CN206920940U - Power stage numerical control device system and stable head - Google Patents
Power stage numerical control device system and stable head Download PDFInfo
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Abstract
It the utility model is related to the power stage numerical control device for being controlled to the gyration vector of motor, it is characterised in that：The power stage numerical control device includes：Communication interface, power level controller, Three phase bridge drivers, current sensor and absolute angular position sensor；Power level controller is connected with absolute angular position sensor, Three phase bridge drivers, communication interface respectively；The angle value of absolute angular position sensor detection motor, power level controller receive the angle value that absolute angular position sensor is detected, and export PWM dutycycle to Three phase bridge drivers, and Three phase bridge drivers output driving current is with the rotation of controlled motor；Current sensor is connected with Three phase bridge drivers, the two-phase-region casting current value in the driving current of current sensor detection Three phase bridge drivers；Communication interface is used for the communication of power level controller and stationary level numerical control device.
Description
Technical Field
The utility model relates to a stabilize cloud platform technical field, especially relate to a be used for power level digital control device and stabilize cloud platform.
Background
In recent years, various moving base imaging holders are widely used in the fields of aerial photography, unmanned vehicles, robots and the like, and are receiving more and more attention. Particularly, the unmanned aerial vehicle is used for aerial photography, and the method has an important means for rapidly, flexibly, clearly and accurately acquiring photos and video information of the region of interest of people. However, for a moving base carrier represented by an unmanned aerial vehicle, the influence of changes, vibration and the like of the attitude of the carrier inevitably exists in the moving process, so that the video seriously shakes and the photo is blurred. The birth of the stabilizing pan-tilt solves the problem. The stabilizing cradle head consists of a mechanical mechanism with multiple degrees of freedom, a driving motor on each shaft and a control circuit. Common pan-tilt motors include steering engines for aeromodelling, dc servo motors with speed reduction mechanisms, stepping motors, brushless motors and the like. However, in the existing brushless pan/tilt drive control system, a part of current flowing through the motor does not effectively participate in work, which results in high energy consumption and difficulty in further improving the stability precision.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving the technical problem that there is some electric current that flows through the motor to participate in the acting effectively among the prior art, provide one kind and enable the electric current that flows through the motor and participate in the power level digital control device and the stable cloud platform of acting effectively.
The utility model provides a power level digital control device, power level digital control device includes: the device comprises a communication interface, a power level controller, a three-phase bridge driver, a current sensor and an absolute angle position sensor;
the power level controller is respectively connected with the absolute angle position sensor, the three-phase bridge driver and the communication interface;
the absolute angular position sensor detects an angular value of the motor, the power stage controller receives the angular value detected by the absolute angular position sensor and outputs a duty ratio of PWM to the three-phase bridge driver, and the three-phase bridge driver outputs a driving current to control rotation of the motor;
the current sensor is connected with the three-phase bridge driver and detects two-phase driving current values in the driving currents of the three-phase bridge driver;
the communication interface is used for communication between the power stage controller and the stabilization stage digital control device. Power stage digital control device of utility model
In some embodiments, the three-phase bridge driving assembly provides three phases of the ABC three-phase interface brushless motor for electrical connection, and drives the brushless motor to rotate, thereby driving the stabilizing head to rotate.
In some embodiments, the power stage controller is a TM32028069 chip.
In some embodiments, the three-phase bridge driving assembly comprises three logic gate circuit chips U1A, U1B, U1C and a three-phase bridge driving chip, the three-phase bridge driving chip is a DRV8312 driving chip; the first output port PWMA1 and the second output port PWMA2 of the TM32028069 chip are connected to the first input terminal and the second input terminal of the logic gate circuit chip U1A, respectively, the first output port PWMA1 of the TM32028069 chip is also connected to the first input terminal PWMA of the DRV8312 driver chip, the output terminal of the logic gate circuit chip U1A is connected to the second input terminal RESET _ a of the DRV8312 driver chip, the third output port PWMB1 and the fourth output port PWMB2 of the TM32028069 chip are connected to the third input terminal and the fourth input terminal of the logic gate circuit chip U1B, respectively, the third output port PWMB1 of the TM32028069 chip is also connected to the third input terminal PWMB 8312 driver chip, the output terminal of the logic gate circuit chip U1B is connected to the fourth input terminal RESET _ B of the DRV8312 driver chip, the fifth output port PWMA 364 and the sixth output port PWMA2 of the TM32028069 chip are connected to the first input terminal PWMC C, the fifth output port PWMC1 of the TM32028069 chip is further connected to the fifth input port PWMC of the DRV8312 driver chip, the first output port of the logic gate circuit chip U1C is connected to the sixth input port RESET _ C of the DRV8312 driver chip, the DRV8312 driver chip outputs three-phase driving signals PHASHA, PHASHB, and PHASHC, and the current sensor 10 detects the driving signals PHASHA, PHASHB and outputs the detected measurement value to the TM32028069 chip.
In some embodiments, the power stage controller is a TM32028069 chip, the three-phase bridge driving assembly includes three switching transistor modules, each switching transistor module includes a transistor, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first MOS transistor NA1, and a second MOS transistor NA2, and a first output port PWMA1 and a second output port PWMA2 of the TM32028069 chip are connected to one of the switching transistor modules.
The utility model provides a stabilize cloud platform, it includes foretell power level digital control device to stabilize the cloud platform.
Compared with the prior art, the technical scheme of the utility model, beneficial effect lies in: the method works in the current open-loop mode, the pressure of the processor can be reduced, when the processor with lower performance is selected, the calculation of the current closed-loop algorithm cannot be completed in a specified time period due to the weak calculation capacity of the processor, the calculation can be performed in the current open-loop mode, the calculation can be performed in the current closed-loop mode, the influence of the induced electromotive force of the motor can be effectively eliminated, the torque output is more stable, and meanwhile, the current flowing through the motor can effectively participate in work. The driving control system of the brushless motor adopts a scheme of combining distributed control and feasible vector control, so that the motor can be more effectively utilized to improve the performance. In addition, the current control of the motor adopts vector control and is distributed to each power stage digital control device for processing, so that the calculation pressure of a stable stage control system can be reduced.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a driving control system of a brushless motor according to the present invention;
FIG. 2 is a circuit diagram of an embodiment of the multi-channel information interaction interface of the present invention;
FIG. 3 is a circuit diagram of another embodiment of the multi-channel information interaction interface of the present invention;
fig. 4 is a circuit diagram of an embodiment of the three-phase bridge driving assembly of the present invention;
fig. 5 is a circuit diagram of another embodiment of a three-phase bridge drive assembly according to the present invention;
fig. 6(a) is a wiring diagram of a brushless motor and a power stage controller according to a first embodiment of the present invention;
fig. 6(b) is a wiring diagram of a brushless motor and a power stage controller according to a second embodiment of the present invention;
fig. 6(c) is a wiring diagram of a third embodiment of the brushless motor and power stage controller of the present invention;
fig. 7 is a schematic structural diagram of an embodiment of the power stage digital control apparatus of the present invention;
fig. 8 is a schematic structural diagram of an embodiment of the digital control device for stabilization stage according to the present invention.
In the figure, 1, a stabilizing stage digital control device, 2, a power stage digital control device and 3, and a control chip for stabilizing the rotation of the tripod head. 4. The device comprises an inertial angle sensor, 5 a multi-channel information interaction interface, 6 an image tracker, 7 a communication interface, 8 a power level controller, 9 a three-phase bridge driving component, 10 a current sensor, 11 a brushless motor, 12 an absolute angular position sensor.
Detailed Description
The following describes the present invention with reference to the accompanying drawings.
The driving control system for stabilizing the rotation of the holder serves as a core control device of an aerial photography, monitoring, remote sensing and sampling holder, can be used under the working condition that the stabilizing frame of the stabilizing holder generates angular motion, such as the holder hung on an unmanned aerial vehicle, the unmanned aerial vehicle generates flight attitude change, and the brushless motor of each shaft of the stabilizing holder is controlled to rotate, so that the pointing angle of an imaging device borne by the stabilizing holder is ensured to be always kept inertially stable or always point to an interested target.
The utility model provides a brushless motor's of embodiment drive control system, as shown in fig. 1, drive control system includes that steady level digital control device 1 and at least one power level digital control device 2 are connected and communicate with power level digital control device 2 according to the order of power level digital control device 2 for according to the inertial angular velocity of the stable frame who obtains stable cloud platform and the inertial angle attitude information of the stable frame who stabilizes the cloud platform; acquiring a relative rotation angle of a stable frame of the stable holder around three axes; obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable holder, the inertial angle attitude information of the stable frame of the stable holder and the relative rotation angle of the stable frame of the stable holder around the three axes; performing closed-loop stability control according to the inertial angular velocity of the stable frame of the stable holder and the inertial angular attitude information of the stable frame of the stable holder, and outputting a stable-loop closed-loop control instruction; and obtaining a control quantity of the stabilizing ring according to the angular velocity of each shaft in the three shafts and the reference value of the closed-loop control instruction of the stabilizing ring, and outputting the control quantity of the stabilizing ring to the power stage digital control device 2.
The power level digital control device 2 is connected with at least one brushless motor 11 and is used for judging whether an absolute initial value of an electrical angle exists at present; if the absolute initial value of the electrical angle does not exist, obtaining the current electrical angle value, the quadrature axis voltage control quantity, the direct axis voltage control quantity and the absolute initial value of the electrical angle in the initialization mode; if the absolute initial value of the electrical angle exists, acquiring the angle value of an absolute angular position sensor, acquiring the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle, and acquiring the quadrature axis voltage control quantity and the direct axis voltage control quantity; and obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor.
Specifically, as shown in fig. 1, the drive control system includes n power stage digital control devices 2, where the serial number of the first power stage digital control device is 2-1, the serial number of the second power stage digital control device is 2-2, and the serial number of the nth power stage digital control device is 2-n, and the stabilization stage digital control device 1 may communicate with the power stage digital control devices 2 in the order from small to large or from large to small according to the serial number of the power stage digital control devices 2, where n is a positive integer greater than or equal to 1.
In a specific implementation, the power stage controller 8 is further configured to obtain a current operating mode, and determine that the current operating mode is a current open-loop mode or a current closed-loop mode;
the current working mode is a current closed loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained according to the obtained two-phase driving current values;
the current working mode is a current open loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained.
In a specific implementation, the power level controller 8 is further configured to obtain a control instruction, and determine whether the control instruction is an end instruction; if the control instruction is an ending instruction, saving an absolute initial value of the electrical angle; if the control instruction is not an end instruction, the work of acquiring the angle value of the absolute angular position sensor is performed.
Specifically, the three-axis control amount of the stabilizer ring must be executed by 3 brushless motors, and in the specific implementation, each brushless motor is driven by 1 power stage control system 2, and the 1 power stage control system 2 can also drive more brushless motors, but in the case of only 1 power stage control system 2, 3-axis control can also be realized by driving 3 motors. However, if the whole system has only 1 motor, only 1 shaft control can be realized.
As shown in fig. 1, each axis requires a power stage control system 2, each power stage control system has a power stage digital controller, so that the three-axis pan-tilt comprises 3 power stage digital controllers, and the control command of the power stage digital controller 2 can be an end command sent by a user through a remote control system or a data transmission, and the command is also received through a multi-channel information interaction interface 5.
Specifically, the control amount of the stabilizer in the digital controller 1 is a current command obtained by the digital controller 2 when the control mode is the current closed-loop mode or a voltage command obtained by the digital controller 2 when the control mode is the current open-loop mode, that is, the control amount of the stabilizer in the digital controller 1 is a two-phase drive current value when the control mode is the current closed-loop mode, and the control amount of the stabilizer in the digital controller 1 is a quadrature-axis voltage control amount and a direct-axis voltage control amount when the control mode is the current open-loop mode.
Because the operation is carried out in the current open-loop mode, the pressure of the processor can be reduced, when the processor with lower performance is selected, because the processor has weak capacity, the calculation of the current closed-loop algorithm can not be completed in a specified time period, the calculation can be carried out in the current open-loop mode, and the operation is carried out in the current closed-loop mode, the influence of the induced electromotive force of the motor can be effectively eliminated, so that the torque output is more stable, simultaneously, the current flowing through the motor can effectively participate in the work, the angular velocity of each shaft in the three shafts can be obtained according to the inertial angular velocity of the stable frame of the stable tripod head, the attitude information of the stable frame of the stable tripod head and the relative rotation angle of the stable tripod head around the three shafts, the stable ring control quantity can be obtained according to the angular velocity of each shaft in the three shafts and the reference value of the stable ring closed-loop control instruction, the stable ring control quantity can, the power level digital control device controls the rotation of the brushless motor to control the motion of each shaft of the stabilizing pan-tilt, so that stable high-precision images are obtained. The driving control system of the brushless motor adopts a scheme of combining distributed control and feasible vector control, so that the motor can be more effectively utilized to improve the performance. In addition, the current control of the motor adopts vector control and is distributed to each power stage digital control device for processing, so that the calculation pressure of a stable stage control system can be reduced.
In the specific implementation, the number of the brushless motors 11 and the number of the axes of the stabilizing head need to be consistent, that is, one brushless motor 11 controls one axis, the number of the power stage digital control devices 2 may be the same as the number of the brushless motors 11, then the power stage digital control device 2 controls one brushless motor 11, of course, one power stage digital control device 2 may also control a plurality of brushless motors 11, in this embodiment, one power stage digital control device 2 controls one brushless motor 11, and the circuit structures between the plurality of power stage digital control devices 2 are the same.
Specifically, as shown in fig. 8, the present invention further provides a stabilization-level digital control apparatus 1 according to an embodiment, which includes an inertial angle sensor 4 for detecting and obtaining an inertial angular velocity of the stabilizing frame of the stabilizing pan/tilt head and an inertial angle attitude information of the stabilizing frame of the stabilizing pan/tilt head;
and the multi-channel information interaction interface 5 is respectively connected with the inertial angle sensor 4 and the control chip 3 for stabilizing the rotation of the holder.
The control chip 3 for stabilizing the rotation of the cradle head is used for self-checking the stabilized cradle head and initializing the angle of the stabilized cradle head to zero; acquiring inertial angular velocity of a stable frame of a stable holder and inertial attitude information of the stable frame of the stable holder, and acquiring a relative rotation angle of the stable frame of the stable holder around three axes; the system comprises a stabilizing frame, a three-axis rotating angle sensor and a control unit, wherein the stabilizing frame is used for stabilizing the tripod head; performing closed-loop stability control according to the inertial angular velocity of the stable frame of the stable holder and the inertial angular attitude information of the stable frame of the stable holder, and outputting a stable-loop closed-loop control instruction; and obtaining a control quantity of the stabilizing ring according to the inertial angular velocity of each shaft in the three shafts and the reference value of the closed-loop control instruction of the stabilizing ring, and outputting the control quantity of the stabilizing ring to the power stage digital control device 2.
Specifically, the control chip 3 for stabilizing the rotation of the pan/tilt/zoom is connected with the multi-channel information interaction interface 5 in a parallel bus mode. In addition, the control chip 3 for stabilizing the rotation of the pan/tilt head can communicate with a plurality of power stage digital control devices and the inertial angle sensor 4 through a multi-channel information interaction interface 5, and the control chip 3 for stabilizing the rotation of the pan/tilt head sequentially communicates with the plurality of power stage digital control devices. The communication mode of the multi-channel information interaction interface 5 comprises the following modes: PWM pulse width modulation, I2C bus, SPI bus, serial communication (RS232, RS422, RS485), CAN bus.
In practical implementation, fig. 2 is a circuit diagram of an embodiment of the multi-channel information interaction interface of the present invention. Specifically, the multiple information interaction interface 5 adopts a differential digital communication mode, that is, the multiple information interaction interface 5 includes a conversion chip ST16C654 and a differential chip max3074, the control chip 3 for stabilizing the rotation of the pan/tilt head is connected with the conversion chip ST16C654 in a parallel bus mode, that is, the control chip 3 for stabilizing the rotation of the pan/tilt head is connected with the conversion chip ST16C654 through a data bus DB0-DB7 and an address bus AB0-AB5 to convert parallel data into serial data, and the control chip 3 for stabilizing the rotation of the pan/tilt head is connected with the decoding chip 74139 through the address bus AB0-AB5 to select an interface address to be communicated. The serial data converted by the conversion chip ST16C654 is converted into a differential signal by the differential chip max3074, and is communicated with the power stage digital control device 2 through the ports CH0-CH 3.
In specific implementation, fig. 3 is a circuit diagram of another embodiment of the multi-channel information interaction interface of the present invention. Specifically, the multi-channel information interaction interface 5 adopts an analog quantity communication mode, that is, the control chip 3 for stabilizing the rotation of the pan/tilt is connected with the digital-to-analog conversion chip AD7656 and the analog-to-digital conversion chip DAC8822 through a parallel bus mode, the digital-to-analog conversion chip AD7656 converts digital information into analog information and sends the analog information to the power level digital control device 2 for communication, and analog data sent by an external component is converted into digital information by the analog-to-digital conversion chip DAC8822 and sends the digital information to the control chip 3 for stabilizing the rotation of the pan/tilt.
The inertial angle sensor 4 is used for measuring the inertial angular velocity of the stable frame of the stable holder and the inertial attitude information of the stable frame of the stable holder, wherein the attitude information comprises pitch data, roll data and azimuth data, and sends the data to the control chip 3 for stabilizing the rotation of the holder through the multi-channel information interaction interface 5, and the data comprises the angular velocity and the angular position.
Specifically, the control chip 3 for stabilizing the rotation of the pan/tilt head outputs the control quantity of the stabilizing ring to the power stage digital control device 2, and the power stage digital control device 2 controls the rotation of the brushless motor according to the control quantity of the stabilizing ring to drive the shaft corresponding to the brushless motor to move.
Specifically, the inertial angle attitude information of the stable frame of the stable pan/tilt specifically includes an angular velocity of the stable frame of the stable pan/tilt, and the angular velocity of the stable frame of the stable pan/tilt is detected by a gyroscope.
In a specific implementation, the stable closed-loop control specifically includes at least one of a lead-lag control, a PID control, and a sliding-mode control.
In a specific implementation, according to the stable head comprising a stable frame and three axes including a pitch axis X, a roll axis Y and an azimuth axis Z, the brushless motors with three axes move in a one-to-one correspondence through the pitch axis X, the roll axis Y and the azimuth axis Z.
In a specific implementation, the formula for obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable pan/tilt head, the inertial angular attitude information of the stable frame of the stable pan/tilt head, and the relative rotation angle of the stable frame around the three axes is as follows:
wherein, theta, gamma,The relative rotation angles of the stable frames of the stable holder around the three axes are respectively in one-to-one correspondence; [ omega ]pxωpyωpz]TThe inertial angular velocities of the stable frame, namely the inertial angular velocities of each of the three axes, are respectively in one-to-one correspondence.
In specific implementation, according to the angular velocity of each of the three axes and the reference value of the closed-loop control command of the stabilizing ring, a formula for obtaining the controlled variable of the stabilizing ring is as follows:
wherein u isciAnd r is a reference value of a closed-loop control command of the stabilizing loop, and omega is the angular speed of one of the three axes. That is, according to the above formula, the stabilization-stage digital control device 1 obtains the stabilization loop control amount for a single power-stage digital control device 2, and sends the stabilization loop control amount to the corresponding power-stage digital control device 2 through the multi-channel information interaction interface 5 to realize the control of the brushless motor. In addition, the stable loop closed-loop control instruction generates different control instructions according to different working modes, and if the stable loop closed-loop control instruction is in the stable mode, the stable loop closed-loop control instruction is an angular speed command received through data transmission; if the mode is tracking, the closed-loop control command of the stable loop is a control quantity obtained by calculation according to the image miss distance, namely a tracking closed-loop control quantity.
The method comprises the steps of obtaining the inertial angular velocity of each shaft in three shafts according to the inertial angular velocity of a stabilizing frame of a stabilizing pan-tilt, the inertial angular attitude information of the stabilizing frame of the stabilizing pan-tilt and the relative rotation angle of the stabilizing frame of the stabilizing pan-tilt around the three shafts, obtaining the control quantity of a stabilizing ring according to the inertial angular velocity of each shaft in the three shafts and the reference value of a closed-loop control instruction of the stabilizing ring, outputting the control quantity of the stabilizing ring to a power-stage digital control device, and controlling the rotation of a brushless motor through the power-stage digital control device to control the motion of each shaft of the stabilizing pan-tilt, so that a stable high-precision image is obtained. In addition, the stabilizer control system only needs to calculate the control quantity of the stabilizer loop and does not need to drive and control the motor, so that the calculation quantity of the stabilizer control system can be reduced.
In specific implementation, the stabilizing-stage digital control device 1 further includes an image tracker 6 for detecting and obtaining the miss distance of the tracked target relative to the center of the image;
and the multi-channel information interaction interface 5 is respectively connected with the image tracker 6 and the control chip 3 for stabilizing the rotation of the holder.
The control chip 3 for stabilizing the rotation of the cradle head is also used for self-checking the stabilized cradle head and initializing the angle of the stabilized cradle head to zero; the method comprises the steps of obtaining the miss distance of a tracked target relative to the image picture center and the focal length value of a camera, obtaining a tracking closed-loop control quantity according to the miss distance of the tracked target relative to the image picture center and the focal length value of the camera and the angle difference value of each axis in three axes of a stabilizing pan-tilt, taking the tracking closed-loop control quantity as a stabilizing loop closed-loop control instruction, performing stabilizing closed-loop control according to feedback data, and outputting the calculated stabilizing loop control quantity.
In a specific implementation, the formula for obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the center of the image and the focal length value of the camera is as follows:
θ＝arctan(n×psize/L)；
where theta is the angle difference, n is the miss distance, psizeIs the pixel size and L is the focal length.
In a specific implementation, the formula for obtaining the tracking closed-loop control quantity according to the angle difference value of each of the three axes of the stable holder is as follows:
wherein u isciTo track the closed-loop control quantity, thetaiIs the angular difference of each of the three axes.
In specific implementation, a specific formula of the stable loop control amount obtained by using the tracking closed-loop control amount as the stable loop control command to perform the closed-loop stable control is well known in the art.
The method comprises the steps of obtaining an angle difference value of each axis in three axes of a stabilizing pan-tilt according to a miss distance of a tracked target relative to the center of an image picture and a focal length value of a camera, obtaining a tracking closed-loop control quantity according to the angle difference value of each axis in the three axes of the stabilizing pan-tilt, taking the tracking closed-loop control quantity as a stabilizing loop closed-loop control instruction to obtain a calculated stabilizing loop control quantity, outputting the stabilizing loop control quantity to a power level digital control device, and controlling the rotation of a brushless motor through the power level digital control device to control the movement of each axis of the stabilizing pan-tilt, so that continuous tracking shooting of images is achieved. Therefore, the purposes of high-precision image stabilization and stable and continuous tracking shooting of the moving target in the moving aerial shooting process can be achieved. The stabilizer control system only needs to calculate the control quantity of the stabilizer loop and does not need to drive and control the motor, so that the calculation quantity of the stabilizer control system can be reduced.
In particular implementation, as shown in fig. 7, the utility model provides a power level digital control device 2 of embodiment is used for controlling the rotation vector of motor, in particular implementation, the utility model provides a power level digital control device 2 of embodiment is used for controlling motor rotation, power level digital control device 2 includes:
a communication interface 7 for receiving the current operating mode and control instructions of the power stage controller;
the power level controller 8 is used for judging whether an absolute initial value of the electrical angle exists at present; if the absolute initial value of the electrical angle does not exist, obtaining the current electrical angle value, the quadrature axis voltage control quantity, the direct axis voltage control quantity and the absolute initial value of the electrical angle in the initialization mode; if the absolute initial value of the electrical angle exists, acquiring the angle value of an absolute angular position sensor, acquiring the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle, and acquiring the quadrature axis voltage control quantity and the direct axis voltage control quantity; obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor;
a three-phase bridge driver 9 for outputting a driving current according to the duty ratio of the PWM output from the power stage controller to control the rotation of the motor;
a current sensor 10 for detecting a two-phase drive current value among drive currents of the three-phase bridge driver;
and an absolute angular position sensor 12 for detecting an angular value of the motor.
In a specific implementation, the power stage controller 8 is further configured to obtain a current operating mode, and determine that the current operating mode is a current open-loop mode or a current closed-loop mode;
the current working mode is a current closed loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained according to the obtained two-phase driving current values;
the current working mode is a current open loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained.
In a specific implementation, the power level controller 8 is further configured to obtain a control instruction, and determine whether the control instruction is an end instruction; if the control instruction is an ending instruction, saving an absolute initial value of the electrical angle; if the control instruction is not an end instruction, the work of acquiring the angle value of the absolute angular position sensor is performed.
Specifically, the motor is a brushless motor 11, and the communication interface 7 is a communication interface between the power stage digital control device 2 and the outside, and corresponds to the stabilization stage digital control device in a communication mode. The power stage controller 8 reads the two-phase driving current data of the absolute angular position sensor 12 and the current sensor 10, obtains the absolute angular position of the rotor of the brushless motor 11 relative to the stator and the current data of two adjacent phases of the brushless motor, runs a vector control algorithm, and outputs the calculated result to the three-phase bridge driving component 9 through 3 groups of PWM modules on the power stage controller 8. The three-phase bridge driving assembly 9 provides an ABC three-phase interface which can be electrically connected with three phases of the brushless motor 11; when the brushless motor is electrically connected, the three-phase connecting line of the brushless motor is three wires, any one of the three wires can be selected to be connected with the phase A of the power chip, the other two wires of the brushless motor are selected to be adjacent to the connected wire to be used as the phase B, and the other two wires are connected with the phase C. And the three-phase bridge driving assembly 9 is electrically connected with the brushless motor 11 to drive the brushless motor 11 to rotate, so that the stabilizing cradle head is driven to rotate.
That is, the power stage digital control device 2 can realize the following three functions: initial electric angle alignment, magnetic field orientation control, current closed loop and current open loop mode judgment and gating procedures; the judging and gating program of the current closed loop mode and the current open loop mode sets the system to be the current closed loop mode or the current open loop mode according to the received data; the magnetic field orientation control utilizes an absolute angle position sensor and two-phase current data to carry out vector operation, the quadrature axis control instruction of the brushless motor in a current closed loop mode is received data, the direct axis control instruction is zero, and quadrature axis voltage control quantity and direct axis voltage control quantity are respectively obtained through calculation; in the current open-loop mode, the quadrature axis voltage control quantity is directly received data, and the direct axis voltage control quantity is zero. The absolute initial value alignment program of the electrical angle in the vector control algorithm enables the system to work in a current closed-loop mode, the electrical angle is forcibly set to be-pi/2 by controlling quadrature axis current and direct axis current, and the reading of the absolute angular position sensor at the moment is read to achieve alignment of the electrical angle, so that initial angle alignment is achieved through the program, and phase requirements on the motor during installation are more random. In addition, the pressure of the processor can be reduced by calculating in the current open-loop mode, when the processor with lower performance is selected, because the calculation capacity of the processor is weak, the calculation of the current closed-loop algorithm cannot be completed in a specified time period, the calculation can be performed in the current open-loop mode, and the calculation can be performed in the current closed-loop mode, so that the influence of the induced electromotive force of the motor can be effectively eliminated, the torque output is more stable, and meanwhile, the current flowing through the motor can effectively participate in work.
In a specific implementation, the power stage controller 8 is further configured to:
setting the two-phase driving current value as a first preset current value and a second preset current value;
obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the two-phase driving current values;
setting the current electrical angle as a preset angle value;
and acquiring an angle value of the absolute angle position sensor, and acquiring an absolute initial value of the electrical angle according to the angle value of the absolute angle position sensor and the current electrical angle.
Specifically, when the absolute initial value of the electrical angle does not exist, that is, when the absolute initial value of the electrical angle needs to be calculated, the two-phase driving current value needs to be forcibly set to the first preset current value Icmdq0 and the second preset current value Icmdd0, the preset angle value is-pi/2, and the angle value of the absolute angular position sensor is collected as the absolute initial value of the electrical angle and stored. The motor absolute angle position corresponding to the electric angle-pi/2 is unknown when the electric angle absolute initial value is not set, the initialization is that the motor absolute angle position and the electric angle absolute initial value are corresponding, the electric angle needs to be set to be-pi/2 when the motor is installed on a structural component, the angle value of the absolute angle position sensor is read at the moment, and the angle value is recorded and stored as the electric angle absolute initial value, namely, the current electric angle and the electric angle absolute initial value are corresponding.
In a specific implementation, the power stage controller 8 is further configured to:
performing Clarke conversion according to the obtained two-phase driving current value to obtain a first conversion current value and a second conversion current value;
performing Park conversion according to the first conversion current value and the second conversion current value to obtain a quadrature-axis current value and a direct-axis current value;
and obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the quadrature axis current value and the direct axis current value.
In specific implementation, the two-phase driving current value is the driving current value I of the A phaseaAnd drive current value I of phase BbAccording to the driving current value I of the A phaseaAnd drive current value I of phase BbPerforming Clarke transformation to obtain a first transformed current value IαAnd a second converted current value IβThe formula of (1) is as follows:
according to the first converted current value IαAnd a second converted current value IβCarrying out Park conversion to obtain a quadrature axis current value IqAnd the value of the direct current IdThe formula of (1) is as follows:
where θ represents an electrical angle value.
Specifically, when the controller is designed to be proportional-integral control, the quadrature axis current value I is usedqAnd the value of the direct current IdObtaining the quadrature axis voltage control quantity VqAnd the direct axis voltage control quantity VdThe calculation formula is as follows:
wherein,andrepresenting a current instruction, and Kp is a proportional coefficient; ki is the integral gain. In particular, the method comprises the following steps of,the current instruction is the current control quantity which is sent to the power level digital control device by the stabilizing level control system through the multi-channel information interaction interface;the current command is usually set to 0 in the power stage digital control device, that is, all current is made to participate in work, and the current control quantity is the stable loop control quantity output by the stable stage control system in the tracking mode or the stable mode.
In a specific implementation, the power stage controller 8 is further configured to:
carrying out Park inverse transformation according to the quadrature axis voltage control quantity and the direct axis voltage control quantity to obtain three-phase voltages Va, Vb and Vc;
and obtaining the duty ratio of output PWM according to the three-phase voltages Va, Vb and Vc so as to control the rotation of the motor.
Specifically, the quantity V is controlled according to the quadrature axis voltageqAnd the direct axis voltage control quantity VdThe formula for obtaining the three-phase voltages Va, Vb and Vc by carrying out Park inverse transformation is as follows:
in a specific implementation, the obtaining a current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle specifically includes:
the current electric angle value is equal to the radian obtained by subtracting the absolute initial value of the electric angle from the angle value of the absolute angular position sensor and then is converted into the radian and multiplied by the logarithm of poles.
The method for obtaining the absolute initial value of the electrical angle according to the angle value of the absolute angular position sensor and the current electrical angle specifically comprises the following steps:
the absolute initial value of electrical angle is equal to the angular value of the absolute angular position sensor.
That is, the absolute initial value of the electrical angle is a value of the absolute angular position sensor read and recorded in the initial value setting process of the electrical angle, and the value recorded before is directly read when the initial value of the electrical angle does not need to be calculated.
The utility model also provides a stabilize the cloud platform of embodiment, it includes foretell power level digital control device 2 to stabilize the cloud platform.
The utility model discloses a stabilize cloud platform, move under current open loop mode, can reduce the pressure of treater, when selecting the lower treater of performance, because treater computing power is weak, can't accomplish the calculation of current closed loop algorithm in the time period of regulation, can calculate under current open loop mode, and calculate under current closed loop mode, can effectual elimination motor induced electromotive force's influence, it is more steady to make moment output, the electric current that also enables to flow through the motor simultaneously can all participate in the acting effectively.
In a specific implementation, as shown in fig. 4, the power stage controller 8 is a TM32028069 chip, the three-phase bridge driving assembly 9 includes three switching transistor modules, each of the switching transistor modules includes a transistor, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first MOS transistor NA1, and a second MOS transistor NA2, and the first output port PWMA1 and the second output port PWMA2 of the TM32028069 chip are connected to one of the switching transistor modules. Specifically, the first output port PWMA1 of the TM32028069 chip is connected to one end of the second resistor R2, the other end of the second resistor R2 is connected to a base of the transistor, the second output port PWMA2 of the TM32028069 chip is connected to one end of the third resistor R3, the other end of the third resistor R3 is connected to the first end of the second MOS NA2 and one end of the fourth resistor R4, the second end of the second MOS NA2 and the other end of the fourth resistor R4 are both grounded, the power source VCC is connected to one end of the fifth resistor R5 and the third end of the first MOS NA1, the collector of the transistor is connected to the other end of the fifth resistor R5 and the first end of the first MOS NA1, the second end of the first MOS NA1 is connected to the third end of the second MOS NA2, the emitter of the transistor is grounded, the second end of the first MOS 1 and the third end of the second MOS NA2 are connected to form a three-phase driving signal output node, that is, the three switching tube modules output three-phase driving signals PHASHA, PHASHB, and PHASHC, and the current sensor 10 detects the driving signals PHASHA, PHASHB and outputs the detected measurement values to the TM32028069 chip.
In a specific implementation, as shown in fig. 5, the three-phase bridge driving assembly 9 includes three logic gate circuit chips U1A, U1B, U1C and a three-phase bridge driving chip, specifically, a DRV8312 driving chip. The power stage controller 8 is specifically a TM32028069 chip, a first output port PWMA1 and a second output port PWMA2 of the TM32028069 chip are respectively connected to a first input terminal and a second input terminal of a logic gate circuit chip U1A, a first output port PWMA1 of the TM32028069 chip is further connected to a first input terminal PWMA of a DRV8312 driver chip, an output terminal of the logic gate circuit chip U1A is connected to a second input terminal RESET _ a of the DRV8312 driver chip, a third output port PWMB1 and a fourth output port PWMB2 of the TM32028069 chip are respectively connected to a third input terminal and a fourth input terminal of the logic gate circuit chip U1B, a third output port PWMB1 of the TM32028069 chip is further connected to a third input terminal PWMB of the DRV8312 driver chip, an output terminal of the logic gate circuit chip U1B is connected to a fourth input terminal RESET _ B of the DRV8312 driver chip, a fifth output port PWMA 364 and a sixth output port of the TM32028069 chip are respectively connected to a second input terminal PWMC C of the logic gate circuit chip, the fifth output port PWMC1 of the TM32028069 chip is further connected to the fifth input port PWMC of the DRV8312 driver chip, the first output port of the logic gate circuit chip U1C is connected to the sixth input port RESET _ C of the DRV8312 driver chip, the DRV8312 driver chip outputs three-phase driving signals PHASHA, PHASHB, and PHASHC, and the current sensor 10 detects the driving signals PHASHA, PHASHB and outputs the detected measurement value to the TM32028069 chip.
Specifically, as shown in fig. 6(a), switching tube V1 and switching tube V4 form the same arm, and a first node is provided between switching tube V1 and switching tube V4, switching tube V3 and switching tube V6 form the same arm, and a second node is provided between switching tube V3 and switching tube V6, switching tube V2 and switching tube V5 form the same arm, and a second node is provided between switching tube V2 and switching tube V5, by preventing the simultaneous conduction of the switch tube V1 and the switch tube V4, the switch tube V3 and the switch tube V6 or the switch tube V2 and the switch tube V5, thereby preventing the three-phase bridge driving chip from short circuit caused by the simultaneous conduction of two power tubes of the same bridge arm, the first node of the three-phase bridge driving chip is connected with the phase a of the brushless motor 11, the second node of the three-phase bridge driving chip is connected with the phase B of the brushless motor 11, and the third node of the three-phase bridge driving chip is connected with the phase C of the brushless motor 11. As shown in fig. 6(B), the first node of the three-phase bridge driving chip is connected to the B phase of the brushless motor 11, the second node of the three-phase bridge driving chip is connected to the C phase of the brushless motor 11, and the third node of the three-phase bridge driving chip is connected to the a phase of the brushless motor 11. As shown in fig. 6(C), the first node of the three-phase bridge driving chip is connected to the C phase of the brushless motor 11, the second node of the three-phase bridge driving chip is connected to the a phase of the brushless motor 11, and the third node of the three-phase bridge driving chip is connected to the B phase of the brushless motor 11.
That is, the three-phase bridge drive assembly 9 provides an ABC three-phase interface to electrically connect the three phases of the brushless motor 11; when the brushless motor 11 is electrically connected, the three-phase connecting lines of the phase a, the phase B and the phase C are three wires, any one of the three wires can be selected to be connected with one node of the three-phase bridge driving assembly 9, and the other two wires of the brushless motor are selected to be connected with the other two nodes of the three-phase bridge driving assembly 9 in a one-to-one correspondence manner. In addition, the three-phase bridge driving assembly 9 is electrically connected with the brushless motor 11 to drive the brushless motor to rotate, so that the stable tripod head is driven to rotate.
In an implementation, the absolute angular position sensor 12 is embodied as one of a magnetic encoder, an incremental encoder, and an absolute real encoder.
The utility model also provides a stabilize cloud platform of embodiment, including foretell brushless motor's drive control system and with drive control system corresponds brushless motor 11 of connecting.
The foregoing embodiments and description have been provided to illustrate the principles and preferred embodiments of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed.
Claims (6)
1. A power stage digital control apparatus for controlling a rotation vector of a motor, characterized in that: the power stage digital control device comprises: the device comprises a communication interface, a power level controller, a three-phase bridge driver, a current sensor and an absolute angle position sensor;
the power level controller is respectively connected with the absolute angle position sensor, the three-phase bridge driver and the communication interface;
the absolute angular position sensor detects an angular value of the motor, the power stage controller receives the angular value detected by the absolute angular position sensor and outputs a duty ratio of PWM to the three-phase bridge driver, and the three-phase bridge driver outputs a driving current to control rotation of the motor;
the current sensor is connected with the three-phase bridge driver and detects two-phase driving current values in the driving currents of the three-phase bridge driver;
the communication interface is used for communication between the power stage controller and the stabilization stage digital control device.
2. The power stage digital control apparatus of claim 1, wherein: the three-phase bridge driving assembly provides three phases of the ABC three-phase interface brushless motor for electrical connection, and drives the brushless motor to rotate, so that the stable holder is driven to rotate.
3. The power stage digital control device of claim 1, wherein the power stage controller is a TM32028069 chip.
4. The power stage digital control device of claim 3, wherein the three-phase bridge-drive assembly comprises three logic gate chips U1A, U1B, U1C and a three-phase bridge-drive chip, the three-phase bridge-drive chip being a DRV8312 drive chip; the first output port PWMA1 and the second output port PWMA2 of the TM32028069 chip are connected to the first input terminal and the second input terminal of the logic gate circuit chip U1A, respectively, the first output port PWMA1 of the TM32028069 chip is also connected to the first input terminal PWMA of the DRV8312 driver chip, the output terminal of the logic gate circuit chip U1A is connected to the second input terminal RESET _ a of the DRV8312 driver chip, the third output port PWMB1 and the fourth output port PWMB2 of the TM32028069 chip are connected to the third input terminal and the fourth input terminal of the logic gate circuit chip U1B, respectively, the third output port PWMB1 of the TM32028069 chip is also connected to the third input terminal PWMB 8312 driver chip, the output terminal of the logic gate circuit chip U1B is connected to the fourth input terminal RESET _ B of the DRV8312 driver chip, the fifth output port PWMA 364 and the sixth output port PWMA2 of the TM32028069 chip are connected to the first input terminal PWMC C, the fifth output port PWMC1 of the TM32028069 chip is further connected to the fifth input port PWMC of the DRV8312 driver chip, the first output port of the logic gate circuit chip U1C is connected to the sixth input port RESET _ C of the DRV8312 driver chip, the DRV8312 driver chip outputs three-phase driving signals PHASHA, PHASHB, and PHASHC, and the current sensor 10 detects the driving signals PHASHA, PHASHB and outputs the detected measurement value to the TM32028069 chip.
5. The power stage digital control device according to claim 3, wherein the power stage controller is a TM32028069 chip, the three-phase bridge driving assembly comprises three switching tube modules, each switching tube module comprises a triode, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first MOS tube NA1 and a second MOS tube NA2, and a first output port PWMA1 and a second output port PWMA2 of the TM32028069 chip are connected with one of the switching tube modules.
6. The utility model provides a stabilize cloud platform which characterized in that: the stabilizing head comprises a power stage digital control device according to any one of claims 1 to 5.
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