Unlock instant, AI-driven research and patent intelligence for your innovation.

Control method of direct current motor type force actuator

A technology of force actuator and control method, applied in the direction of electrical program control, program control in sequence/logic controller, instrument, etc., can solve the problems of complex driving circuit, single force closed-loop control, poor stability, etc., and achieve nonlinearity and external disturbance suppression, improve control accuracy and stability, and reduce complexity

Inactive Publication Date: 2012-06-13
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
View PDF2 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the driving circuit is complex when the existing stepping motor is used as a force actuator, a single force closed-loop control is adopted in the algorithm realization, an external position sensor needs to be configured when a DC motor is used, and the output force has low precision and poor stability. A control method for a DC motor type force actuator is provided

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method of direct current motor type force actuator
  • Control method of direct current motor type force actuator
  • Control method of direct current motor type force actuator

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0018] Specific implementation mode one: combine figure 1 Description of this embodiment, a control method of a DC motor type force actuator, the method is implemented by the following steps:

[0019] Step 1: the control system 16 obtains the force setting value Fr;

[0020] Step 2: Send the force feedback value Fb output by the force acquisition unit 8 into the control system 16;

[0021] Step 3: Subtract the force set value Fr obtained in step 1 and the force feedback value Fb obtained in step 2 to obtain the force error value ef, and use the force controller 1 in the control system 16 to perform a calculation on the force error value ef Correction, and the correction result is used as the force speed setting value Vr of the force speed controller 2 in the control system 16;

[0022] Step 4: The control system 16 subtracts the force feedback value Fb obtained in step 2 from the force feedback value Fb1 obtained through the delay unit 7, and then divides the subtracted resu...

specific Embodiment approach 2

[0027] Specific implementation mode two: combination figure 2 Describe this embodiment, the electronic control device used to realize the control method of a DC motor type force actuator in this embodiment, including a communication unit 20, a power module 21, a control system 16, a digital-to-analog converter 18, and a sensor interface 15 , DC motor interface 19, digital interface 17; It also includes force acquisition unit 8, power amplifier 4, current controller 3 and current sampling unit 6;

[0028]Described control system 16 input ends are respectively connected with the output end of communication unit 20, the output end of digital interface 17, the input end of power amplifier 4 and the output end of force collection unit 8; Control system 16 reads force through communication unit 20 respectively. The set value is operated by reading the force feedback value through the force acquisition unit 8, and the limit state information of the output force is read through the d...

specific Embodiment approach 3

[0037] Specific implementation mode three: combination figure 1 and figure 2 Describe this specific implementation mode, this implementation mode is the embodiment of specific implementation mode one:

[0038] The control system 16 described in this embodiment is a DSP;

[0039] The specific implementation process is as follows: 1. DSP reads the force setting value Fr sent by the host computer through the serial communication converter 12; 2. DSP collects the force feedback value Fb through the force acquisition unit 8 with a fixed sampling period of 1 ms; 3. The DSP makes a difference between the force setting value Fr and the force feedback value Fb, and sends the force error value ef into the force controller 1 for correction, and the correction result is used as the force speed setting value Vr of the force speed controller 2; The force feedback value Fb obtained by the delay unit 7 is subtracted from the force feedback value Fb1 obtained by the delay unit 7, and the di...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a control method of a direct current motor type force actuator, which relate to an active optical system of an astronomical telescope, and aim to solve the problems that the existing step motor serving as a force actuator has a complex drive circuit, adopts single force closed-loop control to realize an algorithm, needs to set an external position sensor on an adopted direct current motor, and has low output force accuracy and poor stability. The control method comprises the following steps of: acquiring a force set value Fr and a force feedback value Fb by a control system; subtracting the Fb form the Fr to obtain a force error value ef, and correcting the ef to obtain a force speed set value Vr; subtracting a force feedback value Fb1 from the Fb, and dividing the result by a delay time T to obtain a force speed feedback value Vb; subtracting the Vb from the Vr to obtain a difference value ev, correcting the ev, and using the corrected ev as a current set value Ir; and subtracting Ib from the Ir to obtain a difference valve current ei, and adopting a current controller to correct the ei and then output the ei. The invention is suitable in the field of controlling the force actuator.

Description

technical field [0001] The invention relates to an active optical system of an astronomical telescope, in particular to a control system of a force actuator. Background technique [0002] As an important part of the active optical system of a large astronomical telescope, the force actuator changes the shape of the primary mirror in real time by applying pressure or tension to correct the mirror deformation caused by factors such as gravity, temperature and wind. In order to achieve the required surface shape accuracy, the accuracy of the force applied by each force actuator to the mirror surface is required to reach the millinewton level (mN), and the required output force has high stability within a few minutes or even ten minutes . This technology solves the difficult problem of manufacturing the primary mirror of a large astronomical telescope, but it puts forward very high requirements on the control system. [0003] Existing force actuators can be divided into DC mot...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G02B23/02G02B26/08G05B19/04
Inventor 王帅张丽敏张斌李洪文阴玉梅
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI