Active heating method and system for 2D rotary table servo mechanism

Abstract

This invention provides an active heating method and system for a two-dimensional turntable servo mechanism, belonging to the field of laser communication technology. The method includes acquiring the feedback temperature and motor torque of the azimuth or pitch axis; when the motor torque is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, heating is performed by determining a first heating power based on the first d-axis current and the electrical control angle; when the motor torque is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, heating is performed by determining a second heating power based on the second d-axis current and the q-axis current, until the temperature difference returns to the preset range and heating stops. This invention utilizes the heat generated by the motor's own current to replace external heating devices, achieving uniform heating from within, effectively reducing deformation and frictional torque fluctuations in key moving parts caused by temperature gradients, and improving the turning table's pointing accuracy and thermal stability under extreme temperature changes.

Description

Technical Field

[0001] This invention belongs to the field of laser communication technology, and particularly relates to an active heating method and system for a two-dimensional turntable servo mechanism. Background Technology

[0002] To improve the pointing accuracy and tracking stability of laser communication terminals in the extreme thermal environment of space, precise temperature control of the turntable servo mechanism has become a key focus and challenge in thermal management technology in this field. As the core actuator for the terminal's azimuth and pitch movements, the turntable servo mechanism's bearings and other key moving parts are extremely sensitive to temperature changes. During on-orbit operation, facing drastic alternating temperature differences between sunlit areas (approximately 500K) and non-sunlit areas (approximately 3K), excessive temperature differences between different parts or components of the turntable servo mechanism will directly cause uneven thermal deformation, leading to deterioration of the bearing's mating surface geometry, a significant increase in frictional torque, and consequently, a decline in servo control performance, severely impacting the acquisition, aiming, and tracking accuracy of the laser link. Therefore, achieving highly uniform and stable temperature control of the turntable servo mechanism over a wide temperature range is crucial for ensuring the overall functional reliability of the laser communication terminal.

[0003] In existing technologies, temperature control of turntable servo mechanisms primarily employs a strategy of "passive isolation combined with active compensation." For passive thermal control, multiple layers of heat insulation components are typically arranged around the turntable structure to shield it from drastic fluctuations in external heat flow; simultaneously, a specific thermal control coating is applied to the mechanical structural surfaces of the turntable servo mechanism (such as the outer shell) to regulate its own thermal radiation characteristics. For active thermal control, plate-type electric heaters are commonly attached or embedded in key areas such as the turntable base and bearing mounting surfaces, and combined with temperature sensors to form a closed-loop control circuit to maintain the local temperature within a preset operating temperature range, thereby suppressing the overall temperature difference of the turntable servo mechanism.

[0004] However, while multi-layered thermal insulation components and coatings primarily manage macroscopic heat flow, they are insufficient for precisely controlling the three-dimensional temperature field distribution of complex components within the turntable. Furthermore, localized heating methods can easily introduce new, unintended temperature gradients within the structure, leading to uneven thermal deformation in critical moving parts such as bearings, thereby deteriorating their mechanical precision and servo performance. This fundamental limitation makes it difficult for existing methods to ensure that the turntable servo mechanism maintains stable and reliable aiming and tracking functions over long periods under extreme alternating thermal environments. Summary of the Invention

[0005] This invention provides an active heating method and system for a two-dimensional turntable servo mechanism. Without employing multi-layer heat insulation components and coatings, the heating power to the motor can be adjusted according to the d-axis stator current and / or q-axis stator current of the motor corresponding to the azimuth or pitch axis. This improves the uniformity and stability of temperature control of the two-dimensional turntable servo mechanism under extreme temperature changes. At the same time, it avoids the introduction of unexpected temperature gradients inside the structure by traditional local heating methods, reduces the risk of increased frictional torque caused by uneven thermal deformation of key moving parts such as bearings, and helps to ensure the pointing accuracy and tracking stability of laser communication terminals.

[0006] In a first aspect, the present invention provides an active heating method for a two-dimensional turntable servo mechanism, comprising: Obtain the feedback temperature and motor torque of the target axis in the two-dimensional turntable servo mechanism at the current moment; where the target axis is either the azimuth axis or the pitch axis. When the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the first motor is determined according to the stator current of the first d-axis and the electrical control angle to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range. When the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the second motor is determined based on the stator current of the second d-axis and the stator current of the q-axis to heat the target axis motor until the difference between the feedback temperature and the preset temperature is within the preset temperature range, then heating stops.

[0007] Optionally, the step of determining the heating power of the first motor based on the first d-axis stator current and electrical control angle when the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, to heat the target axis motor until heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range, includes: Calculate the heating power P1 of the first motor using the following formula: ; Where R is the resistance of each phase winding of the motor stator on the target axis; θ is the electrical control angle of the motor on the target axis; I d1 This is the stator current along the first d-axis.

[0008] Optionally, when the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, determining the heating power of the second motor based on the second d-axis stator current and the q-axis stator current to heat the target axis motor until heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range, includes: Obtain the d-axis stator voltage and q-axis stator voltage when the motor torque is not zero; The input power of the motor is determined based on the second d-axis stator current, q-axis stator current, d-axis stator voltage, and q-axis stator voltage. The motor torque is determined based on the second d-axis stator current and the q-axis stator current; The mechanical power output of the motor is determined by combining the motor's torque with the rotor angular velocity. The difference between the input power and the output mechanical power of the motor is used as the heating power of the second motor.

[0009] Optionally, determining the motor's input power based on the second d-axis stator current, q-axis stator current, d-axis stator voltage, and q-axis stator voltage includes: Calculate the motor's input power P using the following formula. in : ; Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q The q-axis stator current is the motor torque on the target axis when it is not zero.

[0010] Optionally, the step of using the difference between the input power and the output mechanical power of the motor as the second motor heating power includes: Calculate the heating power P2 of the second motor using the following formula: ; Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q ω is the q-axis stator current when the motor torque on the target axis is not zero; ω is the rotor angular velocity; p is the number of motor pole pairs; For motor flux linkage; L d L is the d-axis stator inductance when the motor torque on the target axis is not zero. q The q-axis stator inductance is given when the motor torque on the target axis is not zero.

[0011] Secondly, the present invention provides an active heating system for a two-dimensional turntable servo mechanism, comprising: The acquisition module is used to acquire the feedback temperature and motor torque of the target axis in the two-dimensional turntable servo mechanism at the current moment; wherein, the target axis is the azimuth axis or the pitch axis; The first determining module is used to determine the heating power of the first motor based on the stator current of the first d-axis and the electrical control angle when the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, so as to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range. The second determining module is used to determine the heating power of the second motor based on the second d-axis stator current and the q-axis stator current when the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, so as to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range.

[0012] Optionally, the first determining module includes: The first calculation unit is used to calculate the heating power P1 of the first motor according to the following formula: ; Where R is the resistance of each phase winding of the motor stator on the target axis; θ is the electrical control angle of the motor on the target axis; I d1 This is the stator current along the first d-axis.

[0013] Optionally, the second determining module includes: The acquisition unit is used to acquire the d-axis stator voltage and q-axis stator voltage when the motor torque is not zero. The first determining unit is used to determine the input power of the motor based on the second d-axis stator current, q-axis stator current, d-axis stator voltage and q-axis stator voltage; The second determining unit is used to determine the motor torque based on the second d-axis stator current and the q-axis stator current; The third determining unit is used to determine the mechanical power output by the motor based on the motor torque and the rotor angular velocity; The fourth determining unit is used to take the difference between the input power and the output mechanical power of the motor as the second motor heating power.

[0014] Optionally, the first determining unit includes: A first calculation unit is used to calculate the input power P of the motor according to the following formula. in : ; Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q The q-axis stator current is the motor torque on the target axis when it is not zero.

[0015] Optionally, the fourth determining unit includes: The second calculation device is used to calculate the heating power P2 of the second motor according to the following formula: ; Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q ω is the q-axis stator current when the motor torque on the target axis is not zero; ω is the rotor angular velocity; p is the number of motor pole pairs; For motor flux linkage; L d L is the d-axis stator inductance when the motor torque on the target axis is not zero. q The q-axis stator inductance is given when the motor torque on the target axis is not zero.

[0016] This invention provides an active heating method and system for a two-dimensional turntable servo mechanism. The method acquires the real-time temperature and torque status of the turntable's azimuth or pitch axis. When the motor has no torque output, the heating power is calculated based on its d-axis current and electrical control angle. When the motor has torque output, the heating power is further determined by combining the q-axis current, thus realizing an adaptive active heating method based on the motor's own electrical parameters. This invention eliminates the need for external heating elements and complex heat insulation components and thermal control coatings, generating a controllable heat source directly from inside the motor, significantly reducing the weight, cost, and assembly complexity of the two-dimensional turntable servo mechanism. By distinguishing between the motor's static and dynamic operating modes and employing different heating models, it ensures that the heating process does not affect the accuracy and stability of servo control. The heat is uniformly transferred from the inside out, effectively reducing uneven thermal deformation and frictional torque fluctuations caused by local temperature differences in key moving parts such as bearings. Therefore, under extreme temperature variations in space, it significantly improves the temperature control uniformity and long-term pointing tracking stability of the laser communication terminal turntable servo mechanism.

[0017] In the static heating scenario of the motor, by introducing an electrical control angle and providing a clear formula for calculating the heating power, the current distribution in the three-phase winding can be periodically changed by adjusting the electrical control angle while injecting the d-axis heating current. This avoids the problem of local overheating caused by a single winding continuously bearing the maximum current, significantly improving the safety and winding life of the motor during long-term heating, while achieving a more uniform heat distribution.

[0018] In dynamic heating scenarios for motors, the turntable servo mechanism can dynamically adjust the heating power based on the current trajectories of the d-axis and q-axis, without interfering with normal motion control, while meeting the output torque requirements. This achieves integrated intelligent control of servo drive and temperature management, improving the flexibility and accuracy of temperature regulation under complex working conditions. Attached Figure Description

[0019] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating an active heating method for a two-dimensional turntable servo mechanism provided in an embodiment of the present invention; Figure 2 A graph showing the relationship between the amplitude and phase of the three-phase current when the motor is heated by commutation in a non-operating mode, provided for an embodiment of the present invention. Figure 3 The current trajectory diagram of the motor in the working mode when using commutation heating is provided for the embodiment of the present invention; Figure 4 A current trajectory diagram of a motor under MTPA control in a non-heating operating mode provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the current trajectory curves under different operating modes provided in the embodiments of the present invention; Figure 6 This is a schematic diagram of the active heating system of a two-dimensional turntable servo mechanism provided in an embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1 like Figure 1 As shown, an embodiment of the present invention provides an active heating method for a two-dimensional turntable servo mechanism, comprising: Step 101: Obtain the feedback temperature and motor torque of the target axis in the two-dimensional turntable servo mechanism at the current moment; wherein, the target axis is the azimuth axis or the pitch axis.

[0023] In this step, the target axis refers to the single motion axis subject to temperature control, and the motor is an embedded permanent magnet synchronous motor. The physical entity of the target axis is the independently driven azimuth or pitch axis in the two-dimensional turntable servo mechanism; the feedback temperature is a digital temperature value obtained by real-time acquisition of analog voltage signals from high-precision contact temperature sensors installed near the stator windings or bearing housings of the azimuth or pitch axis motor, after analog-to-digital conversion, used to characterize the thermal state of the azimuth or pitch axis motor body and adjacent mechanical structures; the motor torque is a digital quantity jointly calculated by the servo driver's internal current loop and the field orientation control module, reflecting the magnitude and direction of the electromagnetic torque currently output by the azimuth or pitch axis motor. A value of zero indicates that the motor is stationary and has no torque command (non-working mode), while a non-zero value indicates that the motor is performing motion control tasks in the azimuth or pitch direction; in this step, data at the corresponding address in the servo driver register is periodically read through a standard CAN bus or RS422 interface, with a sampling period of 100ms, to ensure that the temperature and torque status are updated synchronously.

[0024] Step 102: When the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the first motor is determined according to the stator current of the first d-axis and the electrical control angle to heat the target axis motor until the difference between the feedback temperature and the preset temperature is within the preset temperature range, and then heating is stopped.

[0025] In this step, zero motor torque is a key condition for determining that the motor is in a non-moving state. This is used to eliminate minor residual torque interference caused by load disturbances or control lag. The threshold for this determination is set to... The difference between the feedback temperature and the preset temperature greater than 2K refers to an absolute difference greater than 2K. This range is a safety temperature control tolerance set to ensure the stability of bearing grease performance and controllable material thermal stress. The first d-axis stator current is the d-axis current command value I under the magnetic field orientation control coordinate system. d1 Its amplitude is derived from the upper heating power demand, and its direction is along the rotor magnetic pole axis. It does not generate cross-axis magnetomotive force, so it does not contribute electromagnetic torque. The electrical control angle θ is the initial phase offset angle of the three-phase current composite vector relative to the u-phase axis. If θ remains unchanged, the three-phase current of the motor is DC, and the current amplitude of a certain phase is large. After running for a period of time, the local temperature of the motor is prone to be too high. Therefore, under the condition of zero torque, the three-phase windings are periodically adjusted to achieve the three-phase windings taking turns to dominate the heating, so as to avoid local overheating caused by continuous single-phase power supply. In this step, the heating power of the first motor comes only from the copper loss of the stator winding and does not include the iron core loss component. Its physical essence is to operate the motor as a purely resistive load, efficiently convert electrical energy into heat energy and release it on the spot inside the motor body, thereby improving the uniformity of the overall temperature field of the motor.

[0026] Among them, the stator winding copper loss P CuThe calculation method is as follows: .

[0027] Among them, i u i is the effective current of phase u of the motor on the target axis; v The effective current of phase v of the motor on the target axis; i w R is the effective current of phase w of the motor on the target axis; R is the resistance of each phase winding of the stator of the motor on the target axis.

[0028] Based on the principle of three-phase coordinate transformation of a motor, the instantaneous values ​​of the three-phase currents can be obtained as follows: .

[0029] The amplitude and phase changes of the three-phase current in the commutation heating scheme when the azimuth or pitch axis motor is in non-operating mode are as follows: Figure 2 As shown.

[0030] When the turntable is in non-operating static heating mode, the motor rotor is stationary, the phase current is DC, and the motor mainly suffers from stator copper losses. For example, the heating power P1 of the first motor can be calculated according to the following formula: .

[0031] Where θ is the motor electrical control angle of the target axis; I d1 This is the first d-axis stator current, which is the d-axis stator current when the motor torque of the target axis is zero.

[0032] In one alternative implementation, the method for determining the heating power of the first motor based on the resistance of each phase winding of the motor stator, the first d-axis stator current, and the electrical control angle is as follows: based on a field-oriented control framework, the q-axis current command is set to zero in the dq coordinate system, and only the d-axis current command I is injected. d1 The system generates a three-phase current reference value through Park inverse transformation; then the reference value is input into the PWM modulation module, which outputs a three-phase voltage signal with adjustable duty cycle to drive the inverter, so that the actual three-phase current exhibits quasi-DC characteristics with constant amplitude and phase alternation; in this embodiment, the heating time ratio of each phase winding is balanced by controlling the current space vector angle θ, thereby improving the consistency of winding temperature rise.

[0033] In another alternative implementation, the method for determining the heating power of the first motor based on the resistance of each phase winding of the motor stator, the first d-axis stator current, and the electrical control angle is: while maintaining I d1Under the premise of constant amplitude, the value of θ is changed periodically at a frequency of 1Hz, so that θ takes three discrete phase points of 0, 2π / 3, and 4π / 3 in sequence, each phase point lasting for 200ms, forming a three-phase alternating heating timing mode; this embodiment utilizes the symmetrical structure of the motor windings to make the u, v and w phases bear the same electrothermal load per unit time, effectively suppressing the heat accumulation of single-phase windings.

[0034] In another alternative implementation, the method for determining the heating power of the first motor based on the resistance of each phase winding of the motor stator, the first d-axis stator current, and the electrical control angle is as follows: With θ fixed at a certain initial value (e.g., 0), an amplitude is superimposed... A sinusoidal modulation signal with a frequency of 5Hz causes the current vector to oscillate slightly around the reference direction, thereby exciting high-frequency harmonic current components in the three-phase winding and enhancing the heat conduction efficiency in the longitudinal direction of the winding.

[0035] Step 103: When the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the second motor is determined according to the second d-axis stator current and the q-axis stator current to heat the target axis motor until the difference between the feedback temperature and the preset temperature is within the preset temperature range and then heating is stopped.

[0036] In this step, a non-zero motor torque indicates that the target axis is in the azimuth or pitch direction motion control process. At this time, both the d-axis and q-axis currents participate in field-oriented control and together constitute the motor output torque; the second d-axis stator current I... d2 The q-axis stator current Iq and the measured current components in the dq coordinate system under the current motion state are respectively, and their amplitude and phase are dynamically adjusted by the position / velocity loop output command.

[0037] For example, this step includes: Obtain the d-axis stator voltage and q-axis stator voltage when the motor torque is not zero.

[0038] The input power of the motor is determined based on the second d-axis stator current, q-axis stator current, d-axis stator voltage, and q-axis stator voltage; specifically, the input power P of the motor is calculated using the following formula. in : .

[0039] Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 This refers to the second d-axis stator current, i.e., the d-axis stator current when the motor torque of the target axis is not zero; U q The q-axis stator voltage when the motor torque on the target axis is not zero; I q The q-axis stator current is the motor torque on the target axis when it is not zero.

[0040] The motor torque is determined based on the second d-axis stator current and the q-axis stator current; specifically, the motor torque T is calculated using the following formula: .

[0041] Where ω is the rotor angular velocity; p is the number of pole pairs of the motor; For motor flux linkage; L d L is the d-axis stator inductance when the motor torque on the target axis is not zero. q The q-axis stator inductance is given when the motor torque on the target axis is not zero.

[0042] The mechanical power output of the motor is determined based on the motor torque and the rotor angular velocity; specifically, the product of the motor torque T and the rotor angular velocity ω is taken as the mechanical power output of the motor.

[0043] The difference between the input power and the output mechanical power of the motor is taken as the heating power of the second motor; specifically, the heating power P2 of the second motor is calculated according to the following formula: .

[0044] The current trajectory of the azimuth or pitch axis motor in the commutation heating scheme during operation is as follows: Figure 3 As shown. If the temperature difference between the azimuth and pitch axes is within the preset range, and active heating is not required, the motor will output according to the MTPA curve regardless of its operating state. The current controlled by normal MTPA in the motor's non-heating operating mode is as follows. Figure 4 As shown.

[0045] like Figure 5 As shown, within the range of the motor's maximum voltage limit ellipse and maximum current limit circle, the red dashed line represents the circle of the motor's actual maximum executable power current. When the active heating function is off, if the turntable's azimuth or pitch axis is in operating mode, the motor will execute according to the normal MTPA curve. When active heating is on, the motor's d-axis and q-axis currents execute heating along the designed d-axis and q-axis current trajectory curves (heating trajectory). Under the same torque, the required heating power of the motor is ensured by increasing the d-axis current.

[0046] In summary, the active heating method for the two-dimensional turntable servo mechanism provided in this embodiment, when the difference between the feedback temperature and the preset temperature is outside the preset temperature range, establishes two heating power calculation models by distinguishing whether the target axis motor outputs torque: when the motor torque is zero, torque-free heating is achieved only by using the d-axis current and electrical control angle adjustment to avoid local overheating of the windings; when the motor torque is not zero, the heating power is calculated by combining the d-axis and q-axis currents, taking into account both motion function and thermal management requirements; the heating process is dynamically started and stopped by using the closed-loop comparison result between the feedback temperature and the preset temperature to ensure that the target axis temperature is always maintained within the preset temperature range; thus, without adding external heating devices, the inherent loss characteristics of the motor body are fully utilized to achieve high uniformity and high stability of the temperature field of the two-dimensional turntable servo mechanism, fundamentally alleviating the problems of mechanical deformation and servo performance degradation caused by temperature differences under extreme temperature changes.

[0047] Example 2 Based on the same inventive concept as Embodiment 1, this embodiment also provides an active heating system for a two-dimensional turntable servo mechanism. Since the principle of this system in solving the problem is similar to that of the aforementioned active heating method for a two-dimensional turntable servo mechanism, the implementation of this system can refer to the implementation of the active heating method for a two-dimensional turntable servo mechanism.

[0048] like Figure 6 As shown, the active heating system of the two-dimensional turntable servo mechanism includes: The acquisition module 10 is used to acquire the feedback temperature and motor torque of the target axis in the two-dimensional turntable servo mechanism at the current moment; wherein, the target axis is the azimuth axis or the pitch axis.

[0049] The first determining module 20 is used to determine the heating power of the first motor based on the stator current and electrical control angle of the first d-axis when the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, so as to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range.

[0050] The second determining module 30 is used to determine the heating power of the second motor based on the second d-axis stator current and the q-axis stator current when the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, so as to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range.

[0051] For example, the first determining module includes: The first calculation unit is used to calculate the heating power P1 of the first motor according to the following formula: .

[0052] Where R is the resistance of each phase winding of the motor stator on the target axis; θ is the electrical control angle of the motor on the target axis; I d1 This is the stator current along the first d-axis.

[0053] For example, the second determining module includes: The acquisition unit is used to acquire the d-axis stator voltage and q-axis stator voltage when the motor torque is not zero.

[0054] The first determining unit is used to determine the input power of the motor based on the second d-axis stator current, q-axis stator current, d-axis stator voltage, and q-axis stator voltage.

[0055] The second determining unit is used to determine the motor torque based on the second d-axis stator current and the q-axis stator current.

[0056] The third determining unit is used to determine the mechanical power output of the motor based on the motor torque and rotor angular velocity.

[0057] The fourth determining unit is used to take the difference between the input power and the output mechanical power of the motor as the second motor heating power.

[0058] For example, the first determining unit includes: A first calculation unit is used to calculate the input power P of the motor according to the following formula. in : .

[0059] Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q The q-axis stator current is the motor torque on the target axis when it is not zero.

[0060] For example, the fourth determining unit includes: The second calculation device is used to calculate the heating power P2 of the second motor according to the following formula: .

[0061] Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q ω is the q-axis stator current when the motor torque on the target axis is not zero; ω is the rotor angular velocity; p is the number of motor pole pairs; For motor flux linkage; Ld L is the d-axis stator inductance when the motor torque on the target axis is not zero. q The q-axis stator inductance is given when the motor torque on the target axis is not zero.

[0062] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0063] Example 3 This embodiment provides a computer device, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, it implements the steps of the active heating method of the two-dimensional turntable servo mechanism described in Embodiment 1.

[0064] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0065] Example 4 This embodiment provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the steps of the active heating method of the two-dimensional turntable servo mechanism described in Embodiment 1.

[0066] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0067] Example 5 This embodiment provides a computer program product, including computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, they implement the steps of the active heating method of the two-dimensional turntable servo mechanism described in Embodiment 1.

[0068] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0069] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems, devices, storage media, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0070] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0071] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0072] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

[0073] As an example, computer-executable instructions can be deployed to execute on a single electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0074] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0075] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A method for actively heating a two-dimensional turntable servo mechanism, characterized in that, include: Obtain the feedback temperature and motor torque of the target axis in the two-dimensional turntable servo mechanism at the current moment; where the target axis is either the azimuth axis or the pitch axis. When the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the first motor is determined according to the stator current of the first d-axis and the electrical control angle to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range. When the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the second motor is determined based on the stator current of the second d-axis and the stator current of the q-axis to heat the target axis motor until the difference between the feedback temperature and the preset temperature is within the preset temperature range, then heating stops.

2. The active heating method for a two-dimensional turntable servo mechanism according to claim 1, characterized in that, When the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the first motor is determined based on the first d-axis stator current and the electrical control angle to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range, including: Calculate the heating power P1 of the first motor using the following formula: ； Where R is the resistance of each phase winding of the motor stator on the target axis; θ is the electrical control angle of the motor on the target axis; I d1 This is the stator current along the first d-axis.

3. The active heating method for a two-dimensional turntable servo mechanism according to claim 1, characterized in that, When the motor torque on the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, the heating power of the second motor is determined based on the second d-axis stator current and the q-axis stator current to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range. This includes: Obtain the d-axis stator voltage and q-axis stator voltage when the motor torque is not zero; The input power of the motor is determined based on the second d-axis stator current, q-axis stator current, d-axis stator voltage, and q-axis stator voltage. The motor torque is determined based on the second d-axis stator current and the q-axis stator current; The mechanical power output of the motor is determined by combining the motor's torque with the rotor angular velocity. The difference between the input power and the output mechanical power of the motor is used as the heating power of the second motor.

4. The active heating method for the two-dimensional turntable servo mechanism according to claim 3, characterized in that, The determination of the motor's input power based on the second d-axis stator current, q-axis stator current, d-axis stator voltage, and q-axis stator voltage includes: Calculate the motor's input power P using the following formula. in : ； Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q The q-axis stator current is the motor torque on the target axis when it is not zero.

5. The active heating method for the two-dimensional turntable servo mechanism according to claim 3, characterized in that, The step of using the difference between the input power and the output mechanical power of the motor as the second motor heating power includes: Calculate the heating power P2 of the second motor using the following formula: ； Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q ω is the q-axis stator current when the motor torque on the target axis is not zero; ω is the rotor angular velocity; p is the number of motor pole pairs; For motor flux linkage; L d L is the d-axis stator inductance when the motor torque on the target axis is not zero. q The q-axis stator inductance is given when the motor torque on the target axis is not zero.

6. An active heating system for a two-dimensional turntable servo mechanism, characterized in that, include: The acquisition module is used to acquire the feedback temperature and motor torque of the target axis in the two-dimensional turntable servo mechanism at the current moment; wherein, the target axis is the azimuth axis or the pitch axis; The first determining module is used to determine the heating power of the first motor based on the stator current of the first d-axis and the electrical control angle when the motor torque of the target axis is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, so as to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range. The second determining module is used to determine the heating power of the second motor based on the second d-axis stator current and the q-axis stator current when the motor torque of the target axis is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, so as to heat the target axis motor until the heating stops when the difference between the feedback temperature and the preset temperature is within the preset temperature range.

7. The active heating system for the two-dimensional turntable servo mechanism according to claim 6, characterized in that, The first determination module includes: The first calculation unit is used to calculate the heating power P1 of the first motor according to the following formula: ； Where R is the resistance of each phase winding of the motor stator on the target axis; θ is the electrical control angle of the motor on the target axis; I d1 This is the stator current along the first d-axis.

8. The active heating system for the two-dimensional turntable servo mechanism according to claim 6, characterized in that, The second determining module includes: The acquisition unit is used to acquire the d-axis stator voltage and q-axis stator voltage when the motor torque is not zero. The first determining unit is used to determine the input power of the motor based on the second d-axis stator current, q-axis stator current, d-axis stator voltage and q-axis stator voltage; The second determining unit is used to determine the motor torque based on the second d-axis stator current and the q-axis stator current; The third determining unit is used to determine the mechanical power output by the motor based on the motor torque and the rotor angular velocity; The fourth determining unit is used to take the difference between the input power and the output mechanical power of the motor as the second motor heating power.

9. The active heating system for the two-dimensional turntable servo mechanism according to claim 8, characterized in that, The first determining unit includes: A first calculation unit is used to calculate the input power P of the motor according to the following formula. in : ； Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q The q-axis stator current is the motor torque on the target axis when it is not zero.

10. The active heating system for the two-dimensional turntable servo mechanism according to claim 8, characterized in that, The fourth determining unit includes: The second calculation device is used to calculate the heating power P2 of the second motor according to the following formula: ； Among them, U d The d-axis stator voltage when the motor torque of the target axis is not zero; I d2 U is the second d-axis stator current; q The q-axis stator voltage when the motor torque on the target axis is not zero; I q ω is the q-axis stator current when the motor torque on the target axis is not zero; ω is the rotor angular velocity; p is the number of motor pole pairs; For motor flux linkage; L d L is the d-axis stator inductance when the motor torque on the target axis is not zero. q The q-axis stator inductance is given when the motor torque on the target axis is not zero.

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