order is represented, Kp is proportionality coefficient；Ki is storage gain.Specifically,Current-order
It is exactly the current control amount that stationary level control system is sent to power stage numerical control system by multiline message interactive interface；Current-order is generally arranged to 0 in power stage numerical control system, even whole electric currents participate in acting, in addition electric current control
Amount processed is exactly the stabilizing ring controlled quentity controlled variable that stationary level control system exports in the tracking mode or under stable mode.
In specific implementation, the power level controller 8 is additionally operable to：
According to quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable carry out Park inverse transformations obtain three-phase voltage Va, Vb and
Vc；
Obtain exporting PWM dutycycle according to three-phase voltage Va, Vb and Vc with the rotation of controlled motor.
Specifically, according to quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCarry out Park inverse transformations and obtain three-phase electricity
Press Va, Vb and Vc formula as follows：
In specific implementation, the absolute initial value of angle value and electrical angle according to the absolute angular position sensor obtains
The step of to current electric angle angle value, it is specially：
After current electric angle angle value subtracts the absolute initial value of electrical angle equal to the angle value of the absolute angular position sensor
Radian is scaled multiplied by with number of pole-pairs.
The angle value and current electrical angle according to absolute angular position sensor obtains the absolute initial value of electrical angle
Step, it is specially：
The absolute initial value of electrical angle is equal to the angle value of the absolute angular position sensor.
That is, the absolute initial value of electrical angle is read and record absolute during electrical angle initial value setting
The numerical value of angular position pick up, when need not calculate electrical angle initial value, directly read what is recorded before.
The present invention also provides a kind of stable head of embodiment, and it is digital control that the stable head includes above-mentioned power stage
System 2.
The stable head of the present invention, is calculated under open current loop pattern, can reduce the pressure of processor, work as selection
During the relatively low processor of performance, because processor computing capability is weak, current closed-loop calculation can not be completed within the defined time cycle
It the calculating of method, can calculate under open current loop pattern, and be calculated under current closed-loop pattern, electricity can be effectively eliminated
The influence of machine induced electromotive force, make torque output more steady, while the electric current that can also make to flow through motor can effectively join
With acting.
In specific implementation, as shown in figure 4, power level controller 8 is specially TM32028069 chips, the three-phase bridge is driven
Dynamic component 9 includes three switch tube modules, it is each switch tube module include a triode, first resistor R1, second resistance R2,
3rd resistor R3, the 4th resistance R4, the first metal-oxide-semiconductor NA1 and the second metal-oxide-semiconductor NA2, the first output of the TM32028069 chips
Port PWMA1 and the one of switch tube module of the second output port PWMA2 connections.Specifically, the TM32028069 chips
The first output port PWMA1 be connected with second resistance R2 one end, the base stage of the second resistance R2 other end and triode connects
Connect, the second output port PWMA2 of the TM32028069 chips is connected with 3rd resistor R3 one end, and 3rd resistor R3's is another
One end is connected with the second metal-oxide-semiconductor NA2 first end and the 4th resistance R4 one end respectively, the second metal-oxide-semiconductor NA2 the second end and
The four resistance R4 other end is grounded, and power supply VCC connects with the 5th resistance R5 one end and the first metal-oxide-semiconductor NA1 the 3rd end respectively
Connect, the colelctor electrode of triode is connected with the 5th resistance R5 other end and the first metal-oxide-semiconductor NA1 first end respectively, the first metal-oxide-semiconductor
NA1 the second end and the second metal-oxide-semiconductor NA2 three-terminal link, the grounded emitter of triode, the first metal-oxide-semiconductor NA1 the second end
A signal node is formed with the second metal-oxide-semiconductor NA2 three-terminal link to be used to export one of three-phase driving signal, that is,
Three switches tube module output three-phase driving signal PHASHA, PHASHB, PHASHC, current sensor 10 detect drive signal
PHASHA, PHASHB, and the measured value detected is exported to the TM32028069 chips.
In specific implementation, as shown in figure 5, the three-phase bridge drive component 9 include three logic gates chip U1A,
U1B, U1C and three-phase bridge driving chip, specifically, three-phase bridge driving chip is specially DRV8312 driving chips.Power stage controls
Device 8 is specially TM32028069 chips, the first output port PWMA1 of the TM32028069 chips and the second output port
PWMA2 is connected with logic gates chip U1A first input end and the second input respectively, the TM32028069 chips
First output port PWMA1 is also connected with the first input end PWMA of DRV8312 driving chips, logic gates chip U1A's
Output end is connected with the second input RESET_A of DRV8312 driving chips, the 3rd output end of the TM32028069 chips
Mouth PWMB1 and the 4th output port PWMB2 connects with logic gates chip U1B the 3rd input and the 4th input respectively
Connect, the 3rd output port PWMB1 of the TM32028069 chips also connects with the 3rd input PWMB of DRV8312 driving chips
Connect, logic gates chip U1B output end is connected with the 4th input RESET_B of DRV8312 driving chips, described
5th output port PWMC1 of TM32028069 chips and the 6th output port PWMC2 is respectively with logic gates chip U1C's
First input end and the connection of the second input, the 5th output port PWMC1 of the TM32028069 chips also drive with DRV8312
The of 5th input PWMC connections of dynamic chip, logic gates chip U1C the first output end and DRV8312 driving chips
Six input RESET_C connections, the DRV8312 driving chips export three-phase driving signal PHASHA, PHASHB, PHASHC,
Current sensor 10 detects drive signal PHASHA, PHASHB, and the measured value detected is exported to the TM32028069
Chip.
Specifically, as shown in Fig. 6 (a), switching tube V1 and switching tube V4 form same bridge arm and switching tube V1 and switching tube
There is first node, switching tube V3 and switching tube V6 form same bridge arm and had between switching tube V3 and switching tube V6 between V4
Section point, switching tube V2 and switching tube V5 form same bridge arm and have section point between switching tube V2 and switching tube V5,
Turned on while by preventing switching tube V1 and switching tube V4, prevent from turning on or preventing while switching tube V3 and switching tube V6
Turned on while switching tube V2 and switching tube V5, so as to prevent the three-phase bridge driving chip from same two power tubes of bridge arm occur
Simultaneously turn on and cause short circuit, wherein, the A phases of the first node connection brushless electric machine 11 of the three-phase bridge driving chip, described three
The B phases of the section point connection brushless electric machine 11 of phase bridge driving chip, the 3rd node connection nothing of the three-phase bridge driving chip
The C phases of brush motor 11.As shown in Fig. 6 (b), the B phases of the first node connection brushless electric machine 11 of the three-phase bridge driving chip, institute
The C phases of the section point connection brushless electric machine 11 of three-phase bridge driving chip are stated, the 3rd node of the three-phase bridge driving chip connects
Connect the A phases of brushless electric machine 11.As shown in Fig. 6 (c), the C of the first node connection brushless electric machine 11 of the three-phase bridge driving chip
Phase, the A phases of the section point connection brushless electric machine 11 of the three-phase bridge driving chip, Section three of the three-phase bridge driving chip
The B phases of point connection brushless electric machine 11.
It can be carried out electrically with the three-phase of brushless electric machine 11 that is, the three-phase bridge drive component 9 provides the interfaces of ABC tri-
Connection；In electric dress connection, A phases, B phases and the C phase three-phases line of brushless electric machine 11 be three wires, may be selected any one and
One of node of the three-phase bridge drive component 9 is connected, and remaining two wire selection of brushless electric machine are driven with the three-phase bridge
Two other node of dynamic component 9 connects one to one.In addition, the three-phase bridge drive component 9 electrically connects with brushless electric machine 11
Connect, driving brushless electric machine rotates, so as to the rotation with dynamic stability head.
In specific implementation, the absolute angular position sensor 12 is specially magnetic coder, definitely incremental encoder, reality
The one of which of encoder.
The present invention also provides the stable head of embodiment a kind of, including the driving control system of above-mentioned brushless electric machine and with
The brushless electric machine 11 of the corresponding connection of the driving control system.
The present invention provides a kind of vector control method for being used for controlled motor and rotating of embodiment, the vector control method
Comprise the following steps：
Judgement currently whether there is the absolute initial value of electrical angle；
During initial value absolute if there is no electrical angle, current electric angle angle value, quadrature axis electricity are obtained under initialization pattern
Press controlled quentity controlled variable, direct-axis voltage controlled quentity controlled variable and the absolute initial value of electrical angle；
During initial value absolute if there is electrical angle, the angle value of absolute angular position sensor is obtained, according to described absolute
The angle value and electrical angle of angular position pick up are definitely initially worth to current electric angle angle value, and obtain the quadrature-axis voltage
Controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable；
Obtain exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
With the rotation of controlled motor.
In specific implementation, described the step of obtaining the quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable, including with
Lower step：
Current mode of operation is obtained, and judges whether current mode of operation is open current loop pattern or current closed-loop
Pattern；
Current mode of operation is current closed-loop pattern, and quadrature-axis voltage control is worth to according to two-phase-region casting electric current is got
Amount and direct-axis voltage controlled quentity controlled variable, are obtained into according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
Export the step of PWM dutycycle is with the rotation of controlled motor；
Current mode of operation is open current loop pattern, acquires quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable,
Into obtaining exporting PWM dutycycle according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable to control
The step of rotation of motor processed.
In specific implementation, the vector control method comprises the following steps：
The control instruction got, and judge whether control instruction is END instruction；
If it is, preserve the absolute initial value of electrical angle；
If it is not, then the step of returning to the angle value for obtaining absolute angular position sensor.
In specific implementation, as shown in figure 9, the present invention provides a kind of vector control for being used for controlled motor and rotating of embodiment
Method processed, the vector control method include：
Step S11, judgement currently whether there is the absolute initial value of electrical angle, if not, into step S12, if it is, entering
Enter step S13；
Step S12, current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable, direct-axis voltage control are obtained under initialization pattern
Amount and the absolute initial value of electrical angle, into step S17；
Step S13, obtain the angle value of absolute angular position sensor；
Step S14, current mode of operation is obtained, and judge whether current mode of operation is open current loop pattern, such as
Fruit is, into step S15, if not, into step S16；
Step S15, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are obtained, into step S17；
Step S16, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current is got, is entered
Enter step S17；
Step S17, obtained exporting PWM according to current electric angle angle value, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable
Dutycycle with the rotation of controlled motor；
Step S18, the control instruction got, and judge whether control instruction is END instruction, if it is, into step
S19, if it is not, then into S13；
Step S19, preserve the absolute initial value of electrical angle.
Or, judge whether current mode of operation is current closed-loop pattern in step S14, if not, into
Step S15, if it is, into step S16.
From above-mentioned steps, it can be seen that the vector control algorithm includes initial electrical angle alignment, Field orientable control, electricity
Flow judgement and the gating program three parts composition of closed loop and open current loop pattern；Current closed-loop and the open current loop pattern is sentenced
System is arranged to current closed-loop pattern or open current loop pattern by disconnected and gating program according to the data received；Determine in the magnetic field
To control vector calculus, the brushless electricity under current closed-loop pattern are carried out using absolute angular position sensor and biphase current data
Machine quadrature axis control instruction is the data received, and d-axis control instruction is zero, and quadrature-axis voltage controlled quentity controlled variable and straight is calculated respectively
Shaft voltage controlled quentity controlled variable；Under open current loop pattern, quadrature-axis voltage controlled quentity controlled variable is the data directly received, direct-axis voltage controlled quentity controlled variable
It is zero.Wherein, system is operated in current closed-loop mould by the absolute initial value alignment procedure of electrical angle in the vector control algorithm
Under formula, by being controlled quadrature axis current and direct-axis current, electrical angle is forced to be arranged to-pi/2, and read now absolute angle
Position sensor reading to realize the alignment of electrical angle, so as to by program realize initial angle be aligned, then during installation for
The phase requirements of motor are just more random.In addition, being calculated under open current loop pattern, the pressure of processor can be reduced,
When from performance relatively low processor, because processor computing capability is weak, electric current can not be completed within the defined time cycle
It the calculating of closed loop algorithm, can calculate under open current loop pattern, and be calculated under current closed-loop pattern, can be effective
The influence of machine induced electromotive force is eliminated, makes torque output more steady, while the electric current that can also make to flow through motor can have
Effect ground participates in acting.
In specific implementation, as shown in Figure 10, step S12, following steps are specifically included：
Step S121, two-phase-region casting current value is arranged to the first pre-set current value and the second pre-set current value；
Step S122, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable are worth to according to two-phase-region casting electric current；
Step S123, current electrical angle is arranged to default angle value；
Step S124, the angle value of absolute angular position sensor is obtained, and according to the angle value of absolute angular position sensor
The absolute initial value of electrical angle is obtained with current electrical angle.
Specifically, when the absolute initial value of electrical angle is not present, that is to say, that, it is necessary to calculate the absolute initial value of electrical angle
When, it is necessary to by two-phase-region casting current value force be set as the first pre-set current value Icmdq0 and the second pre-set current value Icmdd0,
Default angle value is-pi/2, gathers the angle value of absolute angular position sensor as the absolute initial value of electrical angle, and deposited
Storage.Because motor is not know the motor absolute angle position corresponding to electrical angle-pi/2 when not setting the absolute initial value of electrical angle
Put, initialization is exactly that both are corresponding, needs electrical angle being set as-pi/2 when motor is arranged on construction package, now reads
The angle value of absolute angular position sensor is taken, and using the angle value record storage as the absolute initial value of electrical angle, will be current
Electrical angle and the absolute initial value of electrical angle carry out correspondingly.
In step S122, according to two-phase-region casting current value, quadrature-axis voltage controlled quentity controlled variable and straight is obtained under closed-loop current control
Shaft voltage controlled quentity controlled variable.
In specific implementation, as shown in figure 11, step S122 or step S16, specifically include：
Step S31, convert to obtain the first conversion current value and the according to getting two-phase-region casting current value and carrying out Clarke
Two conversion current values；
Step S32, carry out Park according to the first conversion current value and the second conversion current value and convert to obtain quadrature axis current value
With direct-axis current value；
Step S33, quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage control are worth to according to the quadrature axis current value and direct-axis current
Amount processed.
In specific implementation, two-phase-region casting current value is the driving current value I of A phasesaWith the driving current value I of B phasesb, according to
The driving current value I of A phasesaWith the driving current value I of B phasesbClarke is carried out to convert to obtain the first conversion current value IαBecome with second
Change current value IβFormula it is as follows：
According to the first conversion current value IαWith the second conversion current value IβPark is carried out to convert to obtain quadrature axis current value IqWith it is straight
Shaft current value IdFormula it is as follows：
Wherein θ represents electrical angle numerical value.
Specifically, when it is proportional plus integral control to design controller, according to the quadrature axis current value IqWith direct-axis current value Id
Obtain quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCalculation formula is as follows：
Wherein,WithCurrent-order is represented, Kp is proportionality coefficient；Ki is storage gain.
Specifically,Current-order is exactly that stationary level control system is sent to power stage by multiline message interactive interface
The current control amount of numerical control system；Current-order is generally arranged to 0 in power stage numerical control system, even entirely
Portion's electric current participates in acting, and current control amount is exactly that stationary level control system exports in the tracking mode or under stable mode in addition
Stabilizing ring controlled quentity controlled variable.
In specific implementation, as shown in figure 12, step S17 specifically includes following steps：
Step S41, Park inverse transformations are carried out according to quadrature-axis voltage controlled quentity controlled variable and direct-axis voltage controlled quentity controlled variable and finally give three-phase
Voltage Va, Vb and Vc；
Step S42, obtain exporting PWM dutycycle according to three-phase voltage Va, Vb and Vc with the rotation of controlled motor.
Specifically, according to quadrature-axis voltage controlled quentity controlled variable VqWith direct-axis voltage controlled quentity controlled variable VdCarry out Park inverse transformations and finally give three
Phase voltage Va, Vb and Vc formula are as follows：
In specific implementation, the absolute initial value of angle value and electrical angle according to the absolute angular position sensor obtains
The step of to current electric angle angle value, it is specially：
After current electric angle angle value subtracts the absolute initial value of electrical angle equal to the angle value of the absolute angular position sensor
Radian is scaled multiplied by with number of pole-pairs.
The angle value and current electrical angle according to absolute angular position sensor obtains the absolute initial value of electrical angle
Step, it is specially：
The absolute initial value of electrical angle is equal to the angle value of the absolute angular position sensor.
That is, the absolute initial value of electrical angle is read and record absolute during electrical angle initial value setting
The numerical value of angular position pick up, when need not calculate electrical angle initial value, directly read what is recorded before.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of method shown in above-mentioned Fig. 9-12 is realized when sequence is executed by processor.
The computer-readable recording medium of the present invention, is calculated under open current loop pattern, can reduce processor
Pressure, when from performance relatively low processor, because processor computing capability is weak, it can not be completed within the defined time cycle
It the calculating of current closed-loop algorithm, can calculate, and be calculated under current closed-loop pattern, Ke Yiyou under open current loop pattern
The influence of the elimination machine induced electromotive force of effect, make torque output more steady, while also the electric current for flowing through motor can be made all may be used
To be actively engaged in doing work.
The present invention also provides a kind of control method of the stable cloud platform rotation of embodiment, as shown in figure 13, the vector control
Method processed includes：
The angle of step S211, the stable head of self-test and stable head is initialized as zero；
Step S212, the inertia angular speed of the stable frame of the stable head of acquisition and the stable frame of stable head are used to
Sexual stance information；
Step S213, obtain relative rotation angle of the stable frame around three axles of stable head；
Step S214, according to the inertia angular speed of the stable frame of the stable head, the stable frame of stable head
The stable frame of inertial attitude information and stable head obtains the angle speed of each axle in three axles around the relative rotation angle of three axles
Degree；
Step S215, the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control, obtain steady
Determine ring controlled quentity controlled variable and export to control the three-axis moving of the stable head；
Step S216, spacing diagnosis；
Step S217, judge whether to terminate according to the control instruction for getting stable head, if into step S218,
If not, return to step S212；
Step S218, preserve variable.
In step S215, stabilizing ring controlled quentity controlled variable is exported to the power stage numerical control system, the power stage numeral
Control system controls the rotation of brushless electric machine with the motion of axle corresponding to driving brushless electric machine according to stabilizing ring controlled quentity controlled variable.
In step S216, the slewing area due to stablizing head is limited, and cloud platform rotation situation is added in a program
With monitoring, if be any limitation as when stable cloud platform rotation reaches range boundary set in advance to the controlled quentity controlled variable of head, ensure cloud
Platform " will not hit " or " stuck ".
In specific implementation, the inertial attitude information of the stable frame of the stable head includes pitching data, roll number
According to and bearing data, data include angular speed and Angle Position.
In specific implementation, the stable closed loop control specifically includes lead-lag control, PID control and sliding formwork control
At least one.
In specific implementation, stable frame and three axles are included according to the stable head, three axle includes pitch axis X, horizontal stroke
Roller bearing Y and azimuth axis Z, pass through the motion of pitch axis X, roll axle Y and the one-to-one axles of brushless electric machine band three of azimuth axis Z, tool
Body, obtain stablizing relative rotation angle of the stable frame around three axles of head by angle transducer, and the stable head
The inertia angular speed of stable frame is by gyro.
In specific implementation, according to the inertia angular speed of the stable frame of the stable head, the shakeless deckle of stable head
The stable frame of the inertial attitude information of frame and stable head obtains each axle in three axles around the relative rotation angle of three axles
The formula of angular speed is as follows：
Wherein, θ, γ,Correspond respectively is relative rotation angle of the stable frame around three axles for stablizing head；[ωpx
ωpy ωpz]TFor the inertia angular speed of each axle in three axles, [ωbx ωby ωbz]TCorrespond respectively is each axle in three axles
Inertia angular speed.
In specific implementation, according to the angular speed of each axle in three axles and the reference value of stabilizing ring closed-loop control instruction, obtain
Formula to stabilizing ring controlled quentity controlled variable is as follows：
Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value of stabilizing ring closed-loop control instruction, and ω is wherein one in three axles
The angular speed of individual axle.That is according to above-mentioned formula, stationary level numerical control system obtains controlling for single power stage numeral
The stabilizing ring controlled quentity controlled variable of system processed is sent to corresponding power stage numerical control system 2 to realize by multiline message interactive interface
Control to brushless electric machine.In addition, stabilizing ring closed-loop control instruction generates different control and referred to according to the difference of mode of operation
Order, if stable mode, stabilizing ring closed-loop control instruction is the angular speed order received by number biography；If tracking should
Pattern, stabilizing ring closed-loop control instruction are the controlled quentity controlled variable i.e. closed-loop tracking controlled quentity controlled variable being calculated according to image miss distance.
Pass through the inertia appearance of the inertia angular speed of the stable frame according to the stable head, the stable frame of stable head
The stable frame of state information and stable head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles, with
And the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control, stabilizing ring controlled quentity controlled variable is obtained, will be steady
Determine ring controlled quentity controlled variable to export to power stage numerical control system, by power stage numerical control system control brushless electric machine rotation with
The motion of each axle of the stable head of control, so as to realize the high precision image stablized.In addition, the stationary level control system
The calculating that system only needs to carry out stabilizing ring controlled quentity controlled variable is without being driven control to motor, so as to mitigate stationary level control
The amount of calculation of system processed.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of above-mentioned Figure 13 method is realized when sequence is executed by processor.
Pass through the inertia appearance of the inertia angular speed of the stable frame according to the stable head, the stable frame of stable head
The stable frame of state information and stable head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles, with
And the reference value instructed according to the angular speed of each axle in three axles and stabilizing ring closed-loop control, stabilizing ring controlled quentity controlled variable is obtained, will be steady
Determine ring controlled quentity controlled variable to export to power stage numerical control system, by power stage numerical control system control brushless electric machine rotation with
The motion of each axle of the stable head of control, so as to realize the high precision image stablized.In addition, the stationary level control system
The calculating that system only needs to carry out stabilizing ring controlled quentity controlled variable is without being driven control to motor, so as to mitigate stationary level control
The amount of calculation of system processed.
The present invention also provides a kind of control method of the stable cloud platform rotation of embodiment, as shown in figure 14, the controlling party
Method includes：
The angle of step S311, the stable head of self-test and stable head is initialized as zero；
Step S312, obtain the miss distance at tracked target relative image picture center and the focal length value of camera；
Step S313, according to the miss distance at tracked target relative image picture center and the focal length value of camera, obtain
The angle difference of each axle in three axles of stable head；
Step S314, closed-loop tracking controlled quentity controlled variable is obtained according to the angle difference of each axle in three axles for stablizing head；
Step S315, control to obtain stabilization to carry out closed-loop stabilization using closed-loop tracking controlled quentity controlled variable as stabilizing ring control instruction
Ring controlled quentity controlled variable, by the stabilizing ring controlled quentity controlled variable being calculated and export to control the three-axis moving of the stable head；
Step S316, spacing diagnosis；
Step S317, judge whether to terminate according to the control instruction for getting stable head, if into step S319,
If not, return to step S312；
Step S318, preserve variable.
In step S315, stabilizing ring controlled quentity controlled variable is exported to the power stage numerical control system, the power stage numeral
Control system controls the rotation of brushless electric machine with the motion of axle corresponding to driving brushless electric machine according to stabilizing ring controlled quentity controlled variable.
In step S316, the slewing area due to stablizing head is limited, and cloud platform rotation situation is added in a program
With monitoring, if be any limitation as when stable cloud platform rotation reaches range boundary set in advance to the controlled quentity controlled variable of head, ensure cloud
Platform " will not hit " or " stuck ".
It is as shown in figure 15, further comprising the steps of after step S311 in specific implementation：
Step S420, judge whether default control model is image trace pattern, if it is, into step S421, such as
Fruit is no, into step S422；
Step S421, into image trace pattern, into step S312；
Step S422, into image stabilization pattern, into step 423；
Step S423, obtain the appearance of the inertia angular speed of the stable frame of stable head and the stable frame of stable head
State information；
Step S424, obtain relative rotation angle of the stable head around three axles；
Step S425, according to the inertia angular speed of the stable frame of the stable head, the stable frame of stable head
Inertial attitude information and stable head obtain the angular speed of each axle in three axles around the relative rotation angle of three axles；
Step S426, according to the angular speed and control instruction reference value of each axle in three axles, obtain stabilizing ring controlled quentity controlled variable simultaneously
Output is to control the three-axis moving of the stable head, into step S316.
In fig.15, step S317, judge whether to terminate, if into step S319, if not, return to step
S420。
In step S426, stabilizing ring controlled quentity controlled variable is exported to the power stage numerical control system, the power stage numeral
Control system controls the rotation of brushless electric machine with the motion of axle corresponding to driving brushless electric machine according to stabilizing ring controlled quentity controlled variable.
In specific implementation, the inertial attitude information of the stable frame of the stable head includes pitching data, roll number
According to and bearing data, wherein data include angular speed and Angle Position.
In specific implementation, the stable closed loop control specifically includes lead-lag control, PID control and sliding formwork control
At least one.
In specific implementation, stable frame and three axles are included according to the stable head, three axle including pitch axis X,
Roll axle Y and azimuth axis Z, by the motion of pitch axis X, roll axle Y and the one-to-one axles of brushless electric machine band three of azimuth axis Z,
Specifically, obtain stablizing relative rotation angle of the stable frame around three axles of head by angle transducer, and the stable head
Stable frame inertia angular speed by gyro.
In specific implementation, according to the stabilization of the inertia angular speed of the stable frame of the stable head, stable head
The stable frame of the inertial attitude information of framework and stable head obtains each axle in three axles around the relative rotation angle of three axles
Angular speed formula it is as follows：
Wherein, θ, γ,Correspond respectively is relative rotation angle of the stable frame around three axles for stablizing head；[ωpx
ωpy ωpz]TThe inertia angular speed for stable frame, [ω are corresponded respectivelybx ωby ωbz]TIt is three axles to correspond respectively
In each axle inertia angular speed.
In specific implementation, according to the angular speed of each axle in three axles and the reference value of stabilizing ring closed-loop control instruction, obtain
Formula to stabilizing ring controlled quentity controlled variable is as follows：
Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value of stabilizing ring closed-loop control instruction, and ω is wherein one in three axles
The angular speed of individual axle.That is according to above-mentioned formula, stationary level numerical control system obtains controlling for single power stage numeral
The stabilizing ring controlled quentity controlled variable of system processed is sent to corresponding power stage numerical control system 2 to realize by multiline message interactive interface
Control to brushless electric machine.In addition, stabilizing ring closed-loop control instruction generates different control and referred to according to the difference of mode of operation
Order, if stable mode, stabilizing ring closed-loop control instruction is the angular speed order received by number biography；If tracking should
Pattern, stabilizing ring closed-loop control instruction are the controlled quentity controlled variable i.e. closed-loop tracking controlled quentity controlled variable being calculated according to image miss distance.
It is described according to the miss distance at tracked target relative image picture center and the focal length of camera in specific implementation
Value, the formula for obtaining stablizing the angle difference of each axle in three axles of head are as follows：
θ=arctan (n × psize/L)
Wherein θ is differential seat angle, and n is miss distance, psizeFor pixel dimension, L is focal length.
In specific implementation, the angle difference according to each axle in three axles for stablizing head obtains closed-loop tracking control
The formula of amount is as follows：
Wherein uciFor closed-loop tracking controlled quentity controlled variable, θiFor the angle difference of each axle in three axles.
In specific implementation, control to obtain to carry out closed-loop stabilization using closed-loop tracking controlled quentity controlled variable as stabilizing ring control instruction
Stabilizing ring controlled quentity controlled variable specific formula be this area common knowledge.
By the miss distance and the focal length value of camera according to tracked target relative image picture center, obtain stablizing cloud
The angle difference of each axle in three axles of platform, and the angle difference according to each axle in three axles for stablizing head obtain with
Stabilizing ring controlled quentity controlled variable is exported to power stage numerical control system to obtain stabilizing ring controlled quentity controlled variable, passes through work(by track closed-loop control amount
The rotation of rate level numerical control system control brushless electric machine is to control the motion of each axle of stable head, so as to realize to image
Carry out continuing track up.In addition, the stationary level control system only need to be tracked the calculating of closed-loop control amount without
Control is driven to motor, so as to mitigate the amount of calculation of stationary level control system.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
The step of above-mentioned Figure 14-15 method is realized when sequence is executed by processor.
The present invention also provides a kind of drive control method of the brushless electric machine of embodiment, can include Figure 13, Figure 14 and figure
15 one of method is plus the method shown in Fig. 9-12.
The present invention also provides a kind of computer-readable recording medium of embodiment, is stored thereon with computer program, the journey
Above-mentioned Figure 13, Figure 14 and Figure 15 step of one of method plus the method shown in Fig. 9-12 are realized when sequence is executed by processor
Suddenly.
Merely illustrating the principles of the invention described in above-described embodiment and specification and most preferred embodiment, this is not being departed from
On the premise of spirit and scope, various changes and modifications of the present invention are possible, and these changes and improvements both fall within requirement and protected
In the scope of the invention of shield.
Claims (10)
1. a kind of control method of stable cloud platform rotation, it is characterised in that the control method comprises the following steps：
The angle of the stable head of self-test and stable head is initialized as zero；
Obtain the miss distance at tracked target relative image picture center and the focal length value of camera；
According to the miss distance at tracked target relative image picture center and the focal length value of camera, obtain stablizing three axles of head
In each axle angle difference；
Closed-loop tracking controlled quentity controlled variable is obtained according to the angle difference of each axle in three axles for stablizing head；
Controlled closed-loop tracking controlled quentity controlled variable as the stabilizing ring that stabilizing ring closed-loop control instruction is obtained with carrying out closed-loop stabilization to control
Amount, by the obtained stabilizing ring controlled quentity controlled variable and export to control the three-axis moving of the stable head.
2. the control method of stable cloud platform rotation as claimed in claim 1, it is characterised in that the control method also include with
Lower step,
Judge whether default control model is image trace pattern, drawn if it is, entering and obtaining tracked target relative image
The step of focal length value of the miss distance at face center and camera.
3. the control method of stable cloud platform rotation as claimed in claim 2, it is characterised in that if default control model is not
It is for image trace pattern, the control method is further comprising the steps of,
Obtain the inertial attitude information of the inertia angular speed of the stable frame of stable head and the stable frame of stable head；
Obtain relative rotation angle of the stable frame around three axles of stable head；
According to the inertial attitude information of the inertia angular speed of the stable frame of the stable head, the stable frame of stable head with
And the stable frame of stable head obtains the angular speed of each axle in three axles around the relative rotation angle of three axles；
According to the inertia angular speed of stable frame and the inertial attitude information for the stable frame for stablizing head of the stable head
Closed-loop stabilization control is carried out, and exports stabilizing ring closed-loop control instruction；
The reference value instructed according to the angular speed of each axle in three axles and closed-loop control, obtain stabilizing ring controlled quentity controlled variable and export to control
Make the three-axis moving of the stable head.
4. the control method of stable cloud platform rotation as claimed in claim 3, it is characterised in that according to the angle of each axle in three axles
Speed and the reference value of closed-loop control instruction, the formula for obtaining stabilizing ring controlled quentity controlled variable are as follows：
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Wherein, uciFor stabilizing ring controlled quentity controlled variable, r is the reference value of closed-loop control instruction, and ω is the angle speed of one of axle in three axles
Degree.
5. the control method of stable cloud platform rotation as claimed in claim 1, it is characterised in that described according to tracked target phase
The focal length value of miss distance and camera to image frame center, obtain stablizing the angle difference of each axle in three axles of head
Formula is as follows：
θ=arctan (n × psize/L)
Wherein θ is differential seat angle, and n is miss distance, psizeFor pixel dimension, L is focal length.
6. the control method of stable cloud platform rotation as claimed in claim 1, it is characterised in that described according to stablizing the three of head
In axle the angle difference of each axle obtain closed-loop tracking controlled quentity controlled variable formula it is as follows：
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<mi>u</mi>
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</mrow>
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Wherein uciFor closed-loop tracking controlled quentity controlled variable, θ is the angle difference of each axle in three axles.
7. a kind of stationary level numerical control system, it is characterised in that the control system includes：
Picture charge pattern device, for detecting and obtaining the miss distance at tracked target relative image picture center；
Multiline message interactive interface, respectively with picture charge pattern device and stablizing the control chip of cloud platform rotation and being connected；
The control chip of stable cloud platform rotation, for the stable head of self-test and the angle for stablizing head is initialized as zero；Obtain
The miss distance at tracked target relative image picture center and the focal length value of camera, according to tracked target relative image picture
The miss distance at center and the focal length value of camera, closed-loop tracking is obtained according to the angle difference of each axle in three axles for stablizing head
Controlled quentity controlled variable, the stabilizing ring control that closed-loop tracking controlled quentity controlled variable is obtained as stabilizing ring closed-loop control instruction with carrying out closed-loop stabilization to control
Amount processed, by the obtained stabilizing ring controlled quentity controlled variable and export to control the three-axis moving of the stable head.
8. control system as claimed in claim 7, it is characterised in that the control system also includes interacting with multiline message connecing
The inertia survey meter of mouth connection, for detecting and obtaining the inertia angular speed for the stable frame for stablizing head and stablize the steady of head
Determine the inertial attitude information of framework.
9. a kind of stable head, it is characterised in that the stable head includes the stationary level as described in claim any one of 7-8
Numerical control system.
10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor
The step of method as claimed in any one of claims 1 to 6 is realized during execution.
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