Drive control system of sectional type arc permanent magnet synchronous motor

Abstract

The invention discloses a drive control system of a sectional type arc permanent magnet synchronous motor. The drive control system is used for controlling an azimuth pitch axis of a large-aperture telescope. The system comprises a controller unit, a driver unit, an encoder unit, an encoder acquisition unit and a sectional arc permanent magnet synchronous motor unit. The controller receives commands and guide tracking information from a master controller, receives real-time position information sent by the encoder acquisition board in real time, generates corresponding control signals according to related commands of the master controller and sends the control signals to the driver unit, and the driver unit drives the sectional type arc-shaped permanent magnet synchronous motor to operate so that the telescope can move to an expected position. In order to improve the precision of a control system, a mathematical model of the spliced permanent magnet synchronous motor is established, and at the same time, in order to improve the measurement precision and the measurement range, a plurality of reading heads are combined with a limiting encoder to collect the angle of an angle measurement encoder for position angle measurement. The drive control system is used in the telescope, and a good control effect is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of segmented arc permanent magnet synchronous motor control, and particularly relates to a drive control system for a segmented arc permanent magnet synchronous motor, which can be used for controlling a segmented arc permanent magnet synchronous motor. Background Art

[0002] Currently, the aperture of ground-based telescopes is getting larger and larger, and it is difficult to machine and install integral motors. In order to reduce the difficulty of motor design and alignment, a special linear motor, a segmented arc permanent magnet synchronous motor, is used in large-aperture telescopes.

[0003] The patent application with the application number 201611236060.9 discloses a "telescope control system based on a segmented arc permanent magnet synchronous torque motor". In the above invention, the communication between the controller and the driver uses RS422 communication. RS422 communication is one-to-one communication, with poor expandability and complex wiring. When the number of stators of the segmented arc permanent magnet synchronous motor of the telescope changes, the hardware of the corresponding control system also needs to be modified accordingly to be applicable, lacking expandability and universality for controlling different segmented arc permanent magnet synchronous motors. Summary of the Invention

[0004] The present invention provides a drive control system for a segmented arc permanent magnet synchronous motor, which can be used for controlling a segmented arc permanent magnet synchronous motor and is used to solve the control problem of a segmented arc permanent magnet synchronous motor.

[0005] The technical solution provided by the present invention is as follows:

[0006] A drive control system for a segmented arc permanent magnet synchronous motor, the drive control system includes a controller unit, a driver unit, an encoder unit, an encoder acquisition unit, and a segmented arc permanent magnet synchronous motor unit;

[0007] The controller unit completes communication with the main control, real-time reception of encoder unit data, and based on the real-time guiding value sent by the main control, completes position closed-loop and speed closed-loop control of the telescope, and calculates the given control current and electrical angle value;

[0008] The controller unit sends the calculated control current and electrical angle value to multiple driver units;

[0009] The driver unit completes current loop control of the segmented arc permanent magnet synchronous motor according to the received control current and electrical angle value;

[0010] The encoder unit is installed on the azimuth and elevation axis systems of the telescope, and is used to measure the position values of the azimuth axis system and elevation axis system of the telescope, including a grating scale and a reading head, and the reading head reads the angle value of the grating scale in real time;

[0011] The encoder acquisition unit completes the acquisition and calculation of the real-time measurement data of the encoder unit, and sends the calculated average value to the controller unit;

[0012] The segmented arc permanent magnet synchronous motor is the final actuator, driving the telescope to rotate to the specified position and follow the target rotation to achieve real-time tracking of the target.

[0013] The present invention has the following beneficial effects:

[0014] The present invention is applicable to the control of the segmented arc permanent magnet synchronous motor. In the whole system, the communication between the controller unit and the driver unit adopts CAN communication. The CAN connection is simple and has strong anti-interference ability. Only two wires, CANH and CANL, are required. The controller unit serves as the CAN communication master station, and the driver unit serves as the CAN slave station. The number of slave stations can support up to hundreds, effectively enhancing the expandability and versatility of the control of different segmented arc permanent magnet synchronous motors. Through the mathematical model of the segmented arc permanent magnet synchronous motor, the vector control of the segmented arc permanent magnet synchronous motor can be realized, thereby realizing the high-precision control of the segmented arc permanent magnet synchronous motor. It is applicable to the control of the segmented arc permanent magnet synchronous motor of the azimuth axis system and the elevation axis system of large-aperture telescopes, and has the characteristics of high integration, strong versatility, and flexible control. The azimuth and elevation axis encoder acquisition units adopt multiple reading heads to reduce the eccentric errors in multiple directions, thereby improving the angle measurement accuracy and further improving the measurement accuracy of the telescope. Description of the Drawings

[0015] Figure 1 It is a composition diagram of the drive control system of the segmented arc permanent magnet synchronous motor according to the present invention;

[0016] Figure 2 It is a block diagram for realizing the vector control speed regulation of the segmented arc permanent magnet synchronous motor;

[0017] Figure 3 It is the data calculation process of the 4-reading-head encoder;

[0018] Figure 4 It is the working mode process of the encoder unit;

[0019] Figure 5 It is a schematic diagram of the installation relationship between the encoder reading head and the limit encoder. Detailed Embodiments

[0020] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0021] The present invention provides a drive control system for a segmented arc permanent magnet synchronous motor, which can be used for the control of the segmented arc permanent magnet synchronous motor. Figure 1It is a composition diagram of the drive control system of the segmented arc permanent magnet synchronous motor according to the present invention. As Figure 1 shown, the entire control system includes a controller unit, a driver unit, an encoder unit, an encoder acquisition unit, and a segmented arc permanent magnet synchronous motor unit. A rotor module and a stator module are provided in the segmented arc permanent magnet synchronous motor.

[0022] Among them, the controller unit completes the communication with the main control, receives the data of the encoder unit in real time, and according to the real-time guiding value sent by the main control, completes the position closed-loop and speed closed-loop control of the telescope, and calculates the given control current and electrical angle value;

[0023] The controller unit sends the calculated control current and electrical angle value to multiple driver units;

[0024] The driver unit completes the current loop control of the segmented arc permanent magnet synchronous motor according to the received control current and electrical angle value;

[0025] The encoder unit is installed on the azimuth and elevation axis systems of the telescope, and is used to measure the position values of the azimuth axis system and elevation axis system of the telescope, including a grating scale and a reading head, and the reading head reads the angle value of the grating scale in real time;

[0026] The encoder acquisition unit completes the acquisition and calculation of the real-time measurement data of the reading head of the encoder unit, and sends the calculated average value to the controller unit;

[0027] The segmented arc permanent magnet synchronous motor is the final actuator, which drives the telescope to rotate to a specified position and follow the target to rotate, so as to realize the real-time tracking of the target.

[0028] In the embodiment, the controller unit is connected to the main control of the telescope, and the communication method adopts RS422 serial communication. The controller unit receives the relevant position and speed guiding control commands from the main control and the real-time encoder data from the encoder acquisition unit in real time according to the external synchronization signal. According to the commands received from the main control and the current position of the telescope, the controller unit generates the corresponding control current. The controller unit completes the position and speed closed-loop control of the telescope, and sends the generated corresponding control current and the calculated electrical angle information to the driver unit through the CAN bus. The rate of CAN communication can be changed according to the actual length of the CAN bus. The controller unit regards the segmented arc motor as a whole, unifies the electrical angle operation of the current loop, so that there are more possibilities in function. For example, when the encoder does not cross zero or fails, it can be carried out in the way of "increasing frequency and increasing voltage" and "decreasing frequency and decreasing voltage", and the driver is made to work in an open-loop manner to start and stop the motor, ensuring the convenience and safety of the turntable. The controller unit can also perform unified "electrical zeroing operation" on many drivers, which is convenient for debugging.

[0029] To achieve the non-overshoot high-precision control of a large moment of inertia telescope, a segmented PI (Proportional-Integral) controller is adopted for the telescope position loop control. The expression of the segmented PI controller for the position loop is as follows:

[0030] ;

[0031] where, represents the error, is the maximum output of the controller, is the adjustment parameter, and its purpose is to ensure that when the error is near , is the segmented error value, and the value of can be calculated according to , , . Its purpose is to ensure smooth switching between the two segmented controls without sudden changes. represents the natural constant, , represents the controller output, is the proportional adjustment parameter of the PI control, is the integral adjustment parameter of the PI control.

[0032] For the convenience of engineering use, the segmented PI controller is discretized. The discrete expression of the segmented PI controller for the position loop is as follows:

[0033] ;

[0034] where, represents the position error at the current moment, is the current desired position, is the current actual position value, is the adjustment parameter, and its purpose is to ensure that when the position error is near the error , the error is the segmented position error, and it needs to be calculated through , , to calculate . Through , can be calculated to ensure smooth switching between the two segmented controls. is the position error at the previous moment, represents the natural constant, is the proportional adjustment parameter, is the integral adjustment parameter, represents the position closed-loop output, i.e., the reference speed, is the maximum angular velocity.

[0035] To ensure the safety of the telescope and the hardware, perform a limited output, that is:

[0036] ;

[0037] Among them, is the maximum angular velocity.

[0038] Furthermore, the discrete expression of the speed loop segmented PI controller is as follows:

[0039] ;

[0040] Among them, represents the speed error at the current moment, is the current desired speed, that is, the given speed output by the position loop, is the measured speed value at the current moment. The measured speed is obtained by differentiating the measured position, is the adjustment parameter, and its purpose is to ensure that the speed error is near the error At this time, is the segmented speed error, and it is necessary to pass , , calculate , and through can calculate to ensure smooth switching between the two segmented controls, is the speed error at the previous moment, represents the speed loop output, that is, the reference current, represents the natural constant, is the proportional adjustment parameter, is the integral adjustment parameter, represents the speed closed-loop output, that is, the reference current, is the maximum current of the motor. To ensure the safety of the telescope and the hardware system, it is necessary to perform a limited output, that is:

[0041] ;

[0042] Among them, is the maximum current of the motor.

[0043] The stator and rotor of the segmented arc permanent magnet synchronous motor are both segmented, which is different from the traditional integral permanent magnet synchronous motor. Due to the structural differences, the magnetic field distributions of the segmented arc permanent magnet synchronous motor and the integral permanent magnet synchronous motor are different, so the models are essentially very different. At present, there is no unified conclusion on the mathematical model of the segmented arc permanent magnet synchronous motor, and there is no well-known model. Due to the inability to ensure symmetry in the spatial arrangement within the segmented arc permanent magnet synchronous motor unit, the winding space pitches are not the same, which will cause unbalanced mutual inductance between windings. Under the condition of three-phase symmetrical voltage, the asymmetry of mutual inductance will cause the fluctuation of the reluctance torque on the stator side. In order to control the segmented arc permanent magnet synchronous motor, the mathematical model of a single stator module of the segmented arc permanent magnet synchronous motor is established as follows:

[0044] ;

[0045] In the formula: The subscript containing represents the upper module, and the subscript containing represents the lower module. respectively represent the three phases of each module. That is, , , represent the three-phase voltage, three-phase current, and back electromotive force of each module. is the phase winding resistance. is the inductance inside the motor module. is the mutual inductance between modules. In actual control, for the convenience of control, the differences between each module are ignored, and it is assumed that the 6 stator modules are completely the same. Therefore, the other 5 modules also have the same mathematical model as the above formula, which will not be listed one by one here.

[0046] The controller unit can calculate the reference current and electrical angle information required by the driver unit according to the expected position value, measured position value, measured speed value, etc. through the above position-loop segmented PI controller, speed-loop segmented PI controller, and motor mathematical model, and send the calculated current and electrical angle information to the driver unit.

[0047] The driver unit completes the current closed-loop according to the current information and electrical angle information sent by the controller unit, and drives the segmented permanent magnet synchronous motor to run to the specified position or track the corresponding target. The driver unit real-time collects the current information and performs current closed-loop control, and the current closed-loop control is 16 kHz. At the same time, the driver unit real-time monitors the temperature inside the segmented arc permanent magnet synchronous motor and feeds back the temperature value to the controller unit.

[0048] The driver unit completes the vector control of the segmented arc permanent magnet synchronous motor, through the reference input of the stator axis current sent by the controller unit and the electrical angle , according to the three-phase current values fed back by the current sensor within the drive unit , , , combined with the electrical angle , using the Clarke transformation to transform the phase current vector from coordinate system to coordinate system; then using the Park transformation to transform the current vector from coordinate system to coordinate system. According to the deviation between the axis current reference value and the feedback value, through the operation of the current loop controller within the drive unit (using a PI controller), the axis voltage reference value of the motor can be calculated. To meet the low-speed control performance of the telescope, field-weakening control is not adopted, the reference value of the axis current is constantly 0, and the current loop regulator can calculate the axis reference voltage through the motor model. According to , , through the inverse iPark transformation, transform it to coordinate system; use the voltage space vector pulse width modulation module (SVPWM) to calculate the drive control pulse width modulation (PWM) signal required by the motor according to the space vector modulation algorithm. Appendix Figure 2 gives the implementation block diagram of the vector control speed regulation system of the entire control method, where APR represents the position loop controller, ASR represents the speed loop controller, and ACR represents the current loop controller.

[0049] The segmented arc-shaped permanent magnet synchronous motor unit is the execution unit. Due to its structure, it cannot guarantee the spatial symmetry of the three phases A, B, and C, and the mutual inductance between phases is not equal, resulting in a larger torque ripple than that of a conventional motor. This causes a larger speed fluctuation and affects the tracking accuracy of the telescope. To reduce the torque ripple of the motor, two symmetric stator modules are driven by the same drive unit to ensure the symmetry of its inductance matrix to achieve the suppression of torque ripple. Generally, it is set to include 2n stator modules.

[0050] The encoder unit consists of a grating scale and a reading head. To eliminate the eccentricity error of the grating scale and the telescope axis system and improve the measurement accuracy of the telescope, the encoder unit uses multiple reading heads to collect data from the encoder grating scale.

[0051] The encoder acquisition unit consists of a DSP and an FPGA. The FPGA completes the reading of data from multiple reading heads, and the DSP completes the data synthesis and filtering operations of multiple reading heads, and sends the collected real-time encoder data to the controller unit and the telescope main control through RS422. Figure 3A method for calculating the encoder average value based on the values of four reading heads is given. Assume that the readings of the four reading heads are A1, A2, A3, and A4 respectively, and the installation positions of the four reading heads are approximately 90° apart in sequence. The specific steps are as follows:

[0052] Step 1: First, determine whether the values A1, A2, A3, and A4 of each reading head are greater than or equal to 360 degrees. If so, subtract 360 degrees from the corresponding angle.

[0053] Step 2: Calculate the combined value A1_3 of A1 and A3. If A3 < A1, the new value A3_new of A3 = A3 + 360, otherwise A3_new = A3. The combined value A1_3 = (A1 + A3_new) / 2. If A1_3 ≥ 360, then A1_3 = A1_3 – 360, otherwise A1_3 = A1_3.

[0054] Step 3: Calculate the combined value A2_4 of A2 and A4. If A4 < A2, the new value A4_new of A4 = A4 + 360, otherwise A4_new = A4. The combined value A2_4 = (A2 + A4_new) / 2. If A2_4 ≥ 360, then A2_4 = A2_4 – 360, otherwise A2_4 = A2_4.

[0055] Step 4: Calculate the combined value A of A1_3 and A2_4. If A2_4 < A1_3, the new value A2_4_new of A2_4 = A2_4 + 360, otherwise A2_4 = A2_4. The combined value A = (A1_3 + A2_4_new) / 2. If A > 360, the final combined value A = A - 360, otherwise, A = A.

[0056] A is the final encoder value synthesized from the values A1, A2, A3, and A4 of the four reading heads. Assume that the average value of the four reading heads is used as the standard. Then, when only using the combined value of reading heads 1 and 3, A1_3 is calculated using steps 1 and 2 during calculation, and finally the combined value of the encoder A = A1_3 + 45°. When only using the combined value of reading heads 2 and 4, A2_4 is calculated only using steps 1 and 3 during calculation, and finally the combined value of the encoder A = A2_4 - 45°. During actual use, the encoder value in the two-reading-head mode can be corrected according to the actually measured difference value. This actually measured value should be able to be burned into the DSP of the encoder unit through configuration parameters, and the parameters need to be reconfigured when the installation position of the reading head changes.

[0057] Figure 4It is the working mode process of the encoder unit. When receiving the position data read by multiple reading heads, first, the data of each reading head is parsed, and then the encoder synthesis value is calculated according to the configuration mode of the reading head. The encoder unit feeds back two groups of data to the controller unit. Among them, the data of path A is the synthesis interval value considering multi-turn rotation and the synthesis data superimposed with the zero position correction amount (when facing due north, the encoder value is corrected to 0°). This path of data is used for the closed-loop control of the telescope. The data of path B is the position information without superimposing the zero position and the synthesis interval value, which is used for the controller unit to calculate the electrical angle of the segmented arc permanent magnet synchronous motor. The position error can be calculated through the measured position value and the expected position of the encoder, and the speed value can be obtained from the differential of the position value. Combining the above-mentioned segmented PI controller for the position loop, the segmented PI controller for the speed loop, and the motor mathematical model, the reference current and electrical angle information required by the driver unit can be calculated and sent to the driver through the CAN bus to complete the closed-loop tracking control of the telescope.

[0058] The encoder unit includes the azimuth encoder unit and the elevation encoder unit. Since the azimuth rotation range of the telescope is multi-turn and the rotation angle is greater than 360°, while the measurement angle of a single-turn encoder is only 360°, the azimuth encoder unit includes the azimuth angle measurement encoder and the limit encoder. Figure 5 It is a schematic diagram of the installation relationship between the azimuth angle measurement encoder and the limit encoder. A1, A2, A3, and A4 respectively represent 4 reading heads. Calculating the synthesis interval value of the azimuth encoder requires knowing the azimuth encoder value at the starting position of the azimuth mechanical limit and the maximum position limit value of the limit encoder , the minimum position limit value , represents the current read value of the limit encoder, represents the synthesized encoder value after multiple reading heads, corresponds to the synthesis interval value considering multi-turn rotation. There is a gear reducer between the limit encoder and the azimuth encoder, and the gear reduction ratio is . The dotted line in the figure represents the maximum number of turns that the azimuth axis can rotate, where corresponds to the limit encoder . corresponds to the limit encoder . Assuming that the number of turns corresponding to the azimuth axis is , is 0, a positive integer, or a negative integer, then the positional relationship between these several quantities is:

[0059] ;

[0060] The synthesis interval value of the azimuth encoder is .

[0061] In actual engineering, since the accuracy of the limit encoder is not as high as that of the azimuth encoder, and there are clearances in the gear reduction box, the value of is not necessarily zero, but a relatively small angle

[0062] ;

[0063] wherein, the angle meets the actual engineering requirements, and its magnitude will be adjusted according to the actual engineering needs, which is not limited in the present invention; represents the absolute value of

[0064] If , then the interval synthesis value is ;

[0065] If , then the interval synthesis value is ;

[0066] If , then the interval synthesis value is ;

[0067] If , then the interval synthesis value is ;

[0068] Under normal circumstances, the synthesis value should all be less than or equal to . If the synthesis value is greater than , a fault occurs and a fault should be reported.

[0069] The segmented arc permanent magnet synchronous motor unit is an execution unit. Due to its structure, it is impossible to ensure the spatial symmetry of the three phases A, B, and C, and the mutual inductance between phases is not equal, and the torque fluctuation is greater than that of a conventional motor. This causes a relatively large speed fluctuation and affects the telescope tracking accuracy. To reduce the motor torque fluctuation, two symmetric stator modules are driven by the same driver unit to ensure the symmetry of its inductance matrix to achieve the suppression of torque fluctuation. At the same time, by adopting the method of connecting two upper and lower unit modules in series, the symmetry of its inductance matrix is ensured to achieve the suppression of torque fluctuation.

[0070] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0071] Although the present invention has been described in terms of a limited number of embodiments, those skilled in the art, having the benefit of the foregoing description, will appreciate that other embodiments can be conceived within the scope of the invention as thus described. Further, it should be noted that the language used in this specification has been principally selected for readability and instructional purposes and not to limit or circumscribe the inventive subject matter.

Claims

1. A driving control system for a segmented arc permanent magnet synchronous motor, characterized in that: The driving control system includes a controller unit, a driver unit, an encoder unit, an encoder acquisition unit and a segmented arc permanent magnet synchronous motor unit; The controller unit completes the communication with the master control, receives the real-time data of the encoder unit, and according to the real-time guiding value sent by the master control, completes the position closed-loop and speed closed-loop control of the telescope, and calculates the given control current and electrical angle value; The controller unit sends the calculated reference control current and electrical angle value to multiple driver units; The driver unit completes the current loop control of the segmented arc permanent magnet synchronous motor according to the received reference control current and electrical angle value; The encoder unit is installed on the azimuth and elevation axis systems of the telescope, and is used to measure the position values of the azimuth axis system and elevation axis system of the telescope, including a grating scale and a reading head, and the reading head reads the angle value of the grating scale in real time; The encoder acquisition unit completes the acquisition and calculation of the real-time measurement data of the reading head of the encoder unit, and sends the calculated average value to the controller unit; The segmented arc permanent magnet synchronous motor is the final actuator, which drives the telescope to rotate to a specified position and follow the target to rotate, so as to realize the real-time tracking of the target.

2. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that, The controller unit and the driver unit communicate via the CAN bus.

3. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that The controller unit communicates with the master control using RS422 serial communication.

4. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that, The encoder acquisition unit is composed of a DSP and an FPGA. The FPGA completes the reading of the data of multiple reading heads, and the DSP completes the data synthesis and filtering operations of multiple reading heads, and sends the acquired real-time encoder data to the controller unit and the telescope master control via RS422.

5. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that, The driver unit monitors the temperature inside the segmented arc permanent magnet synchronous motor in real time, and feeds back the temperature value to the controller unit.

6. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, wherein, In the segmented arc permanent magnet synchronous motor, two symmetrical stator modules are driven by the same driver unit.

7. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that, The drive unit completes the vector control of the segmented arc permanent magnet synchronous motor, and based on the reference input of the stator axis current and the electrical angle sent by the controller unit, according to the three-phase current values 、 、 fed back by the current sensors in the drive unit, combined with the electrical angle , using the Clarke transformation to transform the phase current vector from the coordinate system to the coordinate system; then using the Park transformation to transform the current vector from the coordinate system to the coordinate system; according to the deviation between the reference value and the feedback value of the axis current, through the operation of the current loop controller in the drive unit, calculate the reference value of the axis voltage of the motor ; to meet the low-speed control performance of the telescope, field-weakening control is not adopted, and the reference value of the axis current is constantly 0, and the current loop regulator calculates the axis reference voltage through the motor model operation; according to 、 , through the inverse iPark transformation, transform it into the coordinate system; use the voltage space vector pulse width modulation module to calculate the drive control pulse width modulation signal required by the motor according to the space vector modulation algorithm.

8. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that, The encoder unit includes 4 reading heads. The process of calculating the encoder average value by the encoder acquisition unit according to the values of the 4 reading heads includes: Assume that the readings of the 4 reading heads are A1, A2, A3 and A4 respectively, and the installation positions of the 4 reading heads are about 90° apart in sequence. The specific steps are as follows: Step 1: First, judge whether the values A1, A2, A3 and A4 of each reading head are greater than 360 degrees. If so, subtract 360 degrees from the corresponding angle; Step 2: Calculate the combined value of A1 and A3. If A3 < A1, then the new value of A3 is A3_new = A3 + 360, otherwise A3_new = A3, A1_3 = (A1 + A3_new) / 2. If A1_3 ≥ 360, then A1_3 = A1_3 – 360, otherwise A1_3 = A1_3; Step 3: Calculate the combined value of A2 and A4. If A4 < A2, then the new value of A4 is A4_new = A4 + 360, otherwise A4_new = A4, A2_4 = (A2 + A4_new) / 2. If A2_4 ≥ 360, then A2_4 = A2_4 – 360, otherwise A2_4 = A2_4; Step 4: Calculate the composite value of A1_3 and A2_4. If A2_4 < A1_3, then the new value of A2_4, A2_4_new = A2_4 + 360; otherwise, A2_4 remains the same. The composite value A = (A1_3 + A2_4_new) / 2. If A > 360, the final composite value A = A - 360; otherwise, A remains the same.

9. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 1, characterized in that, The encoder unit includes an azimuth encoder and a limit encoder. Calculating the synthesized interval value of the azimuth encoder requires knowing the azimuth encoder value at the starting position of the azimuth mechanical limit, as well as the maximum position limit value of the limit encoder, the minimum position limit value, , denotes the current read value of the limit encoder, denotes the current synthesized encoder value. There is a gear reducer between the limit encoder and the azimuth encoder, and the gear reduction ratio is The number of turns corresponding to the azimuth axis is , which is a positive integer or a negative integer; The synthetic interval value of the azimuth encoder is ; Under normal circumstances, the synthesized interval value is less than or equal to , if the synthesized interval value is greater than , a fault will be reported.

10. The drive control system of the segmented arc permanent magnet synchronous motor according to claim 9, characterized in that, Let be the angle that conforms to the actual engineering, and the value of ； If , then the interval composite value is ; If , then the interval composite value is ; If , then the interval composite value is ; If , then the interval composite value is .

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