Self-adaptive rotation control system based on geomagnetic gravity driving motor

Abstract

The invention belongs to the field of motor control, and particularly discloses a self-adaptive rotation control system based on a geomagnetic attraction driving motor, and the system comprises a geomagnetic induction module which is used for obtaining the change condition of the direction of an earth magnetic field, and obtaining the real-time position information of a terminal device; an object motion state sensing module; the control module is used for calculating a theoretical linear equation set according to a preset geographic coordinate system and an expected walking path to obtain a theoretical result, comparing the theoretical result with the real-time position information of the terminal device to obtain an actual pose deviation, and comparing the theoretical result with the actual motion state parameters of the terminal device to obtain an angular difference; an analysis module; an adjusting module; according to the invention, the magnetic field and the gravitational force of the earth are used as reference objects, so that the motor can automatically correct the rotation state of the motor, mechanical equipment is ensured to run stably, yaw risks caused by external noise interference are avoided, the system is not limited by illumination, climate and terrains, and the application range is wide.

Description

Technical Field

[0001] The invention belongs to the field of motor control, and in particular relates to an adaptive rotation control system for a motor driven by geomagnetic attraction. Background Art

[0002] Motor products are widely used in many fields, such as industry, new energy vehicles, home appliances, etc.

[0003] In many traditional motor-driven devices, such as outdoor mobile robots and navigation equipment, precise directional control is often achieved by relying on the Global Positioning System (GPS) or other external positioning technologies. However, these external positioning systems have many limitations; for example, in some complex terrain environments, such as mountainous areas, canyons, underground tunnels, or areas with tall buildings in cities, GPS signals may be blocked, reflected, or interfered, resulting in inaccurate positioning or even signal loss.

[0004] This makes it difficult for the equipment to maintain a stable driving direction, affecting its normal operation and task execution. Summary of the invention

[0005] The purpose of the present invention is to provide an adaptive rotation control system based on geomagnetic attraction drive motor to solve the problem that traditional motor drive equipment is difficult to maintain a stable driving direction, affecting its normal operation and task execution.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An adaptive rotation control system for a motor driven by geomagnetic attraction, comprising:

[0008] The geomagnetic induction module is used to obtain the change of the direction of the earth's magnetic field and obtain the real-time location information of the terminal device;

[0009] An object motion state sensing module, used to obtain actual motion state parameters of the terminal device;

[0010] A control module is used to calculate a theoretical straight line equation group according to a preset geographic coordinate system and an expected walking path to obtain a theoretical result, and compare the theoretical result with the real-time position information of the terminal device to obtain an actual posture deviation, and compare the theoretical result with an actual motion state parameter of the terminal device to obtain an angle difference;

[0011] An analysis module, used for analyzing the actual posture deviation and the angular difference to generate an error characteristic curve trend graph, calculating an error compensation amount according to the error characteristic curve trend graph, finding an optimal approximation scheme according to the error compensation amount, and outputting a corresponding PWM duty cycle value;

[0012] The adjustment module is used to generate a level signal according to the PWM duty cycle value, and send the level signal to the brushless DC motor to complete the fast feedback closed-loop control of the terminal device.

[0013] Preferably, the geomagnetic induction module is also used to capture changes in the direction of the earth's magnetic field through a geomagnetic sensor, generate corresponding geomagnetic induction electrical signals according to the changes in the direction of the earth's magnetic field, and output the geomagnetic induction electrical signals to the control module.

[0014] Preferably, the object motion state sensing module is also used to detect the actual motion state of the terminal device through an accelerometer or a gyroscope, generate a corresponding motion state electrical signal according to the actual motion state of the terminal device, and output the motion state electrical signal to the control module.

[0015] Preferably, the sensing data includes at least one of an inclination angle and an angular velocity of the object.

[0016] Preferably, the adjustment module is also used to output a level signal through a PWM speed regulation circuit, and drive the brushless DC motor to generate the required torque, thereby realizing fast feedback closed-loop control of the terminal device.

[0017] Preferably, the geomagnetic induction module is also used to monitor the geomagnetic field vector of the current area, and determine the real-time positioning information of the terminal device by calculating the angle between the geomagnetic field and the north and south poles.

[0018] Preferably, the control module is further used to convert the real-time position information of the terminal device and the actual motion state parameters of the terminal device into data in a unified coordinate system;

[0019] The converted data in the unified coordinate system is subjected to Kalman filtering to remove high-frequency noise and interference signals, thereby obtaining smoothed terminal device status data.

[0020] Preferably, the brushless DC motor is a permanent magnet synchronous servo motor.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] By using the earth's own magnetic field and gravity as a reference, the present invention can autonomously correct the rotation state of the motor, ensure the smooth running of the mechanical equipment, avoid the risk of yaw caused by external noise interference, is not limited by light, climate, and terrain, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0024] Figure 1 It is a system module block diagram of the present invention. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0028] As attached Figure 1 As shown:

[0029] Embodiment 1: This embodiment provides an adaptive rotation control system for a motor driven by geomagnetic attraction, comprising:

[0030] The geomagnetic induction module is used to obtain the change of the direction of the earth's magnetic field and obtain the real-time location information of the terminal device;

[0031] The object motion state sensing module is used to obtain the actual motion state parameters of the terminal device;

[0032] A control module is used to calculate a theoretical straight line equation group according to a preset geographic coordinate system and an expected walking path to obtain a theoretical result, and compare the theoretical result with the real-time position information of the terminal device to obtain an actual posture deviation, and compare the theoretical result with the actual motion state parameter of the terminal device to obtain an angle difference;

[0033] Assume that the starting point of the desired path is (x 0 ,y 0 ), the end point is (x 1 ,y 1 );

[0034] The equations of the line are:

[0035] y=mx+b

[0036]

[0037] b=y 0 -mx 0

[0038] Among them, m represents the slope of the straight line, and b represents the intercept;

[0039] Actual posture deviation d error calculate:

[0040]

[0041] Among them, x cur ,y cur Indicates the coordinates of the current terminal device. The actual posture deviation is the vertical distance between the current terminal device and the theoretical path;

[0042] Calculation of angle difference Δa:

[0043] Δa=θ mag -θ path

[0044] Among them, θ mag Represents the real-time location information of the terminal device, that is, the azimuth, θ path Indicates the azimuth of the theoretical path (calculated from the start and end point coordinates).

[0045] An analysis module is used to analyze the actual posture deviation and angle difference to generate an error characteristic curve trend graph, calculate the error compensation amount according to the error characteristic curve trend graph, find the best approximation solution according to the error compensation amount, and output the corresponding PWM (pulse width modulation) duty cycle value;

[0046] The PWM duty cycle is calculated and output based on the error data to adjust the speed and torque of the motor:

[0047] μ(t)=K p δ(t)

[0048] Among them, δ(t) represents the error amount, K p Represents the proportional gain coefficient, that is, the adjustment strength of the error;

[0049] The error compensation amount is calculated by the proportional control algorithm, and the final output PWM duty cycle value μPWM is:

[0050]

[0051] Among them, tanh represents the hyperbolic tangent function, which ensures that the duty cycle is in the range of 0 to 1 and avoids excessive control amplitude.

[0052] An adjustment module is used to generate a level signal according to the PWM duty cycle value, and send the level signal to the brushless DC motor to complete the fast feedback closed-loop control of the terminal device;

[0053] Generate a level signal according to the PWM duty cycle and drive the motor to correct the deviation:

[0054] V out (t) = μPWM·V max

[0055] Among them, V out (t) represents the voltage signal output by the speed control circuit, μPWM represents the PWM duty cycle, V max Indicates the maximum voltage of the motor, that is, the maximum driving force the motor can withstand.

[0056] From the above, it can be seen that the present application provides an adaptive rotation control system based on geomagnetic gravitational drive motor, which uses the earth's own magnetic field and gravity as a reference to enable the motor to autonomously correct its rotation state. This concept integrates knowledge from multiple disciplines such as electromagnetism, mechanical engineering, and computer science, and opens up a new way to achieve directional control of intelligent and high-precision equipment.

[0057] With the help of precise angle calculation and dynamic balance mechanism, it ensures the smooth running of mechanical equipment and avoids the risk of yaw caused by external noise interference. It is not restricted by light, climate, and terrain. It is suitable for diversified application scenarios such as outdoor adventure vehicles, underwater submersibles, antenna pointing devices, etc.

[0058] Specifically, the geomagnetic induction module is also used to capture changes in the direction of the earth's magnetic field through a geomagnetic sensor, generate corresponding geomagnetic induction electrical signals according to the changes in the direction of the earth's magnetic field, and output the geomagnetic induction electrical signals to the control module.

[0059] Specifically, the object motion state sensing module is also used to detect the actual motion state of the terminal device through an accelerometer or a gyroscope, generate a corresponding motion state electrical signal according to the actual motion state of the terminal device, and output the motion state electrical signal to the control module.

[0060] Specifically, the sensing data includes at least one of a tilt angle and an angular velocity of the object.

[0061] Specifically, the adjustment module is also used to output a level signal through a PWM speed regulation circuit and drive the brushless DC motor to generate the required torque, thereby realizing fast feedback closed-loop control of the terminal device.

[0062] Specifically, the geomagnetic sensing module is also used to monitor the geomagnetic field vector of the current area, and determine the real-time positioning information of the terminal device by calculating the angle between the geomagnetic field and the north and south poles.

[0063] Specifically, the control module is also used to convert the real-time location information of the terminal device and the actual motion state parameters of the terminal device into data in a unified coordinate system;

[0064] And perform Kalman filtering on the data in the converted unified coordinate system to remove high-frequency noise and infection signals.

[0065] Specifically, the brushless DC motor is a permanent magnet synchronous servo motor, which can accurately adjust the motor output torque according to the PWM duty cycle value, thereby achieving high-precision control of the device.

[0066] As can be seen from the above, the error compensation amount is calculated according to the error characteristic curve trend diagram generated by the analysis module. The error characteristic curve trend diagram reflects the trend of the posture deviation and angle difference of the terminal device over time, and the PWM duty cycle value is dynamically adjusted according to the trend diagram;

[0067] The selection of low-power devices combined with an adaptive speed regulation strategy can significantly extend battery life.

[0068] Embodiment 2: The terminal device needs to maintain a constant direction of movement, and an adaptive rotation control system based on geomagnetic attraction driving motor is used to achieve the goal. The specific steps are as follows:

[0069] S1. The geomagnetic induction module detects the geomagnetic field vector strength of the area where the terminal device is located through the geomagnetic sensor, calculates the angle between the geomagnetic field in the area and the north and south poles, and obtains the real-time orientation information of the terminal device;

[0070] S2, the object motion state sensing module records the tilt angle and angular velocity of the terminal device in real time through the gyroscope, and transmits these motion data to the control module for processing;

[0071] S3, the control module calculates the equation group of the theoretical path according to the preset geographic coordinate system and the expected walking path, and compares the theoretical path result with the real-time position information of the terminal device, so as to calculate the actual posture deviation of the terminal device;

[0072] S4, the analysis module analyzes the above quantization error characteristic curve trend diagram, finds the best approximation solution, and outputs the corresponding PWM duty cycle value. The analysis module further finds the best approximation solution according to the error compensation amount, and outputs the corresponding PWM duty cycle value to control the motor to accurately adjust;

[0073] S5. The adjustment module generates a PWM signal through a PWM speed regulation circuit to excite the brushless DC motor to generate the required torque, completing the fast feedback closed-loop control process to ensure that the terminal device always moves forward at a constant speed along the specified route. The entire process is carried out through fast feedback closed-loop control to ensure that the terminal device always accurately tracks the target route.

[0074] Example 3: An unmanned vehicle needs to move along a preset path at a constant speed. In order to ensure that the vehicle moves along the predetermined route, the system needs to adjust its position and orientation in real time to ensure that it always stays on the desired path. To this end, an adaptive rotation control system based on geomagnetic gravity is used to dynamically adjust the motor control signal by obtaining real-time position information, motion state and orientation information.

[0075] S1. The geomagnetic sensing module uses a geomagnetic sensor (such as a three-axis Hall effect sensor) to monitor the geomagnetic field vector component of the area where the terminal device is located in real time;

[0076] Input: geomagnetic field vector data, i.e., the components of the geomagnetic field on the X-axis and Y-axis, X-axis = 0.5, Y-axis = 0.5;

[0077] Output: Azimuth, that is, the angle of the vehicle relative to magnetic north is 45°;

[0078] S2, the object motion state sensing module uses the accelerometer and the gyroscope to obtain the actual motion state parameters of the terminal device, especially the tilt angle and angular rate;

[0079] Input: accelerometer and gyroscope data, i.e. the acceleration components output by the accelerometer are 0.2, 0.3, and 0.5; the angle change output by the gyroscope within 0.1 seconds is 2°;

[0080] Output: tilt angle and angular rate, that is, the tilt angle is approximately equal to 30.96°, and the angular rate is 20° / s;

[0081] S3, the control module calculates the theoretical path according to the preset path, and compares the current position information with the theoretical path to calculate the posture deviation and angle difference;

[0082] Input: the starting point and end point of the preset path, the current device position, and the geomagnetic azimuth. That is, the starting point of the preset path is (0,0), the end point of the preset path is (10,10), the current device position is (5,6), the geomagnetic azimuth of the desired path is 45°, and the current geomagnetic azimuth is 45°;

[0083] Output: posture deviation and angle difference, that is, the posture deviation is approximately equal to 0.707, and the angle difference is equal to 0°;

[0084] S4, the analysis module generates an error characteristic curve trend diagram according to the error (posture deviation and angle difference), and calculates the error compensation amount according to the error;

[0085] Input: posture deviation and angle difference, that is, the proportional gain coefficient is 0.1, the posture deviation is 0.707, and the angle difference is 0°;

[0086] Output: PWM duty cycle value, that is, the PWM duty cycle value is 0.0707;

[0087] S5, according to the PWM duty cycle output by the analysis module, the adjustment module generates a level signal and controls the motor to generate the required torque;

[0088] Input: PWM duty cycle, that is, the PWM duty cycle is 0.0707;

[0089] Output: voltage signal, and drives the brushless DC motor adjustment device to move, that is, the maximum voltage of the motor is 12V, and the voltage signal is 0.8484V;

[0090] Result: The motor is driven to adjust according to the voltage signal to ensure that the vehicle moves forward at a constant speed along the desired path;

[0091] Conclusion: The system can obtain position information and motion status in real time, calculate and adjust the motor output signal to ensure that the vehicle always moves along the predetermined path. This process achieves efficient and precise control, enabling the vehicle to maintain stable motion in a dynamic environment.

[0092] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0093] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0094] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0095] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An adaptive rotation control system for a motor driven by geomagnetic attraction, characterized in that: include: The geomagnetic induction module is used to obtain the change of the direction of the earth's magnetic field and obtain the real-time location information of the terminal device; An object motion state sensing module, used to obtain actual motion state parameters of the terminal device; A control module is used to calculate a theoretical straight line equation group according to a preset geographic coordinate system and an expected walking path to obtain a theoretical result, and compare the theoretical result with the real-time position information of the terminal device to obtain an actual posture deviation, and compare the theoretical result with an actual motion state parameter of the terminal device to obtain an angle difference; An analysis module, used for analyzing the actual posture deviation and the angular difference to generate an error characteristic curve trend graph, calculating an error compensation amount according to the error characteristic curve trend graph, finding an optimal approximation scheme according to the error compensation amount, and outputting a corresponding PWM duty cycle value; The adjustment module is used to generate a level signal according to the PWM duty cycle value and send the level signal to the brushless DC motor.

2. The adaptive rotation control system based on geomagnetic attraction driven motor according to claim 1, characterized in that: The geomagnetic induction module is also used to capture changes in the direction of the earth's magnetic field through a geomagnetic sensor, generate corresponding geomagnetic induction electrical signals according to the changes in the direction of the earth's magnetic field, and output the geomagnetic induction electrical signals to the control module.

3. The adaptive rotation control system based on geomagnetic attraction driven motor according to claim 1, characterized in that: The object motion state sensing module is also used to detect the actual motion state of the terminal device through an accelerometer or a gyroscope, generate a corresponding motion state electrical signal according to the actual motion state of the terminal device, and output the motion state electrical signal to the control module.

4. The adaptive rotation control system based on geomagnetic attraction driven motor according to claim 1, characterized in that: The sensing data includes at least one of a tilt angle and an angular velocity of the object.

5. The adaptive rotation control system based on geomagnetic attraction driven motor according to claim 1, characterized in that: The adjustment module is also used to output a level signal through a PWM speed regulation circuit and drive the brushless DC motor to generate a required torque.

6. The adaptive rotation control system based on geomagnetic attraction driven motor according to claim 1, characterized in that: The geomagnetic induction module is also used to monitor the geomagnetic field vector of the current area, and determine the real-time positioning information of the terminal device by calculating the angle between the geomagnetic field and the north and south poles.

7. The adaptive rotation control system based on geomagnetic attraction driven motor according to claim 1, characterized in that: The control module is also used for: Converting the real-time location information of the terminal device and the actual motion state parameters of the terminal device into data in a unified coordinate system; The converted data in the unified coordinate system is subjected to Kalman filtering to remove high-frequency noise and interference signals, thereby obtaining smoothed terminal device status data.

8. The adaptive rotation control system of a motor driven by geomagnetic attraction according to claim 1, characterized in that: The brushless DC motor is a permanent magnet synchronous servo motor.

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