Electric lock loop system design method based on angle measurement

Abstract

The invention relates to an electric lock loop system design method based on angle measurement, and belongs to the technical field of stabilized platforms. According to the system, the scheme that electric locking is carried out based on the angle of the potentiometer is adopted, the differential value of the angle of the potentiometer can be used for replacing a gyroscope to carry out inner loop feedback, the influence caused by external disturbance is effectively reduced, the problem that the gyroscope is interfered by the external disturbance can be solved, and therefore the position of the electric lock does not deflect.

Description

Technical Field

[0001] The invention belongs to the technical field of stable platforms, and in particular relates to a design method of an electric lock loop system based on angle measurement. Background Art

[0002] During the production of the stable platform, the electric lock circuit of the stable platform needs to be debugged. The debugged electric lock circuit can be used to realize the electric lock function of the stable platform angle. At present, most of the electric lock circuits used in production use the stable circuit composed of the rate gyro as the inner loop and the potentiometer angle as the control method of the outer loop, such as Figure 1 shown.

[0003] However, with the changes in the product working environment, the stable platform electric lock circuit is required to have certain anti-interference and robustness, but the current implementation method is obviously inefficient. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the present invention is to provide a method for designing an electric lock loop system based on angle measurement under laboratory conditions.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a method for designing an electric lock loop system based on angle measurement, wherein the system is designed to include a control parameter adjustment module, a controller, a motor, a stabilizing frame, a potentiometer angle differential processing module and a potentiometer angle acquisition module;

[0008] The control parameter adjustment module is used to adjust the control law of the electric lock circuit by adjusting the control parameters, so as to ensure that the controller moves according to the predetermined control parameters;

[0009] The controller is used to drive and control the movement of the motor to achieve stable operation of the motor;

[0010] The motor is used to drive the stable frame to move;

[0011] The potentiometer angle acquisition module is used to measure the angle of the potentiometer in the stabilizing frame and feed back the potentiometer angle value to the potentiometer angle differential processing module;

[0012] The potentiometer angle differential processing module is used to perform differential processing using the potentiometer angle value and complete low-pass filtering to obtain a potentiometer angle differential value, which is fed back to the input end of the control parameter adjustment module.

[0013] The invention also provides an electric lock circuit system designed by using the method.

[0014] The present invention also provides an electric lock method implemented by using the electric lock circuit system, comprising the following steps:

[0015] Step 1: Write the underlying program to implement the potentiometer angle acquisition module to realize the potentiometer angle value acquisition;

[0016] Step 2: Write the underlying program to implement the potentiometer angle differential processing module to obtain the potentiometer angle differential value;

[0017] Step 3: The control parameter adjustment module adjusts the control parameters based on the potentiometer angle differential value, tests and adjusts the electric lock loop control law, and obtains the optimized electric lock loop control parameters.

[0018] Preferably, the process of realizing potentiometer angle value acquisition in step one is as follows: the potentiometer angle acquisition module is configured with an AD function, and delay processing is performed, the IO port is operated to generate a square wave, and the data after AD conversion is read out, and the digital sampling value is converted into a voltage value to realize potentiometer angle value acquisition.

[0019] Preferably, the process of obtaining the potentiometer angle differential value in step 2 is as follows: the potentiometer angle differential processing module uses the potentiometer data processing function to cache the potentiometer data, completes the potentiometer differential processing, obtains the differential data cache, and completes the potentiometer voltage value 50 Hz low-pass filtering according to formula (1) to obtain the potentiometer angle differential value:

[0020] fVelocityDWQ_buffer[2][0]=0.8544*fVelocityDWQ_buffer[3][0]+0.07282*(fVelocityDWQ_buffer[1][0]+fVelocityDWQ_buffer[0][0])(1)

[0021] fVelocityDWQ_buffer[3][0], fVelocityDWQ_buffer[1][0], fVelocityDWQ_buffer[0][0]) are all the acquired potentiometer angle values.

[0022] Preferably, step three is specifically as follows: using a computer operating platform to burn the electric lock loop control parameters into the product under test, repeating the test process, and obtaining the maximum electric lock angle error value, which should be less than a preset value; obtaining new electric lock loop control parameters through continuous correction so that the maximum electric lock error value meets the preset conditions.

[0023] Preferably, in step 3, an intermediate value is first calculated:

[0024] fUOut[0][0]=COF_LOCK[0]*(fAngleLock[0]-fAngleFrame[0]) (2)

[0025] Among them, fAngleLock[0] is the electric lock zero position of the electric lock circuit, fAngleFrame[0] is the potentiometer angle value, and COF_LOCK[0] is the electric lock circuit control parameter;

[0026] Then, fVelocityDWQ_buffer[2][0] calculated in step 2 is assigned to parameter fVelocitySightDWQ[0] in formula (3). The coefficient K1 in formula (3) is adjusted to adjust and optimize the test process to obtain the maximum electric lock angle error value, which should be less than the preset value. New electric lock loop control parameters are obtained through continuous correction so that the maximum electric lock error value meets the preset conditions.

[0027] fE[0][0]=fUOut[0][0]+K1*fVelocitySightDWQ[0] (3)

[0028] fE[0][0] is an intermediate variable.

[0029] The invention also provides a stable platform using the electric lock loop system.

[0030] (III) Beneficial effects

[0031] The advantages of the present invention are:

[0032] 1) The present invention provides a method for designing an electric lock loop system based on angle measurement. The system adopts a solution for electric locking based on the potentiometer angle, and can use the potentiometer angle differential value instead of the gyroscope for internal loop feedback, which effectively reduces the impact of external disturbances and can solve the problem of interference with the gyroscope caused by external disturbances, thereby achieving the goal of preventing the electric lock position from deflecting.

[0033] 2) The present invention provides an electric lock loop system, whose internal data processing utilizes a low-pass filtering algorithm to filter the potentiometer angle acquisition value, thereby greatly reducing the noise value of the potentiometer angle and greatly improving the calculation accuracy of the potentiometer angle difference. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an electric lock circuit composed of a rate gyro;

[0035] Figure 2 Schematic diagram of the electric lock circuit system designed for the present invention;

[0036] Among them: 1-0°, 2-control parameter adjustment module, 3-controller, 4-motor, 5-stabilization frame, 6-potentiometer angle differential processing module, 7-potentiometer angle acquisition module;

[0037] Figure 3 This is the underlying program flow chart of the potentiometer angle acquisition module;

[0038] Among them: 31- configure AD function float Read_AD(), 32- delay DELAY_US(2), 33- operate IO port to generate square wave and read out AD converted data, 34- convert digital sampling value into voltage value, 35- return;

[0039] Figure 4 This is the underlying program flow chart of the potentiometer angle differential processing module;

[0040] Among them: 41-potentiometer data processing function ProcessDWQData(), 42-potentiometer data cache, 43-potentiometer differential processing, 44-differential data cache, 45-50hz low-pass filtering of the potentiometer voltage value, 46-assigning the calculated value to the relevant variable, 47-end. DETAILED DESCRIPTION

[0041] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0042] With the continuous development of automation technology, the present invention takes into account the characteristics of the angle measurement of the potentiometer on the stable platform and considers using the angle value of the potentiometer to realize the electric lock function. The structure of the electric lock circuit system based on angle measurement designed by the present invention is shown in the figure below. Figure 2 shown.

[0043] like Figure 2 As shown, an electric lock loop system based on angle measurement designed by the present invention includes a control parameter adjustment module, a controller, a motor, a stabilization frame, a potentiometer angle difference processing module, and a potentiometer angle acquisition module.

[0044] The control parameter adjustment module is used to adjust the control law of the electric lock circuit by adjusting the control parameters, so as to ensure that the controller moves according to the predetermined control parameters;

[0045] The controller is used to drive and control the movement of the motor to achieve stable operation of the motor;

[0046] The motor is used to drive the stable frame to move;

[0047] The potentiometer angle acquisition module is used to measure the angle of the potentiometer in the stabilizing frame and feed back the potentiometer angle value to the potentiometer angle differential processing module;

[0048] The potentiometer angle differential processing module is used to perform differential processing using the potentiometer angle value and complete low-pass filtering to obtain a potentiometer angle differential value, which is fed back to the input end of the control parameter adjustment module.

[0049] The present invention also proposes an electric lock method implemented by an electric lock circuit system based on angle measurement, which specifically includes the following steps:

[0050] Step 1: Write the underlying program to implement the potentiometer angle acquisition module to realize the potentiometer angle value acquisition;

[0051] Step 2: Write the underlying program to implement the potentiometer angle differential processing module to obtain the potentiometer angle differential value;

[0052] Step 3: The control parameter adjustment module adjusts the control parameters based on the potentiometer angle differential value, tests and adjusts the electric lock circuit control law, and obtains the optimized electric lock circuit control parameters:

[0053] Use a computer operating platform to burn the electric lock circuit control parameters into the product under test, repeat the test process, and obtain the maximum electric lock angle error value, which should be less than the preset value; obtain new electric lock circuit control parameters through continuous correction so that the maximum electric lock error value meets the preset conditions.

[0054] The following specifically introduces the electric locking method implemented by the electric locking circuit system based on angle measurement.

[0055] Step 1: Write the underlying program to implement the potentiometer angle acquisition module. The potentiometer angle acquisition module configures the AD function and performs delay processing, operates the IO port to generate square waves, reads the data after AD conversion, converts the digital sampling value into a voltage value, and realizes the potentiometer angle value acquisition, such as Figure 3 As shown;

[0056] Step 2: Write the underlying program to implement the potentiometer angle differential processing module. The potentiometer angle differential processing module uses the potentiometer data processing function to cache the potentiometer data, complete the potentiometer differential processing, obtain the differential data cache, and complete the 50 Hz low-pass filtering of the potentiometer voltage value according to the following formula (1) to obtain the potentiometer angle differential value, such as Figure 4 shown.

[0057] fVelocityDWQ_buffer[2][0]=0.8544*fVelocityDWQ_buffer[3][0]+0.07282*(fVelocityDWQ_buffer[1][0]+fVelocityDWQ_buffer[0][0])(1)

[0058] fVelocityDWQ_buffer[3][0], fVelocityDWQ_buffer[1][0], fVelocityDWQ_buffer[0][0]) are all the acquired potentiometer angle values;

[0059] Step 3: The control parameter adjustment module adjusts the electric lock circuit control parameters based on the potentiometer angle differential value obtained in step 2, tests and adjusts the electric lock circuit control law, and obtains the optimized electric lock circuit control parameters:

[0060] First calculate an intermediate value:

[0061] fUOut[0][0]=COF_LOCK[0]*(fAngleLock[0]-fAngleFrame[0]) (2)

[0062] Among them, fAngleLock[0] is the zero position of the electric lock circuit, fAngleFrame[0] is the angle value of the potentiometer, and COF_LOCK[0] is the control parameter of the electric lock circuit, which can generally be between 10 and 15. The fVelocityDWQ_buffer[2][0] calculated in step 2 is assigned to the parameter fVelocitySightDWQ[0] in formula (3). The adjustment and optimization test process is achieved by adjusting the coefficient K1 in formula (3) to obtain the maximum electric lock angle error value, which should be less than the preset value. The new electric lock circuit control parameters are obtained by continuous correction, so that the maximum electric lock error value meets the preset conditions.

[0063] fE[0][0]=fUOut[0][0]+K1*fVelocitySightDWQ[0] (3)

[0064] fE[0][0] is an intermediate variable.

[0065] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for designing an electric lock circuit system based on angle measurement, characterized in that: The system is designed to include a control parameter adjustment module, a controller, a motor, a stabilization frame, a potentiometer angle difference processing module and a potentiometer angle acquisition module; The control parameter adjustment module is used to adjust the control law of the electric lock circuit by adjusting the control parameters, so as to ensure that the controller moves according to the predetermined control parameters; The controller is used to drive and control the movement of the motor to achieve stable operation of the motor; The motor is used to drive the stable frame to move; The potentiometer angle acquisition module is used to measure the angle of the potentiometer in the stabilizing frame and feed back the potentiometer angle value to the potentiometer angle differential processing module; The potentiometer angle differential processing module is used to perform differential processing using the potentiometer angle value and complete low-pass filtering to obtain a potentiometer angle differential value, which is fed back to the input end of the control parameter adjustment module.

2. An electric lock circuit system designed using the method described in claim 1.

3. An electric lock method implemented by using the electric lock circuit system as claimed in claim 2, characterized in that: The following steps are involved: Step 1: Write the underlying program to implement the potentiometer angle acquisition module to realize the potentiometer angle value acquisition; Step 2: Write the underlying program to implement the potentiometer angle differential processing module to obtain the potentiometer angle differential value; Step 3: The control parameter adjustment module adjusts the control parameters based on the potentiometer angle differential value, tests and adjusts the electric lock loop control law, and obtains the optimized electric lock loop control parameters.

4. The method according to claim 3, characterized in that The process of realizing potentiometer angle value acquisition in step one is as follows: the potentiometer angle acquisition module is configured with AD function, and delay processing is performed, the IO port is operated to generate square wave, and the data after AD conversion is read out, the digital sampling value is converted into a voltage value, and the potentiometer angle value acquisition is realized.

5. The method according to claim 3, characterized in that The process of obtaining the potentiometer angle differential value in step 2 is as follows: the potentiometer angle differential processing module uses the potentiometer data processing function to cache the potentiometer data, completes the potentiometer differential processing, obtains the differential data cache, and completes the potentiometer voltage value 50 Hz low-pass filtering according to formula (1) to obtain the potentiometer angle differential value: fVelocityDWQ_buffer[2][0]=0.8544*fVelocityDWQ_buffer[3][0]+0.07282*(fVelocityDWQ_buffer[1][0]+fVelocityDWQ_buffer[0][0])(1) fVelocityDWQ_buffer[3][0], fVelocityDWQ_buffer[1][0], fVelocityDWQ_buffer[0][0]) are all the acquired potentiometer angle values.

6. The method according to claim 3, characterized in that Step three is as follows: use a computer operating platform to burn the electric lock circuit control parameters into the product under test, repeat the test process, and obtain the maximum electric lock angle error value, which should be less than the preset value; obtain new electric lock circuit control parameters through continuous correction so that the maximum electric lock error value meets the preset conditions.

7. The method according to claim 5, characterized in that In step three, first calculate an intermediate value: fUOut[0][0]=COF_LOCK[0]*(fAngleLock[0]-fAngleFrame[0]) (2) Among them, fAngleLock[0] is the electric lock zero position of the electric lock circuit, fAngleFrame[0] is the potentiometer angle value, and COF_LOCK[0] is the electric lock circuit control parameter; Then, fVelocityDWQ_buffer[2][0] calculated in step 2 is assigned to parameter fVelocitySightDWQ[0] in formula (3). The coefficient K1 in formula (3) is adjusted to adjust and optimize the test process to obtain the maximum electric lock angle error value, which should be less than the preset value. New electric lock loop control parameters are obtained through continuous correction so that the maximum electric lock error value meets the preset conditions. fE[0][0]=fUOut[0][0]+K1*fVelocitySightDWQ[0] (3) fE[0][0] is an intermediate variable.

8. The method according to claim 7, characterized in that The value of COF_LOCK[0] is between 10 and 15.

9. A stable platform using the electric lock circuit system as claimed in claim 2.

Images