CN113746384A - Multi-motor synchronous control device, multi-motor system and optical system - Google Patents
Multi-motor synchronous control device, multi-motor system and optical system Download PDFInfo
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
- H02P5/56—Speed and position comparison between the motors by electrical means
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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
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Abstract
The invention provides a multi-motor synchronous control device which can realize multi-motor synchronous motion reliably and at low cost by using a simple hardware circuit. The multi-motor synchronous control device synchronously controls a plurality of motor devices including a driving motor device and at least one driven motor device according to a master-slave mode, the driving motor device comprises a servo motor and a servo motor control circuit, the driven motor device comprises a stepping motor and a stepping motor control circuit, the driving motor device is further provided with a rotary transformer for detecting the position of a rotor of the servo motor, and a rotary transformer resolving module for converting a rotary transformer signal output by the rotary transformer into a multi-bit digital rotary transformer signal, wherein the multi-motor synchronous control device generates at least one driving pulse signal for driving the stepping motor according to the multi-bit digital rotary transformer signal and sends the driving pulse signal to the stepping motor control circuit of at least one driven motor device.
Description
Technical Field
The present invention relates to a multi-motor synchronous control device capable of realizing multi-motor synchronous motion reliably and at low cost, and a multi-motor system and an optical system to which the control device is applied.
Background
With the development of modern industry, the urban environmental problem is getting more and more serious, which directly affects the living environment of people and the coordinated development of economy, society and environment. Among these, atmospheric environmental pollution is the most direct and most easily perceived problem, and has become the most concerned urban environmental pollution problem.
Currently, an atmospheric aerosol multi-angle polarization imager (DPC) capable of being mounted on a satellite or an airplane is known, which can detect optical and micro-physical parameters of an atmospheric aerosol and a cloud to monitor pollution of atmospheric fine particulate matters.
The multi-angle polarization imager can realize large-scale detection by using a wide-angle lens, but when data in a small-range area are accurately analyzed, the requirement on accuracy is not necessarily met. In contrast, the large scale and the high precision can be achieved by combining a high precision polarization scanner (POSP) to perform the cooperative observation. Since motors are used as driving elements in both the multi-angle polarization imager and the polarization scanner (described in detail later), and the detection results of both are related to the motor movement angle, it is necessary to implement reliable multi-motor synchronous control in order to be able to combine them.
Here, "synchronous control" is used in a broad sense to mean synchronization, and means that the rotational speeds (angular speeds) of the plurality of motors are kept at a fixed ratio, and the ratio may be 1, or may be smaller than 1 or larger than 1, and synchronization is achieved as long as the ratio is maintained.
The synchronous cooperative work of multiple motors has been widely applied in many fields. For example, non-patent document 1 describes a multi-motor synchronous motion control technique.
The early synchronous control is mainly based on mechanical connection, and comprises modes of gear engagement, transmission rod and the like, and the mechanical connection has the advantages of simple physical connection, but has the problems of low synchronous precision, easy abrasion of a mechanical structure, limitation of a spatial structure and distance and the like.
The development of automatic control makes the motor synchronous control technology easier to realize. In an automatically controlled multi-motor synchronous control system, each motor has respective closed-loop following control, the actual running state of all the motors is fed back to a main controller through a unified information interface, the main controller issues control instructions to each motor on one hand, and on the other hand, corresponding synchronous compensation quantity is output to each motor by utilizing the obtained feedback information through the cooperation of a synchronous control structure and an algorithm, so that the purpose of eliminating the rotating speed difference among the motors or keeping the accurate rotating speed ratio is realized. Conventional control means include master, master-slave, coupling, virtual axis control, and the like.
Documents of the prior art
Non-patent document 1: overview of multi-motor synchronous motion control technology, Yeyuhao, etc., report of electrotechnical and technical, 14 th stage 2922-
Disclosure of Invention
Technical problem to be solved by the invention
In many conventional multi-motor synchronous control systems, a plurality of servo motors are controlled to move synchronously. As described above, in order to perform synchronous control of multiple servo motors, the main controller needs to adjust according to the feedback angle or speed parameters to achieve synchronization, a software algorithm is needed to perform control, the hardware cost of the main controller and the software cost of the algorithm are both high, and it may be difficult to adapt to the severe environment where the multi-angle polarization imager and the polarization scanner are used as satellite loads, and it is difficult to adapt to the aerospace and atmospheric monitoring fields.
In view of the above, the present invention has been made in view of a multi-motor system in which a servo motor is used as a driving motor and a stepping motor is used as a driven motor, and provides a multi-motor synchronous control device capable of realizing multi-motor synchronous motion reliably and at low cost by using a simple hardware circuit, and a multi-motor system and an optical system using the same.
Technical scheme for solving problems
In order to solve the above problems, the present invention provides a multi-motor synchronous control device for synchronously controlling a plurality of motor devices including a driving motor device and at least one driven motor device in a master-slave manner, wherein the driving motor device includes a servo motor and a servo motor control circuit, the driven motor device includes a step motor and a step motor control circuit, the driving motor device is further provided with a resolver for detecting a rotor position of the servo motor, and a resolver module for converting a resolver signal output from the resolver into a multi-bit digital resolver signal, and the servo motor control circuit performs feedback control of the servo motor based on the multi-bit digital resolver signal, wherein the multi-motor synchronous control device generates at least one driving pulse signal for driving the step motor from the multi-bit digital resolver signal and transmits the driving pulse signal to the at least one driven motor device The stepping motor control circuit.
The invention also provides a multi-motor system, which comprises a driving motor device and at least one driven motor device, wherein the driving motor device can synchronously move, the driving motor device comprises a servo motor and a servo motor control circuit, the driven motor device comprises a stepping motor and a stepping motor control circuit, the driving motor device is also provided with a rotary transformer for detecting the position of a rotor of the servo motor, and a rotary transformer resolving module for converting a rotary transformer signal output by the rotary transformer into a multi-bit digital rotary transformer signal, the servo motor control circuit carries out feedback control on the servo motor based on the multi-bit digital rotary transformer signal, and the multi-motor system also comprises the multi-motor synchronous control device.
The present invention also provides an optical system for atmospheric environmental monitoring, comprising: a first camera including a first motor arrangement; and a second camera including a second motor device, wherein the first motor device is an active motor device including a servo motor and a servo motor control circuit, the second motor device is a driven motor device including a stepping motor and a stepping motor control circuit, the active motor device is further provided with a resolver detecting a rotor position of the servo motor, and a resolver resolving module converting a resolver signal output by the resolver into a multi-bit digital resolver signal, and the servo motor control circuit performs feedback control on the servo motor based on the multi-bit digital resolver signal, and the optical system further includes the above-mentioned multi-motor synchronous control device.
Effects of the invention
According to the invention, because the servo motor forms the driving motor, the stepping motor forms the driven motor, and the pulse signal for controlling the stepping motor can be generated only by a simple hardware circuit such as a frequency divider/frequency multiplier, the multi-motor synchronous motion can be realized reliably and at low cost by a simple structure, and the multi-motor synchronous motion control method and the multi-motor synchronous motion control device can be suitable for the severe environment of the multi-angle polarization imager and the polarization scanner as satellite loads, and can be suitable for the fields of aerospace and atmosphere monitoring.
Drawings
Fig. 1 is a schematic block diagram showing a multi-motor system to which a multi-motor synchronous control apparatus of the present invention is applied.
Fig. 2 is a schematic block diagram of an active motor apparatus.
Fig. 3 is a schematic block diagram of a driven motor apparatus.
Fig. 4 is a schematic block diagram showing a multi-motor synchronous control device of the present invention.
Fig. 5 is another schematic view of the overall structure of the multi-motor system.
Fig. 6(a) and 6(b) are schematic diagrams of multi-bit digital resolver signals output by the resolver module.
FIG. 7 is a schematic explanatory view of the main part structure of the multi-angle polarization imager DPC.
Fig. 8 is a schematic explanatory view of the main part structure of the polarization scanner POSP.
Fig. 9 is a schematic block diagram of an atmospheric environment monitoring optical system to which the multi-motor synchronous control device of the present invention is applied.
Fig. 10(a) and 10(b) are diagrams showing actual measurement data of the embodiment.
Detailed Description
The following describes a specific embodiment of the present invention with reference to the drawings.
In the following embodiments, when reference is made to a number of an element or the like (including a number, a numerical value, an amount, a range, and the like), the element or the like is not limited to a specific number except for a case where the element or the like is specifically and clearly described and a case where the element or the like is obviously limited to the specific number in principle, and may be a specific number or more or less. In the present application, the expression "constituted using … …" or "constituted by … …" merely indicates a main constituent element, and does not exclude other elements from being included.
In the following embodiments, the constituent elements (including step elements and the like) are not necessarily essential unless explicitly stated otherwise or clearly understood to be essential in principle, and may include elements not explicitly stated in the description.
In the present specification, the term "motor device" is used to indicate the entire system including the power mechanism of the electric motor and the control circuit thereof, and the term "rotational speed of the motor device" is used to indicate the rotational speed of the electric motor.
The embodiment described in this specification is only a complete description of the example, and does not limit the scope of the present invention, and all other embodiments that can be obtained by those skilled in the art without inventive efforts based on the embodiment of the present invention belong to the scope of the present invention.
[ embodiment ]
Fig. 1 is a schematic block diagram showing a multi-motor system to which a multi-motor synchronous control apparatus of the present invention is applied.
As shown in fig. 1, the multi-motor system 100 employs a master-slave control, and includes a master motor device 101 and at least one slave motor device 102, and a synchronous control device 103 therebetween. The master motor device 101 is configured by a servo motor, the slave motor device 102 is configured by a stepping motor, and the synchronous control device 103 generates a pulse signal based on a signal from the master motor device 101 and outputs the pulse signal to the slave motor device 102 to perform multi-motor synchronous control.
As described above, the "synchronous control" mentioned in the present invention refers to synchronization in a broad sense, and means that the rotation speed (angular velocity) between the plurality of motors is kept at a fixed ratio, which may be 1, or may be less than 1 or greater than 1 as long as it is maintained.
For example, according to the requirements of the actual application scenario, the rotation speed ratio (i.e. the target rotation speed ratio) between the stepping motor in the slave motor apparatus 102 and the servo motor in the master motor apparatus 101 may be predetermined, and the synchronous control apparatus 103 performs control so that the rotation speed of the stepping motor (slave) can be changed along with the change of the rotation speed of the servo motor (master) during the actual operation, and the rotation speed ratio between the stepping motor and the master motor is always kept at the target rotation speed ratio, thereby implementing the so-called "synchronous control" of the present invention.
A schematic structure of the active motor apparatus 101 is shown in fig. 2.
As shown in fig. 2, the active motor device 101 includes a servo motor 201, a resolver 202, a resolver calculation module 203, and a servo motor control circuit 204. That is, the active motor device 101 may be understood as a power system that performs closed-loop control using a servo motor as a power mechanism.
The Servo Motor (Servo Motor)201 may be any Servo Motor generally used in the art, for example, a dc Motor, an ac Motor, a brush Motor, or a brushless Motor, and is not particularly limited as long as it has a function of operating in compliance with a request of a control signal, and thus can be closed-loop controlled by a control circuit based on a feedback signal (for example, a detection signal of a Motor movement angle).
The active motor device 101 of the present embodiment controls the servo motor 201 by using a conventional PID scheme. In order to provide a feedback signal, a resolver 202 is provided coaxially with the servomotor 201. The rotary transformer is a sensor capable of accurately acquiring the angle and the speed of a motor, has the characteristics of low cost, reliable structure, strong environmental adaptability and the like, and is often applied to the fields of industry, traffic, aerospace and the like. In the present embodiment, the resolver 202 detects the current angle of the rotor of the servo motor 201 (i.e., the rotor position, for example, the absolute position of the rotor), and outputs a corresponding electrical signal, i.e., a resolver signal, according to the different angle.
The resolver signal is, for example, a voltage signal that varies with the angle of the rotor, and because it is an analog signal, it cannot be directly used as a feedback signal for the servo control circuit. Therefore, the resolver signal is output to the resolver module 203 (also referred to as a resolver chip) to convert the analog signal into a digital signal.
In the present embodiment, the resolver module 203 is a 16-bit wide digitizer AD2S80A manufactured by Analog Devices. That is, the resolver module 203 converts the analog resolver signal received from the resolver 202 into a binary digital signal of 16 bits (hereinafter, referred to as "digital resolver signal"), and outputs the binary signal, in which the 16-bit data bus of the resolver module 203 is connected to one output pin, and a 1-bit binary signal (for example, high or low level) is output from each pin. However, the present invention is not particularly limited to the number of bits of the multi-bit digital resolver signal converted by the resolver module 203, and may be, for example, not 16 bits but 10 bits, 12 bits, or 14 bits, and the like, and the higher the number of bits, the higher the resolution of position (i.e., angle) detection.
The servo motor control circuit 204 receives the digital resolver signal from the resolver module 203, calculates a motor drive signal using the digital resolver signal as a feedback signal, and performs PID control on the servo motor 201. The specific control may be performed by conventional techniques, which are not essential to the present invention and thus, the description thereof will be omitted.
A schematic structure of the driven motor apparatus 102 is shown in fig. 3.
As shown in fig. 3, the slave motor apparatus 102 includes a stepping motor 301, a hall position sensor 302, and a stepping motor control circuit 303. That is, the driven motor device 102 may be understood as a power system that performs open-loop control with a stepping motor as a power output mechanism.
The multi-motor system 100 of the present embodiment may include more than one driven motor device 102, each driven motor device 102 being subjected to synchronous control by the synchronous control device 103 and each having the structure shown in fig. 3. However, their synchronization relationships may be different from each other, that is, the ratio of the rotational speed of their respective stepping motors 301 to the rotational speed of the servo motor 201 may be different.
In the slave motor apparatus 102 of fig. 3, a hall position sensor 302 is provided for the stepping motor 301 to detect the initial position of the motor rotor and output the zero pulse, which is not the main point of the present invention and detailed description thereof will be omitted.
Next, a specific configuration of the synchronization control device 103 according to the present embodiment will be described.
Fig. 4 is a schematic block diagram of the synchronization control device 103 according to the present embodiment.
As shown in fig. 4, the synchronization control device 103 of the present embodiment includes a pulse input unit 401, a pulse conditioning unit 402, and a pulse output unit 403.
The pulse input unit 401 is connected to one of a plurality of (for example, 16) pins of the resolver module 203 in the active motor device 101, and acquires a binary signal (high/low level) of the pin. Alternatively, the pulse input unit 401 may be selectively connected to any one of the pins of the resolver module 203 to obtain a binary signal thereof.
The signal (high-low level) output from each pin of the resolver module 203 corresponds to the value of each bit of the digital resolver signal, which is time-varying as described later, and thus the signal output from each pin can be understood as a square-wave pulse signal composed of high and low levels as viewed along time.
As described later, the frequency of the square wave pulse signal is related to the rotation speed of the servo motor, and as mentioned above, the rotation speed of the stepping motor can be controlled by the frequency of the pulse signal. Therefore, the technical idea of the present invention is to generate a pulse signal for controlling a stepping motor using such a square wave pulse signal, thereby enabling reliable synchronous control.
The pulse conditioning unit 402 is composed of a frequency divider/multiplier, and divides/multiplies the frequency of the pulse signal obtained by the pulse input unit 401 to obtain a pulse signal (hereinafter referred to as "driving pulse signal") for driving the stepping motor. Here, the frequency division/multiplication factor is determined based on the target rotation speed ratio between the stepping motor 301 and the servo motor 201 and the step angle of the stepping motor 301, and is also related to which pin signal the pulse input unit 401 acquires.
That is, the frequency division/multiplication factor in the pulse conditioning unit 402 is determined based on which pin of the rotation calculation module 203 the pulse input unit 401 acquires (i.e., which bit of the multi-bit digital rotation signal) and the target rotation speed ratio between the stepping motor 301 and the servo motor 201 and the step angle of the stepping motor 301.
The pulse output unit 403 outputs a drive pulse signal obtained by frequency division and multiplication by the pulse conditioning unit 402 to the stepping motor control circuit 303 of the slave motor apparatus 102, and the stepping motor control circuit 303 controls the stepping motor 301 based on the drive pulse signal.
As described above, the synchronization control device 103 according to the present embodiment can perform synchronization control of a plurality of slave motor devices 102, and the synchronization relationship of each slave motor device 102 may be different. Therefore, as shown in fig. 4, the pulse conditioning unit 402 may include a plurality of (1 or more) frequency dividers, each of which divides/multiplies the frequency of the square wave pulse signal input by the pulse input unit in accordance with a different synchronization relationship to output a different drive pulse signal, and the pulse output unit 403 may output each drive pulse signal to the corresponding stepping motor control circuit 303 in the slave motor device 102. Of course, each frequency divider/multiplier may use a signal from the same pin of the resolver module 203 acquired by the pulse input unit 401, or may use signals from different pins.
Further, the present invention is not limited to this, and a plurality of synchronous control devices (not shown) may be provided as a modification, and only one frequency divider/multiplier may be provided in the pulse conditioning unit 402 of each synchronous control device. In this case, the pulse input portion of each synchronous control device may be connected to the same pin among the plurality of pins of the resolver module 203 in the active motor device 101, but may be connected to different pins. In any case, the frequency division/multiplication factor of the pulse conditioning unit of each synchronous control device may be determined based on which one of the multi-bit digital rotation signals is acquired by each pulse input unit, and the target rotation speed ratio between the stepping motor 301 and the corresponding servo motor and the step angle of the stepping motor 301.
Meanwhile, the above-described synchronization control device 103 includes a pulse input section 401 and a pulse output section 403, which may be dedicated devices capable of switching input/output targets or may be simple conductive lines. It can be understood that the pulse input unit 401 and the pulse output unit 403 function only to connect the pulse conditioner 402 to the resolver module 203 and the stepping motor control circuit 303, and the synchronization control device 103 according to the present embodiment is configured only by the pulse conditioner 402. The thus-constituted multi-motor system 100 may be, for example, as shown in fig. 5.
The principle of the synchronization control of the present invention is specifically described below.
Fig. 6(a) and 6(b) are schematic diagrams showing the multi-bit digital resolver signal output from the resolver module 203.
The resolver module 203 (16-bit wide digital converter AD2S80A manufactured by Analog Devices) of the present embodiment converts the Analog resolver signal output from the resolver 202 into a 16-bit binary digital resolver signal and outputs the digital resolver signal. The 16-bit binary 0,000,000,000,000,000 (0 in decimal) to 1,111,111,111,111,111 (65535 in decimal) has 65536 data in total, so the resolver module 203 can resolve the range of the motor angle 0-360 (degrees) into 65536 equal parts, and the minimum resolvable angle is 360/65536 (degrees).
Fig. 6(a) is a schematic diagram showing digital spin signals at different rotor positions of servo motor 201.
In the figure, the horizontal axis represents each pin of the rotary transformer resolving module, namely each bit of the digital rotary transformer signal, and corresponds to the bit from high to low from left to right; the vertical axis is the binary signal, i.e., level, for each pin (each bit). In fig. 6(a), the motor angle is gradually increased from 0 to 360 from top to bottom, and correspondingly, the rotation digital signal is gradually increased from 0,000,000,000,000,000 until reaching 1,111,111,111,111,111, and then is further increased to 0,000,000,000,000,000, and the process is repeated. Thus, each time the value of the rotational digital signal is increased by one, 360/65536 degrees correspond to the motor angle increase.
As can be seen from fig. 6(a), for example, when the motor angle is 0, the signal of each pin is 0 (low level); when the motor angle is 360/65536, the signal of the lowest-order pin is 1 (high level), and the others are all 0; when the angle of the motor is 2x (360/65536), the signal of the second lower pin is 1, and the others are 0; … …, respectively; when the motor angle is 16384 × 90 (360/65536), the signal of the next highest pin is 1, and the others are all 0; … …, respectively; when the motor angle is 32767(360/65536), signals of the pins except for the highest position are all 1; when the motor angle is 32768(360/65536) ═ 180, the signal of the highest pin is 1, and the others are 0; … …, respectively; when the motor angle is 65534 (360/65536), the pins except the lowest bit are all 1; when the motor angle is 65535 x (360/65536), all pins are 1; when the motor angle is 65536 ═ 360/65536 ═ 360 ═ 0, the signal is restored to 0 for each pin.
Since the rotor position repeatedly increases from 0 to 360, it is considered that the signals of the respective pins sequentially change from top to bottom with the passage of time, and when reaching the lowermost 65536 × 360 (360/65536), the process returns to 360/65536 to repeat the process.
Fig. 6(b) is a diagram of the signal of fig. 6(a) from another angle.
Fig. 6(b) is a graph showing the change in the signal of each pin itself with time, and pins 1 to 16 sequentially show the highest bit, the second highest bit, and the third highest bit … … lowest bit.
As can be seen from fig. 6(a), when the rotor position changes from 32767(360/65536) to 32768(360/65536) to 180, the signal of the highest-order pin 1 changes from 0 to 1, and then remains 1 until the rotor position reaches 360, and returns to 0.
The signal of the next higher pin 2 changes from 0 to 1 when the rotor position changes from 16383 (360/65536) to 16384 (360/65536) to 90, and then remains 1 until the rotor position reaches 180 and returns from 1 to 0; then, when the rotor position changes from 49151 (360/65536) to 49152 (360/65536) to 270, the value changes from 0 to 1 again, and then remains 1 until the rotor position reaches 360, and returns from 1 to 0 again.
And the subsequent steps are analogized in sequence.
Thus, as shown in fig. 6(b), the signal output from the most significant pin 1 corresponds to a square wave pulse signal with time, and one pulse is output every time the motor position is 360 degrees.
The signal output by the second highest-order pin 2 is also a square wave pulse signal, and the output of one pulse is finished when the motor position is 180 degrees and integral multiple thereof.
The signal output by pin 3 is also a square wave pulse signal, and the output of one pulse is completed when the motor position is 90 and integral multiple thereof.
The signal output by the pin 4 is also a square wave pulse signal, and the output of one pulse is finished when the motor position is 45 and integral multiple thereof.
The signal output by the pin 5 is also a square wave pulse signal, and the output of one pulse is finished when the motor position is 22.5 and integral multiple thereof.
The same goes for the rest, i.e. the signal output by pin n is a square-wave pulse signal whenever the motor position is 360/2n-1And integral multiple thereof, to complete the output of one pulse.
Therefore, the time-varying change of the signal output from each pin of the resolver 203 corresponds to a square wave pulse, and the frequency of the pulse signal is determined by the rotation speed of the servo motor 201.
For example, if the rotation speed of the servo motor 201 is X cycles/second, the frequency of the square wave pulse output by the highest-order pin of the resolver module 203 is X, the frequency of the square wave pulse output by the next highest-order pin is 2X, the frequency of the square wave pulse output by the pin 3 is 4X, the frequency of the square wave pulse output by the pin 4 is 8X, and the frequency of the square wave pulse output by the pin n is 2n-1X。
As described above with reference to fig. 4, in the synchronous control device 103 according to the present embodiment, the frequency division/multiplication factor in the pulse conditioning unit 402 is determined based on which bit (the nth bit from the highest bit) of the multi-bit digital rotation signal the pulse input unit 401 acquires, the target rotation speed ratio between the stepping motor 301 and the servo motor 201, and the step angle of the stepping motor 301.
For example, the target rotation speed ratio of the stepping motor 301 to the servo motor 201 is γ, that is, the rotation speed of the stepping motor 301 is γ X turns/second, the step angle is δ degrees, and the pulse input unit 401 acquires a signal of the pin n.
Let the frequency division/multiplication factor η in the pulse conditioning section 402 be given by the following equation.
Then, by setting the frequency division/multiplication factor in the pulse conditioning unit 402 to η, the synchronous control device 103 can output a drive pulse signal of a predetermined frequency so that the stepping motor 301 and the servo motor 201 satisfy the required target rotation speed ratio.
As described above, in the present embodiment, the multi-motor system 100 adopts master-slave control, the servo motor constitutes the driving motor, the stepping motor constitutes the driven motor, the synchronous control device 103 obtains the square-wave pulse signal of one pin of the rotation-variation calculating module 203, and performs frequency division/frequency multiplication by using the frequency divider/frequency multiplier, so that the obtained driving pulse signal can be used to drive the stepping motor to keep the target rotation speed ratio between the stepping motor and the servo motor.
Therefore, according to the embodiment, in a multi-motor system in which a servo motor forms a driving motor and a stepping motor forms a driven motor, the synchronous control device can be formed by only a hardware circuit (frequency divider/frequency multiplier), and the multi-motor synchronous control device has the advantages of simple structure, reliability in control and low cost, can be applied to the severe environment in which the multi-angle polarization imager and the polarization scanner are used as satellite loads, and can be applied to the fields of aerospace and atmospheric monitoring.
[ examples ]
Specific examples of the present invention are explained below.
As previously described, there is a need for a multi-angle polarization imager DPC as a satellite payload that implements coordinated observations with a polarization scanner POSP. In the present invention, the entire system including the multi-angle polarization imager DPC and the polarization scanner POSP may be referred to as an atmospheric environment monitoring optical system (i.e., an optical system).
The cooperative observation of the multi-angle polarization imager DPC and the polarization scanner POSP has been reported in many documents, and this embodiment mainly describes only a part of the structure related to the synchronous control of the motor.
Fig. 7 is a schematic explanatory view of the main part structure of the multi-angle polarization imager DPC in the optical system.
As shown in fig. 7, the multi-angle polarization imager DPC corresponds to a single camera (i.e., a second camera), and includes a turntable 701, and a detector 702 and a lens (wide-angle lens) 703 that are disposed on both sides of the turntable 701 along the same axis, the turntable 701 being capable of being driven by a motor device (i.e., a second motor device, not shown here) to rotate about an axis 704, the turntable being provided with a plurality of channels 705, and polarizing plates 706 having different polarization directions being provided in the respective channels 705. The multi-angle polarization imager DPC is configured such that the turntable 701 rotates at a prescribed rotation speed and imaging is performed only at the time when the lens 703, the detector 702, and a certain channel 705 on the turntable 701 are aligned every revolution. That is, for example, if m channels are provided on the turntable 701, the DPC images m times per one rotation of the turntable 701, so that the imaging information of different polarizations can be obtained in time division.
Fig. 8 is a schematic explanatory view of the main part structure of the polarization scanner POSP.
As shown in fig. 8, the polarization scanner POSP also corresponds to a camera (i.e., a first camera) including a scanning mirror 801 driven by a motor device 802 (i.e., a first motor device), wherein the scanning mirror is rotated by the motor device to introduce multi-angle signals, and continuously scans and images over a certain angle range (e.g., ± 50 degrees).
In order to combine the detection results of the polarization scanner POSP and the multi-angle polarization imager DPC, the condition that the scanning mirror 801 introduces the same angle signal each time the multi-angle polarization imager DPC images, i.e., each time the lens 703, the detector 702 and a certain channel 705 on the turntable 701 are aligned, needs to be satisfied. For this reason, it is necessary to keep the rotational speeds of the motor devices (i.e., the first motor device and the second motor device) in a synchronous relationship.
Therefore, the synchronous control device 103 described in the above-described embodiment of the present invention can be applied to realize multi-motor synchronous control.
Fig. 9 is a schematic block diagram of an atmospheric environment monitoring optical system 900 to which the multi-motor synchronous control device of the present invention is applied.
As shown in fig. 9, in the atmospheric environment monitoring optical system 900 of the present embodiment, the motor of the multi-angle polarization imager DPC (i.e., the second motor device) employs a stepping motor, and the motor of the polarization scanner POSP (i.e., the first motor device) employs a servo motor.
That is, the polarization scanner POSP includes the above-described master motor device 101 as a first motor device, and the multi-angle polarization imager DPC includes the above-described slave motor device 102 as a second motor device, so that the synchronous control of the two can be performed by the synchronous control device 103.
Specific parameters of the present embodiment are as follows.
The synchronous relation requirement of the stepping motor and the servo motor is as follows: when the stepping motor rotates by 0.028 degrees, the servo motor rotates by 0.211 degrees, the servo motor rotates by 979.25ms, and the stepping motor rotates by 7344.3 ms. That is, the target rotation speed ratio γ is 1/7.5. And, the stepping motor rotates 1 circle and runs 12600 steps, namely the step angle is delta is 360/12600.
The pulse conditioner 402 of the synchronous control device 103 acquires a signal of the next highest pin (n is 2) of the resolver module 203.
Then, η can be obtained 840 from the above formula for calculating the magnification η. That is, the pulse conditioning unit 402 multiplies 840 times the square wave pulse signal of the second highest pin of the resolver module 203, and outputs the multiplied driving pulse signal to the stepping motor control circuit to drive the stepping motor.
The actual measurement data of the present example is shown in fig. 10(a) and 10 (b). Fig. 10(a) shows the rotation period data of the servo motor, in which the vertical axis shows the time per rotation, i.e., the period (ms), and the horizontal axis shows the number of rotations, and shows the data up to the 3241 th rotation.
Fig. 10(b) is rotation period data of the stepping motor, in which the vertical axis represents time per one rotation, i.e., a period (ms), and the horizontal axis represents the number of rotations, and data up to the vicinity of the 2698 th rotation is shown therein.
As can be seen from fig. 10(a) and 10(b), when the rotation speed of the servo motor is stabilized at the design value of 979.25 ms/turn, the rotation speed of the stepping motor can be correspondingly stabilized at the design value of 7344.3 ms/turn, i.e., both can maintain reliable synchronization.
The foregoing has described specific embodiments and examples of the present invention. However, the present invention is not limited to the embodiment and examples. The embodiment has described the case where the synchronous control device of the present invention is applied to the atmospheric environment monitoring optical system, but is not limited thereto, and may be applied to any occasion where multi-motor synchronous control is required as long as a servo motor can be used as a driving motor and a stepping motor can be used as a driven motor as in the present invention.
The example has described the case where 1 slave motor (stepping motor) is provided, but as described in the embodiment, the present invention can be applied to the case where a plurality of slave motors are provided as necessary.
Industrial applicability
The present invention can be applied to any situation where synchronous control of a plurality of motors can be performed in a master-slave manner.
Claims (10)
1. A multi-motor synchronous control device synchronously controls a plurality of motor devices including a driving motor device and at least one driven motor device according to a master-slave mode, and is characterized in that:
the active motor device comprises a servo motor and a servo motor control circuit,
the driven motor device comprises a stepping motor and a stepping motor control circuit,
the active motor device is also provided with a rotary transformer for detecting the position of a rotor of the servo motor and a rotary transformer resolving module for converting a rotary transformer signal output by the rotary transformer into a multi-bit digital rotary transformer signal, and the servo motor control circuit performs feedback control on the servo motor based on the multi-bit digital rotary transformer signal,
the multi-motor synchronous control device generates at least one driving pulse signal for driving the stepping motor according to the multi-bit digital rotary signal and correspondingly sends the driving pulse signal to the stepping motor control circuit of the at least one driven motor device.
2. The multi-motor synchronous control device according to claim 1, characterized in that:
the multi-motor synchronous control device includes a pulse conditioning unit that generates the drive pulse signal using a square wave pulse signal configured such that a value of any one bit of the multi-bit digital rotary signal changes with time.
3. The multi-motor synchronous control device according to claim 1, characterized in that:
the multi-motor synchronous control device comprises a pulse conditioning part, wherein the pulse conditioning part performs frequency division/frequency multiplication on a square wave pulse signal formed by changing the value of any bit in the multi-bit digital rotary change signal along with time to generate the driving pulse signal.
4. A multi-motor synchronous control device according to claim 2 or 3, characterized in that:
the pulse conditioning part is composed of a frequency divider/multiplier.
5. A multi-motor synchronous control device according to claim 2 or 3, characterized in that:
the resolver module is a multi-bit digitizer.
6. The multi-motor synchronous control device according to claim 5, characterized in that:
respective pins of the digitizer output respective bits of the multi-bit digital twiddle signal,
the multi-motor synchronous control device further comprises a pulse input part which can be selectively connected with at least one pin of the resolver module so as to obtain the square wave pulse signal of at least one bit in the multi-bit digital resolver signal corresponding to the at least one pin.
7. A multi-motor synchronous control device according to claim 3, characterized in that:
and determining the frequency division/frequency multiplication rate of the pulse conditioning part according to which bit of the multi-bit digital rotation signal the square wave pulse signal comes from, a target rotating speed ratio between the stepping motor and the servo motor and a step angle of the stepping motor.
8. The multi-motor synchronous control device according to claim 7, characterized in that:
if the square wave pulse signal is from the nth bit from the highest bit of the multi-bit digital rotation signal, the target rotation speed ratio is γ, and the step angle is δ degrees, the multiplying factor is given by:
multiplying power
9. A multi-motor system comprising a driving motor means and at least one driven motor means capable of synchronous motion, characterized in that:
the active motor device comprises a servo motor and a servo motor control circuit,
the driven motor device comprises a stepping motor and a stepping motor control circuit,
the active motor device is also provided with a rotary transformer for detecting the position of a rotor of the servo motor and a rotary transformer resolving module for converting a rotary transformer signal output by the rotary transformer into a multi-bit digital rotary transformer signal, and the servo motor control circuit performs feedback control on the servo motor based on the multi-bit digital rotary transformer signal,
the multi-motor system further comprises a multi-motor synchronous control device as claimed in any one of claims 1 to 8.
10. An optical system for atmospheric environmental monitoring, comprising:
a first camera including a first motor arrangement; and
a second camera comprising a second motor arrangement,
wherein the first motor device is an active motor device comprising a servo motor and a servo motor control circuit,
the second motor device is a driven motor device comprising a stepping motor and a stepping motor control circuit,
the active motor device is also provided with a rotary transformer for detecting the position of a rotor of the servo motor and a rotary transformer resolving module for converting a rotary transformer signal output by the rotary transformer into a multi-bit digital rotary transformer signal, and the servo motor control circuit performs feedback control on the servo motor based on the multi-bit digital rotary transformer signal,
the optical system further comprises a multi-motor synchronous control device as claimed in any one of claims 1 to 8.
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