CN102818579A - Method for determining accuracy of angle measurement signal emitted by rotary transformer - Google Patents
Method for determining accuracy of angle measurement signal emitted by rotary transformer Download PDFInfo
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- CN102818579A CN102818579A CN2012102523207A CN201210252320A CN102818579A CN 102818579 A CN102818579 A CN 102818579A CN 2012102523207 A CN2012102523207 A CN 2012102523207A CN 201210252320 A CN201210252320 A CN 201210252320A CN 102818579 A CN102818579 A CN 102818579A
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Abstract
一种旋转变压器角度测量信号准确性判断方法，利用旋转变压器粗、精机各自得出的角度测量数据，依据三条判据，判断出旋转变压器测角单元输出数据是否异常；然后，根据判断结果，决定电机控制系统进入正常工作模式还是安全模式。本发明已被应用于控制力矩陀螺的低速框架的控制，可确保框架控制安全，及卫星姿态安全。
A method for judging the accuracy of a resolver angle measurement signal, using the angle measurement data obtained by the resolver's coarse and fine machines, and judging whether the output data of the resolver's angle measurement unit is abnormal according to three criteria; then, according to the judgment result, Determines whether the motor control system enters normal operating mode or safe mode. The invention has been applied to the control of the low-speed frame of the moment gyroscope, which can ensure the safety of the frame control and the safety of the satellite attitude.
Description
Technical field
The present invention relates to a kind of rotary transformer angle measuring-signal accuracy determination methods, be applicable to the security control of high-precision motor control system.
Background technology
In the space industry, the rotating speed control performance of the low speed framework in the control-moment gyro has material impact to the serviceability of complete machine, and the attitude stability and the attitude control accuracy of satellite played an important role.
At present, the high-precision motor control system in the space product generally adopts rotary transformer angle measurement unit to obtain the tested angle value, and this angle measurement is sent into the motor closed-loop control system as feedback quantity.The accuracy of this angle measurement will directly influence the stability and the reliability of closed-loop control system.
Thick, the smart machine of rotary transformer is respectively accordingly just producing, the cosine analog voltage signal, has comprised tested angle information.Slightly, the cosine and sine signal separately of smart machine is sent into respectively and is revolved chap, smart machine demodulator circuit; Obtain not having 16 thick, smart machine angle values of symbol fixed point format respectively; Then through thick smart data coupling algorithm; Obtain not having 21 parallactic angle degrees of data of symbol fixed point format, send into the motor closed-loop control system.
Slightly, smart machine demodulator circuit is a core with separately rotary transformer demodulation chip.Can be through the method for configuration off chip resistor electric capacity, for the rotary transformer demodulation chip is provided with suitable tachometric survey scope and two indexs of frequency span.Detailed content can reference: Analog Devices, " Variable Resolution, Monolithic, Resolver-to-Digital Converter ".
In the real work of rotating speed (or corner) closed-loop control system, if following three kinds of situation occur, then operation irregularity will appear in closed-loop system: (1) demodulation chip fault causes output angle data bigger distortion to occur; (2) outer improper, the trouble or failure of configuration resistance capacitance parameter of demodulation chip causes output angle data bigger distortion to occur; (3) thick, the smart machine body of rotary transformer breaks down, just, the cosine signal waveform is unusual.If one or more in the above-mentioned three kinds of faults of appearance, then serious distortion will appear in the angle-data of angle measurement unit output, make the electric machine control system operation irregularity.
Fig. 3,4 provided rotary speed instruction be 20 °/s and rotary speed instruction be 29 °/s and the corner control effect when having exceeded the set tachometric survey scope of smart machine demodulation chip external resistance electric capacity experiment relatively.Among Fig. 3, angle measurement and closed-loop system are all normal.Among Fig. 4,, cause 16 smart machine datas seriously to distort, and then 21 angle values that are used for closed-loop control that cause being coupled out seriously distort, cause rotating speed stall fault because actual speed has exceeded the set tachometric survey scope of smart machine demodulation chip external resistance electric capacity.
Summary of the invention
The problem that the present invention solves: overcome the deficiency of prior art, a kind of rotary transformer angle measuring-signal accuracy determination methods is provided, judged result is accurate, has guaranteed that electric machine control system is safe and reliable.
Scheme of the present invention: a kind of rotary transformer angle measuring-signal accuracy determination methods, the thick smart coupling data and the thick machine data of rotary transformer output are judged, confirm the accuracy of thick smart coupling data, process as follows-
The first step is confirmed three criterions, and said three criterions are following:
(1) every at a distance from a period of time of setting, according to the thick smart coupling data of rotary transformer output, the mean value of tested motor speed in the calculating during this period of time judges that whether this tachometer value is greater than setting the first thresholding kth1;
(2) according to the thick smart coupling data of rotary transformer output, calculates the increment of the angle behind control cycle of tested electric machine control system, judge that whether this increment is greater than the setting second thresholding kth2;
(3) in a control cycle of tested electric machine control system, calculate the departure between coupling data (21) and the thick pairing angle of machine data (16), judge that whether this departure is greater than setting the 3rd thresholding kth3;
In second step, according to the mode of operation of above-mentioned three criterions decision electric machine control system, said mode of operation is safe mode and normal mode of operation, is specially:
A. in the control cycle of each electric machine control system, successively carry out above-mentioned three criterions, if when carrying out wherein certain bar criterion, measured result is greater than corresponding thresholding, and then the criterion after this criterion is not performed; Simultaneously the scoring value of setting is added one, this scoring value initially is made as zero, and every separated a period of time automatic clear of setting once;
B. if scoring value greater than setting the 4th thresholding kth4, explains that the output valve of rotary transformer seriously distorts, then change electric machine control system over to safe mode from normal mode of operation; After changing safe mode over to, current of electric is carried out closed-loop control, make motor stator winding produce a direction and the fixing stator field of amplitude, avoid the generation of rotating speed stall fault;
C. have only through resetting or the method for power-off restarting, just can make electric machine control system withdraw from safe mode, and get into normal mode of operation again.
The present invention's advantage compared with prior art is: realized in the electric machine control system of measurement of angle function by rotary transformer (comprising that a number of pole-pairs is that 1 the thick machine of rotary transformer and number of pole-pairs are 32 the smart machine of rotary transformer); If the unusual fault of output angle data appears in the rotary transformer angle measuring unit, the electric machine control system of then realizing closed loop with this angle-data is with operation irregularity.A kind of rotary transformer angle measuring-signal of the present invention accuracy determination methods: the angle measurement data of utilizing thick, the smart machine of rotary transformer to draw separately, whether according to three criterions, it is unusual to judge rotary transformer angle measurement unit output data; Then; According to judged result; The decision electric machine control system gets into normal mode of operation or safe mode, has guaranteed to be applied to the accurate reliability of the rotary transformer angle data of high-precision motor control system, has also guaranteed the stability of electric machine control system work simultaneously.
(2) the present invention has been applied to the electric machine control system of a kind of new spatial attitude of flight vehicle topworks, under space conditions such as vacuum, irradiation, has effectively guaranteed the security of operation and the whole star attitude safety of electric machine control system.
Description of drawings
Fig. 1 is the electric machine control system block diagram;
Fig. 2 is realization flow figure of the present invention;
Fig. 3 revolves chap, the corresponding angle value of smart machine 16 bit data when being 20 °/s of rotary speed instruction, and the change curve of the angle value of thick smart coupling 21 bit data correspondence;
When Fig. 4 revolves change angle measurement signal accuracy determination methods for not adopting, revolve chap, the corresponding angle value of smart machine 16 bit data during 29 °/s of rotary speed instruction, and the change curve of the angle value of thick smart coupling 21 bit data correspondence;
When Fig. 5 revolves change angle measurement signal accuracy determination methods for adopting, revolve chap, the corresponding angle value of smart machine 16 bit data during 29 °/s of rotary speed instruction, and the change curve of the angle value of thick smart coupling 21 bit data correspondence.
Embodiment
The motor closed-loop control system is as shown in Figure 1, and a slice digital signal processor DSP is responsible for moving motor closed loop control algorithm and design point of view signal accuracy determination methods of the present invention.
In chronological sequence in proper order, the practical implementation step is:
(1) for to obtain the required angle-data of closed-loop control, DSP sends the angle acquisition enabling signal to FPGA;
(2) after FPGA receives enabling signal,, send the steering logic signal to thick, smart machine demodulation chip respectively according to the demodulation chip steering logic that designs;
(3) steering logic signal enabling angle information collection and the transfer process separately sent by FPGA of thick, smart machine demodulation chip, and the 16 parallactic angle degrees of data that will draw separately exports bus to, and FPGA successively reads in these two data;
(4) after FPGA obtains two 16 bit data from thick, smart machine demodulation chip, calculate 21 angle values, then 16 thick, smart machine datas of rotary transformer and 21 coupling datas are deposited in the variable register of appointment by thick smart coupling algorithm;
(5) after FPGA had deposited 16 thick, smart machine datas of rotary transformer and 21 coupling datas the variable register of appointment in, DSP read thick, smart machine 16 bit data and 21 coupling datas through data bus from FPGA;
(6) DSP carries out the method that the present invention proposes, and judges the accuracy of resulting angle signal, and according to judged result, confirms to carry out normal mode of operation or safe mode;
(7) DSP carries out normal mode of operation or safe mode according to a last step result.
The present invention is directed in the high-precision motor closed-loop control system, gather reasons such as fault or mistake owing to angle signal, cause problems such as closed-loop system is unstable, rotating speed is out of control, design and proposed a kind of rotary transformer angle measuring-signal accuracy determination methods.Can make electric machine control system get into normal mode of operation or safe mode according to judged result.Whether use this method, it is in proper working order accurately to judge the measurement of angle unit, effectively avoids the generation of faults such as system's instability or rotating speed be out of control.
As shown in Figure 2, the concrete performing step of the present invention is following:
21 thick smart coupling datas and 16 thick machine datas are judged that confirm the accuracy of thick smart coupling data, process is following;
The first step is confirmed three criterions, and said three criterions are following:
(1) every at a distance from a period of time of setting, according to 21 thick smart coupling datas, the mean value of tested motor speed in calculating during this period of time judges that whether greater than the first thresholding kth1 that sets (for example: 120 °/s) this tachometer value;
(2) according to 21 thick smart coupling datas, calculate the increment of the angle behind control cycle of tested electric machine control system, judge that whether this increment is greater than the second thresholding kth2 (for example: 0.5 °) that sets;
(3) in a control cycle of tested electric machine control system, calculate the departure between 21 thick smart coupling datas and 16 the pairing angles of thick machine data, judge that whether this departure is greater than the 3rd thresholding kth3 (for example: 2 °) that sets;
In second step, according to the mode of operation of above-mentioned three criterions decision electric machine control system, said mode of operation is safe mode and normal mode of operation, is specially:
A. in the control cycle of each electric machine control system, successively carry out above-mentioned three criterions, if when carrying out wherein certain bar criterion, measured result is greater than corresponding thresholding, and then the criterion after this criterion is not performed; Simultaneously the scoring value of setting is added one, this scoring value initially is made as zero, and every separated a period of time automatic clear of setting once;
B. greater than setting the 4th thresholding kth4 (for example: 10), explain that the angle value that records seriously distorts, and then changes electric machine control system over to safe mode from normal mode of operation as if scoring value; After changing safe mode over to, current of electric is carried out closed-loop control, make motor stator winding produce a direction and the fixing stator field of amplitude, avoid the generation of rotating speed stall fault;
C. have only through resetting or the method for power-off restarting, just can make electric machine control system withdraw from safe mode, and get into normal mode of operation again.
Can find out that from Fig. 4,5 contrasts when not adopting the inventive method, become the angle measurement data exception if occur revolving, then motor angular velocity gets into atwirl stall malfunction; After adopting the inventive method, become the angle measurement data exception if occur revolving, then electric machine control system has got into safe mode, has avoided the appearance of motor speed stall fault.
The present invention has comprised three criterions, in time, accurately judges to revolve to become whether operation irregularity of angle measurement unit, and according to judged result electric machine control system is cut normal mode of operation or safe mode.The present invention has been applied to the control of the low speed framework of control-moment gyro, has guaranteed framework control safety, and attitude of satellite safety.
The present invention does not set forth part in detail and belongs to techniques well known.
Claims (1)
1. rotary transformer angle measuring-signal accuracy determination methods is characterized in that: thick smart coupling data and thick machine data to rotary transformer output judge that confirm the accuracy of thick smart coupling data, process is following:
The first step is confirmed three criterions, and said three criterions are following:
(1) every at a distance from a period of time of setting, according to the thick smart coupling data of rotary transformer output, the mean value of tested motor speed in the calculating during this period of time judges that whether this tachometer value is greater than setting the first thresholding kth1;
(2) according to the thick smart coupling data of rotary transformer output, calculates the increment of the angle behind control cycle of tested electric machine control system, judge that whether this increment is greater than the setting second thresholding kth2;
(3) in a control cycle of tested electric machine control system, calculate the departure between coupling data and the thick pairing angle of machine data, judge that whether this departure is greater than setting the 3rd thresholding kth3;
In second step, according to the mode of operation of above-mentioned three criterions decision electric machine control system, said mode of operation is safe mode and normal mode of operation, is specially:
A. in the control cycle of each electric machine control system, successively carry out above-mentioned three criterions, if when carrying out wherein certain bar criterion, measured result is greater than corresponding thresholding, and then the criterion after this criterion is not performed; Simultaneously the scoring value of setting is added one, this scoring value initially is made as zero, and every separated a period of time automatic clear of setting once;
B. if scoring value greater than setting the 4th thresholding kth4, explains that the output valve of rotary transformer seriously distorts, then change electric machine control system over to safe mode from normal mode of operation; After changing safe mode over to, current of electric is carried out closed-loop control, make motor stator winding produce a direction and the fixing stator field of amplitude, avoid the generation of rotating speed stall fault;
C. have only through resetting or the method for power-off restarting, just can make electric machine control system withdraw from safe mode, and get into normal mode of operation again.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104571116A (en) * | 2015-01-09 | 2015-04-29 | 西安应用光学研究所 | Position loop coordinate system conversion method of photoelectricity stable platform |
| CN111337007A (en) * | 2020-04-09 | 2020-06-26 | 北京控制工程研究所 | A kind of control moment gyro frame zero position stable positioning system and method |
| CN111649774A (en) * | 2020-06-23 | 2020-09-11 | 北京控制工程研究所 | A hardware self-correction system and method for resolver angle measurement error |
| CN113091601A (en) * | 2021-04-12 | 2021-07-09 | 上海大学 | High-speed drive motor rotation angular displacement measurement error testing method |
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| CN101388640A (en) * | 2008-07-11 | 2009-03-18 | 上海智大电子有限公司 | Pressure and speed regulating system for semi-digital AC stator |
| CN102324884A (en) * | 2011-07-08 | 2012-01-18 | 三一重机有限公司 | Stepper motor feedback voltage protection scheme for engineering machinery |
| WO2012025121A2 (en) * | 2010-08-23 | 2012-03-01 | Vestas Wind Systems A/S | Method of operating a wind turbine and wind turbine |
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2012
- 2012-07-20 CN CN201210252320.7A patent/CN102818579B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101388640A (en) * | 2008-07-11 | 2009-03-18 | 上海智大电子有限公司 | Pressure and speed regulating system for semi-digital AC stator |
| WO2012025121A2 (en) * | 2010-08-23 | 2012-03-01 | Vestas Wind Systems A/S | Method of operating a wind turbine and wind turbine |
| CN102324884A (en) * | 2011-07-08 | 2012-01-18 | 三一重机有限公司 | Stepper motor feedback voltage protection scheme for engineering machinery |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571116A (en) * | 2015-01-09 | 2015-04-29 | 西安应用光学研究所 | Position loop coordinate system conversion method of photoelectricity stable platform |
| CN104571116B (en) * | 2015-01-09 | 2017-02-22 | 西安应用光学研究所 | Position loop coordinate system conversion method of photoelectricity stable platform |
| CN111337007A (en) * | 2020-04-09 | 2020-06-26 | 北京控制工程研究所 | A kind of control moment gyro frame zero position stable positioning system and method |
| CN111337007B (en) * | 2020-04-09 | 2021-08-10 | 北京控制工程研究所 | Control moment gyro frame zero position stable positioning system and method |
| CN111649774A (en) * | 2020-06-23 | 2020-09-11 | 北京控制工程研究所 | A hardware self-correction system and method for resolver angle measurement error |
| CN113091601A (en) * | 2021-04-12 | 2021-07-09 | 上海大学 | High-speed drive motor rotation angular displacement measurement error testing method |
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