KR101386729B1 - Mirror driving Control device for IRST - Google Patents

Abstract

An object of the present invention is to provide a mirror driving control device for an infrared search tracking device capable of repeatedly moving / stopping a stepping motor for driving a mirror within a time and an error suitable for an infrared search tracking device.
According to an aspect of the present invention, there is provided a method of driving a two-phase stepping motor in which a rotary shaft is rotatably coupled to a base, an encoder is attached to one end of the rotary shaft to detect a rotation angle, And a drive control device for controlling the two-phase step motor, wherein the drive control device drives the two-phase step motor Wherein the driving profile is comprised of a plurality of modes representing the rotation angle of the mirror, wherein the modes are sequentially arranged starting from a small angle and increasing sequentially, When the drive is completed in one cycle, the drive mode is returned to the first mode, And controls the base two-phase step motor.

Description

Technical Field [0001] The present invention relates to a mirror driving control device for an IR search tracking device,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mirror drive control apparatus for an infrared search tracking apparatus, and more particularly, to a mirror drive control apparatus for an infrared search tracking apparatus for quickly and precisely controlling an angle of a required mirror.

The infrared ray search tracking apparatus is an apparatus for searching and tracking an object moving using infrared rays, and is constituted by the principle as disclosed in Japanese Patent Application Laid-Open No. 2002-0057310 for an infrared ray search test apparatus.

According to an aspect of the present invention, there is provided an infrared target searching apparatus comprising: an infrared ray searcher for detecting an infrared ray incident on the infrared ray target and tracking the light source; A first light source generating unit including a first light source for emitting infrared rays and an infrared ray path adjusting unit for adjusting a traveling direction of infrared rays emitted from the first light source; A second light source having a second light source for emitting infrared light and a beam splitter for allowing infrared rays incident from the infrared ray path control unit of the first light source generating unit to be incident on the infrared ray detector; And a rotation support unit that connects the first light source generation unit to be supported by the second light source generation unit and the first light source generation unit is rotated with respect to the second light source generation unit.

As disclosed in the patent, the infrared search tracking device comprises a mirror driver that reflects an image of the front of the equipment and a search device that searches for an object that actually emits infrared rays using the reflected image.

The mirror driving body is continuously moved / stopped at a specific angle in a short time. In particular, when the mirror is stopped, the search device searches for and secures an image, so that it must be controlled at an accurate angle within a required time, , It is possible to secure an image free from shaking even though it should be stopped without rocking at that angle.

The mirror driving body includes a mirror and a driving body that rotates the mirror, and the driving body includes a motor.

Therefore, the driving body is controlled by a motor, and the motor uses a servomotor of a type suitable for control.

The infrared search tracking device exhibits the best performance when the characteristics of the mirror driver and the search device coincide with each other. Particularly, when the controllability of the mirror driver does not satisfy the requirement, the performance of the subsequent search device becomes useless , The controllability of the mirror driving body is an element for determining the commerciality.

On the other hand, the step motor control method is one of the most widely used methods for control of a general server motor, particularly a step motor control method.

The step control method has a merit that it is relatively simple to implement by feeding back the rotation angle of the step motor by using a DC-DC converter, a drive, and a switching element as a power source. However, There is a disadvantage that the characteristics required by the search tracking device are not implemented.

Therefore, there is a need for a new type of control that indicates the characteristics required by the infrared search tracking device using a stepping motor, particularly a two-phase stepping motor.

SUMMARY OF THE INVENTION The present invention has been made in order to overcome the problems of the prior art as described above, and it is an object of the present invention to provide an infrared search tracking device, which is capable of repeatedly moving / And an object thereof is to provide a drive control device.

According to an aspect of the present invention, there is provided a method of driving a two-phase stepping motor in which a rotary shaft is rotatably coupled to a base, an encoder is attached to one end of the rotary shaft to detect a rotation angle, And a drive control device for controlling the two-phase step motor, wherein the drive control device drives the two-phase step motor Wherein the driving profile is comprised of a plurality of modes representing the rotation angle of the mirror, wherein the modes are sequentially arranged starting from a small angle and increasing sequentially, When the drive is completed in one cycle, the drive mode is returned to the first mode, And controls the base two-phase step motor.

Preferably, the mode includes a 0 mode starting from 0 degree and a 1 mode to 6 mode sequentially increasing thereafter.

More preferably, the angle between the respective modes is from 5 degrees to 10 degrees.

Preferably, the other end of the motor rotation shaft of the two-phase step motor further includes a damper for increasing the rotation inertia of the rotation shaft.

Preferably, the drive control device includes: a position controller to which a rotation angle of the drive profile and the actual rotation axis is input; A speed controller for receiving an output of the position controller and an actual rotation speed of the rotation axis; A coordinate converter for converting rotational coordinates into fixed coordinates by using an output of the speed controller, an electrical angle of the rotational axis, and a current value of the two-phase step motor; A vector controller receiving the output of the coordinate converter and generating a voltage pulse; And a switching unit for applying a voltage to the two-phase step motor using the output value of the vector controller.

More preferably, the position controller comprises: a first adder for adding the actual machine angle of the drive profile and the rotational axis; A first PI controller for calculating an output value of the first adder; And a first integrator for integrating an output value of the first PI controller.

Advantageously, the speed controller comprises: a second adder for adding the output value of the position controller and the actual rotational speed of the rotational axis; A second PI controller for calculating an output value of the second adder; And an integrator for integrating an output value of the second PI controller.

Preferably, the coordinate converter includes: a third adder for adding the output of the speed controller and the current of the q phase; A first converter for outputting a current measurement value of the two-phase stepping motor and a q-phase current determined by an electric angle of the rotary shaft by the encoder; A fourth adder for adding the d-phase current to the d-phase current target value having a value of 0; A second converter for outputting a current measurement value of the two-phase stepping motor and a d-phase current determined by an electric angle of the rotary shaft by the encoder; A third integrator for integrating an output of the third adder; A fourth integrator for integrating an output of the fourth adder; A third converter for outputting a target voltage on a phase taking into account an output of the third integrator, an output of the fourth integrator, and an electric angle; And a fourth converter for outputting a b-phase target voltage in consideration of an output of the fourth integrator, an output of the third integrator, and an electrical angle.

Advantageously, said vector controller comprises: a fifth integrator for integrating the a-phase target voltage of said coordinate converter; A first proportional unit for calculating an output of the fifth integrator; A seventh integrator for integrating the output of the first proportional unit; A first comparator for outputting a difference between an output of the seventh integrator and an output of the generator to output a PWM A power; A sixth integrator for integrating the b-phase target voltage of the coordinate converter; A second proportional unit for calculating an output of the sixth integrator; An eighth integrator for integrating an output of the second proportional unit; And a second comparator for outputting the difference between the output of the eighth integrator and the output of the generator to output the PWM B power.

The mirror driving control apparatus for an infrared ray search tracking apparatus according to the present invention has the effect of precisely controlling the position of a mirror for repeatedly moving / stopping a plurality of rotation angles sequentially and applying a stepping motor for an infrared ray search tracking apparatus. There is an effect of providing sophisticated searching and tracking by providing a low set ring value.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a configuration diagram showing a mirror driver for an infrared ray search tracking apparatus according to the present invention,
Fig. 2 is a configuration diagram showing the rotation angle of the mirror of Fig. 1,
Figure 3 is a graph of the rotation angle of Figure 2,
4 is a block diagram of a mirror driving control apparatus for an infrared ray search tracking apparatus according to the present invention,
Fig. 5 is a configuration diagram specifically showing a partial configuration of Fig. 4,
FIG. 6 is a configuration diagram specifically showing another partial configuration of FIG. 4,
FIG. 7 is a graph showing a control result of a mirror driving control apparatus for an infrared ray search tracking apparatus according to the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The mirror driving control apparatus 100 for an infrared ray search tracking apparatus according to the present invention is a structure for controlling the mirror driving body 10 shown in FIG.

The mirror driving body 10 has a rotary shaft 2 rotatably coupled to a base 1 and an encoder 3 attached to one end of the rotary shaft 2 to detect a rotation angle, The motor rotation axis 6 of the motor 4 is directly connected.

On the other hand, if necessary, the other end of the motor rotation shaft 6 of the two-phase step motor 4 may further include a damper 7 to increase the inertia of the entire rotation shaft 2.

The damper 7 preferably has a cylindrical shape serving as an inertial body.

A mirror 5 is mounted at the center of the rotary shaft 2, and the mirror 5 is also rotated by the rotation of the rotary shaft 2.

The mirror 5 reflects an image of the front side to a search device (not shown), repeatedly moves / stops at a certain angle, and continuously repeats the motion of returning to the home position.

The drive control device 100 serves to transmit a control signal for controlling the two-phase step motor 4 to each phase of the two-phase step motor 4.

First, the mirror 5 rotates in order to search for an image in front, and the driving profile 8 of the rotation angle is rotated in the 0 mode, 1 mode, 2 mode, 3 mode, 4 mode, 5 mode, and 6 mode. After completion of the 6 mode position, the mode is returned to the 0 mode and one cycle is completed.

The movement angle is between 5 degrees and 10 degrees and the movement angle is the same, but may be implemented differently for each mode if necessary.

When the moving angle is less than 10 degrees, the time for searching the whole front increases, which is disadvantageous. On the other hand, when the moving angle exceeds 10 degrees,

In the horizontal interval, the time is restricted to within 25 msec in the 0-6 mode, and the feedback time in 0 mode is limited to at least 50 msec in the last 6 modes.

Further, the time of the entire one cycle is driven to be at least 250 msec.

Meanwhile, the horizontal section is a section in which the rotation of the mirror 5 is stopped. Actually, the mirror 5 vibrates slightly due to the setting time, the vibration must be 0.005 degrees or less, and at least 5 msec The search device may receive the mirror image, although the vibration must be satisfied before.

The most preferable rotation of the step motor 4 is the same as the drive profile 6 but a settling time due to a constant delay and an overshoot occurs due to the inertia of the actual rotary shaft 2 and the mirror 5, And controls to minimize the delay and settling time in the manner of the present invention.

4, the mirror drive control apparatus 100 according to the present invention includes a two-phase step motor 4, a position controller 110, a velocity controller 130, a coordinate converter 140, a vector controller 160 And a switching unit 180. The angle information of the motor 4 sensed by the encoder 3 is fed back where necessary.

First, θm *, which is the value of the driving profile 8, is input to the position controller 110 and the output ωm * of the position controller 110 is applied to the input of the speed controller 130.

Here,? M is the actual position (mechanical angle) of the rotary shaft 2, and? M is the actual speed.

On the other hand, the two-phase stepping motor 4 has the same structure as that of the two-phase synchronous motor, and uses the voltages Vd and Vq of the d and q axes inputted in the rotational coordinate system and the rotational angles of the two- And the voltages Vas and Vbs obtained by coordinate conversion with the b-phase voltage are supplied to the vector controller 160 to determine the actual voltage vector and the application time for controlling the two-phase step motor 4. [

And the voltage vector and the application time determined by the vector controller 160 control the final two-phase stepping motor 4 via the switching unit 180.

The above configuration will be described in detail with reference to Figs. 5 and 6. Fig.

The position controller 110 receives a first adder 111 for receiving and adding θm * which is a value of the drive profile 8 and a mechanical angle θm of the rotary shaft 2 and an output value of the first adder 111 And a first integrator 113 for integrating the outputs of the first PI controller 112 and the first PI controller 112 performing the PI control.

The speed controller 130 includes a second adder 131 for receiving and adding the output value of the position controller 110 and the rotational speed of the actual rotating shaft 2 and an output value of the second adder 131 And a second integrator 133 for integrating the output of the second PI controller 132 and the second PI controller 132 performing the PI control.

The coordinate converter 140 includes a third adder 141 for receiving and adding the output value iqe * of the speed controller 130 and an output value iqe of the first converter 143, A third integrator 147 for integrating the output value of the third PI controller 145 and a third integrator 147 for comparing the output value of the third integrator 147 and the output value of the fourth integrator 148 And a third converter 149 for outputting a voltage command vas * value at an electric angle &thetas; e, which is an encoder position, on the basis of the output value.

Here, the first converter 142 detects the two-phase AC currents ias and ibs of the two-phase step motor 4 and outputs iqe equal to ias based on the electric angle? E.

On the other hand, the fourth adder 142 receives the ide value ide and the ide value output from the second converter 144, and adds the output of the fourth adder 142 to the fourth PI controller 146 And the output of the fourth PI controller 144 is input to the fourth integrator 148. [

The output value of the fourth integrator 148 outputs a voltage command vbs * by the fourth converter 150 at an electric angle? E, which is an encoder position, based on the output value of the third integrator 147. [

The second converter 144 also has the same function as the first converter 143, but outputs the same ide as ibs.

The output values vas * and vbs * of the coordinate converter 140 are then input to the vector controller 160. The vector controller 160 includes a fifth integrator 161, a first proportional unit 163, The seventh integrator 165 and the first comparator 167 are operated in order to output the final PWM A value.

Further, the operations of the sixth integrator 162, the second proportional unit 164, the eighth integrator 166, and the second comparator 168 are performed in order of the vbs * input, and the final PWM B value is output.

At this time, the first comparator 167 and the second comparator 168 compare the waveforms generated by the generator 169 and output a difference value.

The output value of the vector controller 160 is then input to the switching unit 180 and the switching unit 180 rotates the actual two-phase stepping motor 4 based on the output value of the vector controller 160.

As described above, the angle of the actual mirror 5 according to the driving profile 8 and the driving profile 8 of the mirror 5 according to the mirror driving control device 100 for an infrared seeking tracking apparatus according to the present invention is shown in Fig. Respectively.

In this case, when the drive command is applied, the drive control device 100 applies the d-axis current of the main step motor 4 to reset the initial position for driving. When the initial position is set, (3) When Z pulse is encountered, it recognizes as machine zero.

When the drive profile 8 command is applied, the machine moves 22.5 degrees and performs infinite repetition with the drive profile 8, and sends sink information for operation of the search device to the search device at a point satisfying a certain condition.

When the sync information is reached, the search device receives the image of the mirror 5.

As shown in FIG. 7, it can be seen that the mirror driving control apparatus 100 for an IR search tracking apparatus according to the present invention is controlled with sufficient accuracy to a required driving profile 6, and in particular, 5) It shows the time and accuracy of receiving the image.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, And all of the various forms of embodiments that can be practiced without departing from the technical spirit.

1: Base 2: Rotary shaft
3: Encoder 4: Two-phase step motor
5: Mirror 6: Motor rotation axis
7: damper 8: drive profile
10: mirror driving body 100: mirror driving control device
110: Position controller 111: First adder
112: first PI controller 113: first integrator
130: speed controller 131: second adder
132: second PI controller 133: second integrator
140: Coordinate transformer 141: Third adder
142: fourth adder 143: first converter
144: second converter 145: third PI controller
146: fourth PI controller 147: third integrator
148: fourth integrator 149: third converter
150: fourth converter 160: vector controller
161: Fifth integrator 162: Sixth integrator
163: First proportional unit 164: Second proportional unit
165: seventh integrator 166: eighth integrator
167: first comparator 168: second comparator
169: Generator 180: Switching device

Claims (9)

The stepping motor is controlled by a mirror driving body in which an encoder is attached to one end of the rotation shaft to detect a rotation angle and the motor rotation axis of the driving two-phase step motor is directly connected to the other end, A mirror drive control apparatus for an infrared search tracking apparatus including a drive control apparatus,
Wherein the drive control device controls the two-phase stepping motor with a target driving profile of an input mirror rotation angle,
Wherein the driving profile comprises a plurality of modes representing the rotation angle of the mirror, wherein the modes are sequentially arranged starting from a small angle and increasing,
Wherein the drive control device controls the two-phase step motor to return to the first mode when the one-period drive of the drive profile is completed and to target the drive profile again. .
The apparatus of claim 1, wherein the mode includes a 0 mode starting at 0 degree and a 1 to 6 mode sequentially increasing sequentially.
The apparatus according to claim 2, wherein the angle between the respective modes is 5 degrees to 10 degrees.
2. The apparatus according to claim 1, further comprising a damper for increasing rotational inertia of the rotary shaft at the other end of the motor rotary shaft of the two-phase step motor.
The drive control apparatus according to claim 1,
A position controller to which a driving profile and a rotation angle of an actual rotation axis are input;
A speed controller for receiving an output of the position controller and an actual rotation speed of the rotation axis;
A coordinate converter for converting rotational coordinates into fixed coordinates by using an output of the speed controller, an electrical angle of the rotational axis, and a current value of the two-phase step motor;
A vector controller receiving the output of the coordinate converter and generating a voltage pulse; And
And a switch for applying a voltage to the two-phase stepper motor using an output value of the vector controller.
6. The apparatus of claim 5, wherein the position controller comprises:
A first adder for adding the actual mechanical angle of the drive shaft and the rotational axis;
A first PI controller for calculating an output value of the first adder; And
And a first integrator for integrating the output value of the first PI controller.
6. The apparatus of claim 5, wherein the rate controller comprises:
A second adder for adding an output value of the position controller and an actual rotation speed of the rotation axis;
A second PI controller for calculating an output value of the second adder; And
And an integrator for integrating an output value of the second PI controller.
6. The apparatus of claim 5, wherein the coordinate transformer comprises:
A third adder for adding the output value of the speed controller and the q phase current;
A first converter for outputting a current measurement value of the two-phase stepping motor and a q-phase current determined by an electric angle of the rotary shaft by the encoder;
A fourth adder for adding the d-phase current to the d-phase current target value having a value of 0;
A second converter for outputting a current measurement value of the two-phase stepping motor and a d-phase current determined by an electric angle of the rotary shaft by the encoder;
A third integrator for integrating an output of the third adder;
A fourth integrator for integrating an output of the fourth adder;
A third converter for outputting a target voltage on a phase taking into account an output of the third integrator, an output of the fourth integrator, and an electric angle; And
And a fourth converter for outputting a b-phase target voltage in consideration of the output of the fourth integrator, the output of the third integrator, and the electrical angle.
6. The apparatus of claim 5, wherein the vector controller comprises:
A fifth integrator for integrating the a-phase target voltage of the coordinate converter;
A first proportional unit for calculating an output of the fifth integrator;
A seventh integrator for integrating the output of the first proportional unit;
A first comparator for outputting a difference between an output of the seventh integrator and an output of the generator to output a PWM A power;
A sixth integrator for integrating the b-phase target voltage of the coordinate converter;
A second proportional unit for calculating an output of the sixth integrator;
An eighth integrator for integrating an output of the second proportional unit; And
And a second comparator for outputting the difference between the output of the eighth integrator and the output of the generator to output the PWM B power.

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