Synchronous control method of dual three-phase permanent magnet synchronous torque motor and aerial camera

Abstract

The invention relates to the technical field of aerial camera imaging control, and particularly provides a synchronous control method of double three-phase permanent magnet synchronous torque motors and an aerial camera. Two three-phase permanent magnet synchronous torque motors of the same model are respectively mounted on two sides of a rotating shaft system of an inner frame of the aerial camera; a series connection driving mode and a synchronous control method are electrically adopted, so that the inner frame of the aerial camera can obtain larger driving torque, the movement maneuvering performance of the inner frame is improved, and dynamic imaging of the aerial camera does not completely depend on the maneuvering capability of an aerial carrier; therefore, multiple functions of rapid wide-area search, area monitoring, target tracking, laser ranging and the like of the aerial camera are realized. The method can be suitable for dynamic scanning imaging and control of the aerial camera, and is particularly suitable for rapid wide-area maneuvering pointing of a light and small aerial camera frame and completion of wide-range dynamic swing scanning imaging and control.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial camera imaging control, and specifically provides a synchronous control method of a dual three-phase permanent magnet synchronous torque motor and an aerial camera. Background Art

[0002] In complex scenario operations under information conditions, all-weather, high-performance rapid reconnaissance and target positioning capabilities for target areas and specific target groups are important guarantees for taking the initiative on the battlefield, seizing favorable opportunities, and winning the war. Aerial camera reconnaissance has the characteristics of flexibility, fast information acquisition, and strong timeliness. It is one of the key factors to ensure victory in modern warfare. In recent years, with the frequent and continuous global localized conflicts and wars, the effectiveness of drone reconnaissance and strike has become increasingly prominent. As a key optoelectronic payload, aerial cameras are gradually developing in the direction of lightweight and miniaturization in structure, and their functions are developing in the direction of comprehensive functions such as wide-area search, regional surveillance, target tracking and ranging, so as to enter the war zone with high performance and low cost advantages in wartime to perform high-risk tasks such as rapid approach, reconnaissance, and destruction.

[0003] Aerial cameras are mostly based on a two-axis two-frame structure. The outer frame of a traditional aerial camera is used as the main scanning axis to control and stabilize the depression direction of the scanning head reflector, driving the optical visual axis to swing and sweep in a direction perpendicular to the heading of the carrier aircraft. The inner frame is used as a driven axis to control and stabilize the azimuth direction of the scanning head reflector, driving the optical visual axis to move in the direction of the carrier aircraft heading, and performing image motion compensation during exposure. The field of view of the window of a traditional aerial camera is very limited, and the function of the inner frame is relatively simple. It can only realize the reconnaissance of the target area perpendicular to the heading direction of the carrier aircraft, and cannot quickly reconnaissance the area of ​​interest, which is very dependent on the maneuverability of the carrier aircraft.

[0004] With the rapid development and application of fast reflection image shift compensation technology, it can realize image shift compensation as a secondary image stabilization system, which can effectively free the inner frame of the aerial camera, so that the inner frame is no longer slave to the outer frame, but realizes the scanning function equal to the outer frame. The compound movement of the inner and outer frames can realize a wider range of flexible pointing of the optical axis, no longer limited to perpendicular to the heading of the carrier aircraft, and also makes the dynamic imaging of the aerial camera not completely dependent on the maneuverability of the carrier aircraft, thereby realizing the aerial camera's rapid wide-area search, regional monitoring, target tracking, laser ranging and other functions.

[0005] In order to meet the multifunctional and lightweight design requirements of aerial cameras, aerial cameras can be designed in the form of two-axis optoelectronic pods. In fact, the main purpose of traditional optoelectronic pods is pointing and target tracking. Although the frame can achieve a large range of pointing, its frame movement process is relatively slow, and a single motor in the inner frame can meet the use requirements. In order to achieve the target reconnaissance function of traditional aerial cameras, especially to achieve rapid mobile reconnaissance of the target area, it is necessary to mobilize the inner and outer frames to move around in a large range, which is bound to require higher driving capabilities for the inner frame. However, for lightweight and miniaturized aerial cameras in the shape of optoelectronic pods, the space structure size for installing motors on both sides of the inner frame axis is very limited, and the single-side motor solution can no longer meet the use requirements.

[0006] Therefore, under the constraints of the limited spatial structure size of the inner frame, improving the motion performance of the inner frame is the key to achieving the efficiency of wide-area search, regional monitoring and target tracking of such lightweight multifunctional aerial cameras. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a synchronous control method of a dual three-phase permanent magnet synchronous torque motor and an aerial camera, which can enable the inner frame to obtain a larger driving torque, thereby improving the movement and maneuverability of the inner frame, and solving the problem that the inner frame of a lightweight and miniaturized aerial camera is limited by the structural space size and only uses a single motor with insufficient driving capacity, so that the dynamic imaging of the aerial camera does not completely rely on the maneuverability of the carrier aircraft, thereby realizing multiple functions of the aerial camera such as rapid wide-area search, regional monitoring, target tracking and laser ranging.

[0008] In a first aspect, the present invention provides a synchronous control method for a dual three-phase permanent magnet synchronous torque motor, comprising: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are respectively installed on both sides of the rotating shaft system of the inner frame of the aerial camera; The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are electrically connected in series; Using a synchronous driving method to drive the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor which are electrically connected in series; The position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera is controlled by using a rotor pole oriented voltage vector synchronous control method.

[0009] As a preferred solution, the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are respectively installed on both sides of the rotating shaft system of the inner frame of the aerial camera, including: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are installed back to back on both sides of the rotating shaft system of the inner frame of the aerial camera, and the stator phase zero points of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor have the same mechanical angle.

[0010] As a preferred solution, the electrically connecting the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in series comprises: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are electrically connected in series; The stator of the first three-phase permanent magnet synchronous torque motor leads out six wires U1, V1, W1 and A1, B1, C1 according to the three-phase winding, wherein U1 and A1 are the beginning and end of the same winding, V1 and B1 are the beginning and end of the same winding, and W1 and C1 are the beginning and end of the same winding; The stator of the second three-phase permanent magnet synchronous torque motor also leads out six wires U2, V2, W2 and A2, B2, C2 according to the three-phase winding, wherein U2 and A2 are the beginning and end of the same winding, V2 and B2 are the beginning and end of the same winding, and W2 and C2 are the beginning and end of the same winding; The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are connected in series to form a motor as a whole Mo, and three power lines Uo, Vo, and Wo are led out to connect U1, V1, and W1 respectively.

[0011] As a preferred solution, the series connection is divided into two types: a triangle series connection mode or a star series connection mode; The triangle series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2 to U1, B2 to W1, and C2 to V1, and the three power lines Uo, Vo, and Wo of the motor Mo are connected to U1, V1, and W1 respectively; or The star series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2, B2, C2 are connected to form a star point Yo, and the three power lines Uo, Vo, and Wo of the motor as a whole Mo are connected to U1, V1, and W1 respectively.

[0012] As a preferred solution, the method of using a synchronous driving method to drive the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor connected in series electrically comprises: The motor as a whole Mo is driven by the same three-phase full bridge, and the output ends U phase, V phase and W phase of the three-phase full bridge drive are respectively connected to the three power lines Uo, Vo and Wo of the motor as a whole Mo.

[0013] As a preferred solution, the voltage vector synchronous control method using rotor magnetic pole orientation is used to control the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera, including: The current of the U phase and the V phase connected to the Mo phase of the motor is sampled to obtain the U phase current of the ABC system respectively. and V phase current ; The position and speed of the inner frame of the aerial camera are detected to obtain the motion position information of the inner frame of the aerial camera. and motion speed information ; The ABC series U phase current and V phase current Through Clarke coordinate transformation System current and ; Said System current and Based on the location information Transform into dq current through Park coordinates and ; The dq series current and Output dq reference voltage through rotor pole oriented current closed loop control and , where the reference input of the d-axis current control loop is set to ; The dq is a reference voltage and Through Park's inverse transformation Reference voltage and ; Reference voltage and Output six PWM control signals through voltage vector pulse width modulation SVPWM; The six PWM control signals control the three-phase full-bridge drive.

[0014] As a preferred solution, the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera is controlled by using the rotor magnetic pole oriented voltage vector synchronous control method, including: When the aerial camera inner frame performs position motion control, the position input is given and inner frame motion position information Form negative feedback through position correction and output inner loop speed reference information , inner loop speed reference information and inner frame motion speed information Form negative feedback through the first speed correction and output the reference input of the q-axis current control loop ;or When the aerial camera internal frame performs speed motion control, the speed reference information and the inner frame motion speed information Form negative feedback through the second speed correction and output the reference input of the q-axis current control loop .

[0015] As a preferred solution, the position movement and speed movement of the inner frame of the aerial camera are switched and controlled according to a preset sequence to complete the dynamic imaging task of the aerial camera.

[0016] In a second aspect, the present invention provides an aerial camera having an aerial camera inner frame, wherein a first three-phase permanent magnet synchronous torque motor and a second three-phase permanent magnet synchronous torque motor are installed on both sides of a rotating shaft system of the aerial camera inner frame, and the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are controlled based on the above-mentioned synchronous control method of the dual three-phase permanent magnet synchronous torque motor.

[0017] Compared with the prior art, the present invention can achieve the following beneficial effects: The present invention provides a synchronous control method of a dual three-phase permanent magnet synchronous torque motor and an aerial camera. By installing two three-phase permanent magnet synchronous torque motors of the same model on both sides of the rotating shaft system of the aerial camera inner frame, and electrically adopting a series connection drive mode and a synchronous control method, the aerial camera inner frame can obtain a larger driving torque, thereby improving the movement and maneuverability of the inner frame, solving the problem that the inner frame of a lightweight and miniaturized aerial camera is limited by the structural space size and only uses a single motor to drive the insufficient capacity, so that the dynamic imaging of the aerial camera does not completely rely on the maneuverability of the carrier, thereby realizing the rapid wide-area search, regional monitoring, target tracking, laser ranging and other functions of the aerial camera. The method can be applied to dynamic scanning imaging and control of aerial cameras, and is particularly suitable for rapid wide-area maneuvering pointing of lightweight and miniaturized aerial camera frames and completing large-scale dynamic swing scanning imaging and control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a synchronous control method for a dual three-phase permanent magnet synchronous torque motor provided in an embodiment of the present invention.

[0019] Figure 2 A schematic structural diagram of a synchronous control method for a dual three-phase permanent magnet synchronous torque motor provided in an embodiment of the present invention.

[0020] Figure 3 A schematic diagram of a triangle series connection method for a synchronous control method of a dual three-phase permanent magnet synchronous torque motor provided in an embodiment of the present invention.

[0021] Figure 4 A schematic diagram of a star series connection method for a synchronous control method of a dual three-phase permanent magnet synchronous torque motor provided in an embodiment of the present invention.

[0022] Figure 5 A schematic diagram of series synchronous drive of a synchronous control method for a dual three-phase permanent magnet synchronous torque motor provided in an embodiment of the present invention.

[0023] Figure 6 A schematic diagram of series synchronous control of a synchronous control method for a dual three-phase permanent magnet synchronous torque motor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0026] Combination Figure 1 As shown, the present invention provides a synchronous control method for a dual three-phase permanent magnet synchronous torque motor, comprising: S101, the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are respectively installed on both sides of the rotating shaft system of the inner frame of the aerial camera.

[0027] S102: electrically connect the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in series.

[0028] S103: Use a synchronous driving method to drive the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor that are electrically connected in series.

[0029] S104: Control the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera by using a rotor pole oriented voltage vector synchronous control method.

[0030] It is understandable that the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor mentioned here are torque motors of the same model and can be flexibly selected according to needs, without limitation.

[0031] In some embodiments, the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are respectively mounted on both sides of the rotating shaft system of the inner frame of the aerial camera, including: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are installed back to back on both sides of the rotating shaft system of the inner frame of the aerial camera, and the stator phase zero points of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor have the same mechanical angle.

[0032] In some embodiments, electrically connecting the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in series includes: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are electrically connected in series, and the series connection mode may be a delta series connection mode or a star series connection mode, which may be selected according to needs; The stator of the first three-phase permanent magnet synchronous torque motor leads out six wires U1, V1, W1 and A1, B1, C1 according to the three-phase winding, wherein U1 and A1 are the beginning and end of the same winding, V1 and B1 are the beginning and end of the same winding, and W1 and C1 are the beginning and end of the same winding; The stator of the second three-phase permanent magnet synchronous torque motor also leads out six wires U2, V2, W2 and A2, B2, C2 according to the three-phase winding, wherein U2 and A2 are the beginning and end of the same winding, V2 and B2 are the beginning and end of the same winding, and W2 and C2 are the beginning and end of the same winding; The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are connected in series to form a motor as a whole Mo, and three power lines Uo, Vo, and Wo are led out to connect U1, V1, and W1 respectively.

[0033] In some embodiments, the series connection is divided into two types: a delta series connection mode or a star series connection mode; The triangle series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2 to U1, B2 to W1, and C2 to V1, and the three power lines Uo, Vo, and Wo of the motor Mo are connected to U1, V1, and W1 respectively; or The star series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2, B2, C2 are connected to form a star point Yo, and the three power lines Uo, Vo, and Wo of the motor as a whole Mo are connected to U1, V1, and W1 respectively.

[0034] In some embodiments, the synchronous driving method is used to drive the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor which are electrically connected in series, including: The motor as a whole Mo is driven by the same three-phase full bridge, and the output ends U phase, V phase and W phase of the three-phase full bridge drive are respectively connected to the three power lines Uo, Vo and Wo of the motor as a whole Mo.

[0035] In some embodiments, the voltage vector synchronous control method using rotor magnetic pole orientation controls the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera, including: The current of the U phase and the V phase connected to the Mo phase of the motor is sampled to obtain the U phase current of the ABC system respectively. and V phase current ; The position and speed of the inner frame of the aerial camera are detected to obtain the motion position information of the inner frame of the aerial camera. and motion speed information ; The ABC series U phase current and V phase current Through Clarke coordinate transformation System current and ; Said System current and Based on the location information Transform into dq current through Park coordinates and ; The dq series current and Output dq reference voltage through rotor pole oriented current closed loop control and , where the reference input of the d-axis current control loop is set to ; The dq is a reference voltage and Through Park's inverse transformation Reference voltage and ; Reference voltage and Output six PWM control signals through voltage vector pulse width modulation SVPWM; The six PWM control signals control the three-phase full-bridge drive.

[0036] In some embodiments, the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera is controlled by using the rotor magnetic pole oriented voltage vector synchronous control method, including: When the aerial camera inner frame performs position motion control, the position input is given and inner frame motion position information Form negative feedback through position correction and output inner loop speed reference information , inner loop speed reference information and inner frame motion speed information Negative feedback is formed through the first speed correction (i.e. Figure 6 The speed correction 1) in the q-axis current control loop is output as the reference input ;or When the aerial camera internal frame performs speed motion control, the speed reference information and the inner frame motion speed information Negative feedback is formed through the second speed correction (i.e. Figure 6 The speed correction in 2) and outputs the reference input of the q-axis current control loop .

[0037] In some embodiments, the position movement and speed movement of the internal frame of the aerial camera are switched and controlled according to a preset sequence to complete the dynamic imaging task of the aerial camera.

[0038] like Figure 2 As shown, in order to facilitate understanding of the step flow chart of a synchronous control method for a dual three-phase permanent magnet synchronous torque motor provided by an embodiment of the present invention, it is described below in conjunction with a specific embodiment.

[0039] Step S1: Two first three-phase permanent magnet synchronous torque motors M1 and second three-phase permanent magnet synchronous torque motors M2 of the same model are installed on both sides of the rotating shaft system of the inner frame of the aerial camera in a back-to-back manner, that is, the stator output terminals of M1 and M2 are back-to-back. During installation, it should be ensured that the phase zero points of M1 and M2 have the same mechanical angle. The phase zero points of M1 and M2 are designed and determined by the motor manufacturer, and the position is marked on the rotor to facilitate installation and calibration.

[0040] Step S2, M1 and M2 are electrically connected in series. There are two types of series connection, one is a triangle series connection, such as Figure 3 As shown, the other is a star series connection, such as Figure 4 As shown in the figure, the specific connection method depends on the motor design. Figure 3 and Figure 4 As shown, the stator of M1 leads out six wires U1, V1, W1 and A1, B1, C1 according to the three-phase winding, wherein U1 and A1 are the beginning and end of the same winding, V1 and B1 are the beginning and end of the same winding, and W1 and C1 are the beginning and end of the same winding; the stator of the motor M2 also leads out six wires U2, V2, W2 and A2, B2, C2 according to the three-phase winding, wherein U2 and A2 are the beginning and end of the same winding, V2 and B2 are the beginning and end of the same winding, and W2 and C2 are the beginning and end of the same winding; M1 and M2 are connected in series to form an integral motor Mo, and three power lines Uo, Vo, Wo are led out, which are respectively connected to U1, V1, W1. Since M1 and M2 are installed back-to-back on both sides of the inner frame axis of the aerial camera, when the inner frame rotates in one direction, from the perspective of the output ends of M1 and M2, one of the rotation directions of M1 and M2 must be counterclockwise and the other clockwise. Therefore, when M1 and M2 are connected in series, the tail end of the M1 motor and the head end of M2 need to be cross-connected. Figure 3 As shown, the triangle series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2 to U1, B2 to W1, and C2 to V1. Then the three power lines Uo, Vo, and Wo of the motor Mo are connected to U1, V1, and W1 respectively. Figure 4 As shown, the star series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2, B2, and C2 are connected to form a star point Yo, and the three power lines Uo, Vo, and Wo of the motor as a whole Mo are connected to U1, V1, and W1 respectively.

[0041] Step S3, using a synchronous driving method to drive M1 and M2 connected in series, such as Figure 5 As shown, the same three-phase full-bridge is used to drive the motor as a whole Mo, and the output ends U phase, V phase, and W phase of the three-phase full-bridge drive are respectively connected to the three power lines Uo, Vo, and Wo of the motor as a whole Mo.

[0042] Step S4, using the rotor magnetic pole oriented voltage vector synchronous control method to achieve the position and / or speed motion control of the aerial camera frame driven by the series connection M1 and M2. Figure 6As shown, the U phase and V phase connected to the entire motor Mo formed by the three-phase full-bridge drive and the dual three-phase permanent magnet synchronous torque motor in series are sampled to obtain the ABC system U phase current and V phase current ; Perform position and speed detection on the inner frame of the aerial camera driven by the dual three-phase permanent magnet synchronous torque motor in series to obtain the inner frame motion position information and motion speed information ; The ABC system U phase current and V phase current Through Clarke coordinate transformation System current and ; System current and Based on the location information Transform into dq current through Park coordinates and The dq system current and Output dq reference voltage through rotor pole oriented current closed loop control and , where the reference input of the d-axis current control loop is set to ; The dq is a reference voltage and Through Park's inverse transformation Reference voltage and ; Reference voltage and The voltage vector pulse width modulation (SVPWM) is used to output six PWM control signals to control the three-phase full-bridge drive circuit. and the inner frame motion position information Form negative feedback through position correction and output inner loop speed reference information , the inner loop speed reference information and the inner frame motion speed information Form negative feedback through speed correction 1 and output the reference input of the q-axis current control loop When the aerial camera is controlled within the frame, the speed reference information and the inner frame motion speed information Negative feedback is formed through speed correction 2, and the reference input of the q-axis current control loop is output The orderly switching control between the position movement and speed movement of the frame within the aerial camera can complete the dynamic imaging task of the aerial camera.

[0043] The present invention provides a synchronous control method for a dual three-phase permanent magnet synchronous torque motor. By installing two three-phase permanent magnet synchronous torque motors of the same model on both sides of the rotating shaft system of the inner frame of an aerial camera, and electrically adopting a series connection drive mode and a synchronous control method, the inner frame of the aerial camera can obtain a larger driving torque, thereby improving the movement and maneuverability of the inner frame, solving the problem that the inner frame of a lightweight and miniaturized aerial camera is limited by the structural space size and only uses a single motor to drive the insufficient capacity, so that the dynamic imaging of the aerial camera does not completely rely on the maneuverability of the carrier aircraft, thereby realizing the rapid wide-area search, regional monitoring, target tracking, laser ranging and other functions of the aerial camera. The method can be applied to dynamic scanning imaging and control of aerial cameras, and is particularly suitable for rapid wide-area maneuvering pointing of lightweight and miniaturized aerial camera frames and completing large-scale dynamic swing scanning imaging and control.

[0044] Accordingly, an aerial camera is provided in an embodiment of the present invention, comprising an aerial camera inner frame, wherein a first three-phase permanent magnet synchronous torque motor and a second three-phase permanent magnet synchronous torque motor are installed on both sides of a rotating shaft system of the aerial camera inner frame, and the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are controlled based on the above-mentioned synchronous control method of the dual three-phase permanent magnet synchronous torque motor, so that the aerial camera inner frame can obtain a larger driving torque, thereby improving the movement and maneuverability of the inner frame, solving the problem that the lightweight and miniaturized aerial camera inner frame is limited by the structural space size and only uses a single motor with insufficient driving capacity, so that the aerial camera dynamic imaging does not completely rely on the maneuverability of the carrier aircraft, thereby realizing the aerial camera's rapid wide-area search, area monitoring, target tracking, laser ranging and other functions.

[0045] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0046] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A synchronous control method for a dual three-phase permanent magnet synchronous torque motor, It is characterized in that include: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are respectively installed on both sides of the rotating shaft system of the inner frame of the aerial camera; The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are electrically connected in series; Using a synchronous driving method to drive the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor which are electrically connected in series; The position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera is controlled by using a rotor pole oriented voltage vector synchronous control method.

2. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 1, It is characterized in that The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are respectively installed on both sides of the rotating shaft system of the inner frame of the aerial camera, and include: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are installed back to back on both sides of the rotating shaft system of the inner frame of the aerial camera, and the stator phase zero points of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor have the same mechanical angle.

3. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 2, It is characterized in that The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are electrically connected in series, including: The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are electrically connected in series; The stator of the first three-phase permanent magnet synchronous torque motor leads out six wires U1, V1, W1 and A1, B1, C1 according to the three-phase winding, wherein U1 and A1 are the beginning and end of the same winding, V1 and B1 are the beginning and end of the same winding, and W1 and C1 are the beginning and end of the same winding; The stator of the second three-phase permanent magnet synchronous torque motor also leads out six wires U2, V2, W2 and A2, B2, C2 according to the three-phase winding, wherein U2 and A2 are the beginning and end of the same winding, V2 and B2 are the beginning and end of the same winding, and W2 and C2 are the beginning and end of the same winding; The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are connected in series to form a motor as a whole Mo, and three power lines Uo, Vo, and Wo are led out to connect U1, V1, and W1 respectively.

4. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 3, It is characterized in that The series connection is divided into two types: a delta series connection mode or a star series connection mode; The triangle series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2 to U1, B2 to W1, and C2 to V1, and the three power lines Uo, Vo, and Wo of the motor Mo are connected to U1, V1, and W1 respectively; or The star series connection method is to connect A1 to W2, B1 to V2, C1 to U2, A2, B2, C2 are connected to form a star point Yo, and the three power lines Uo, Vo, and Wo of the motor as a whole Mo are connected to U1, V1, and W1 respectively.

5. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 4, It is characterized in that The method of using a synchronous driving method to drive the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor includes: The motor as a whole Mo is driven by the same three-phase full bridge, and the output ends U-phase, V-phase and W-phase of the three-phase full bridge drive are respectively connected to the three power lines Uo, Vo and Wo of the motor as a whole Mo.

6. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 5, It is characterized in that The voltage vector synchronous control method using rotor magnetic pole orientation controls the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera, including: The current of the U phase and the V phase connected to the Mo phase of the motor is sampled to obtain the U phase current of the ABC system respectively. and V phase current ; The position and speed of the inner frame of the aerial camera are detected to obtain the motion position information of the inner frame of the aerial camera. and motion speed information ; The ABC series U phase current and V phase current Through Clarke coordinate transformation System current and ; Said System current and Based on the location information Transform into dq current through Park coordinates and ; The dq series current and Output dq reference voltage through rotor pole oriented current closed loop control and , where the reference input of the d-axis current control loop is set to ; The dq is a reference voltage and Through Park's inverse transformation Reference voltage and ; Reference voltage and Output six PWM control signals through voltage vector pulse width modulation SVPWM; The six PWM control signals control the three-phase full-bridge drive.

7. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 1, It is characterized in that The voltage vector synchronous control method using rotor magnetic pole orientation controls the position or speed of the first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor in the inner frame of the aerial camera, including: When the aerial camera inner frame performs position motion control, the position input is given and inner frame motion position information Form negative feedback through position correction and output inner loop speed reference information , inner loop speed reference information and inner frame motion speed information Form negative feedback through the first speed correction and output the reference input of the q-axis current control loop ;or When the aerial camera internal frame performs speed motion control, the speed reference information and the inner frame motion speed information Form negative feedback through the second speed correction and output the reference input of the q-axis current control loop .

8. The synchronous control method of the dual three-phase permanent magnet synchronous torque motor according to claim 1, It is characterized in that The position movement and speed movement of the inner frame of the aerial camera are switched and controlled according to a preset sequence to complete the dynamic imaging task of the aerial camera.

9. An aerial camera, It is characterized in that It has an aerial camera inner frame, and a first three-phase permanent magnet synchronous torque motor and a second three-phase permanent magnet synchronous torque motor are installed on both sides of the rotating shaft system of the aerial camera inner frame. The first three-phase permanent magnet synchronous torque motor and the second three-phase permanent magnet synchronous torque motor are controlled based on the synchronous control method of the dual three-phase permanent magnet synchronous torque motor described in any one of claims 1 to 8.

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