阅读说明：本技术 用于空间光学载荷步进电机定位的微动开关位置调整方法 (Micro-switch position adjusting method for positioning space optical load stepping motor ) 是由 王煜 张泉 付毅宾 黄书华 赵欣 常振 邱晓晗 林方 于 2020-12-25 设计创作，主要内容包括：本发明提供了一种用于空间光学载荷步进电机定位的微动开关位置调整方法。该调整方法基于两相八拍步进电机控制系统,包括步进电机、驱动器组件、上位机软件、激光笔和微动开关。通过上位机设置步进电机步数、方向、速度和PWM等参数,电机在运行过程中抖动会引起微动开关误触发现象。电机通过复位找到起始位置,运行至微动开关导通时返回状态信息并回退固定步数。通过微调微动开关位置,使其导通时步进电机处于偶数步行程的中间位置。本发明提供的调整方法简单可靠且容易实现,能够准确定位微动开关安装位置,有效防止微动开关误触发导致的步进电机失步,有效保证步进电机定位准确度。(The invention provides a micro switch position adjusting method for positioning a space optical load stepping motor. The adjusting method is based on a two-phase eight-beat stepping motor control system and comprises a stepping motor, a driver component, upper computer software, a laser pen and a microswitch. Parameters such as step number, direction, speed and PWM of the stepping motor are set through the upper computer, and the phenomenon of false triggering of the micro switch can be caused by shaking of the motor in the running process. The motor finds the initial position through resetting, returns state information and backs for a fixed number of steps when running to the conduction of the micro switch. The position of the micro switch is finely adjusted, so that the stepping motor is positioned in the middle position of even step travel when the micro switch is switched on. The adjusting method provided by the invention is simple, reliable and easy to realize, can accurately position the installation position of the microswitch, effectively prevents the stepping motor from being out of step caused by false triggering of the microswitch, and effectively ensures the positioning accuracy of the stepping motor.)

1. A micro-switch position adjusting method for positioning a space optical load stepping motor is characterized by comprising the following steps: the adjusting method aims at the control of a two-phase eight-beat stepping motor, and uses a microswitch for position positioning and limiting, and the specific implementation steps are as follows,

step one, adjusting a micro-switch adjusting device to any limit position, wherein the position is used as an initial position of an adjusting scheme;

connecting a motor drive controller and upper computer software, and observing a drive phase sequence of the conduction time of the microswitch fed back by the upper computer;

step three, sending a reset instruction through the upper computer to enable the motor to run clockwise or anticlockwise;

step four, the motor gear lever operates until the microswitch is closed to generate a conducting signal, the motor reversely operates for even steps, and returns to the motor driving phase sequence m when the motor stops;

step five, if m is an odd number of 1,3,5 or 7, the driving phase sequence at the conduction moment of the micro switch is a composite phase, and two winding coils are simultaneously excited, namely AB, AB-, A-B or A-B-; at the moment, the coil stops electrifying, so that the motor position is indefinite, and step loss can be generated;

step six, if m is an even number 2,4,6 and 8, the motor driving phase sequence at the conduction moment of the micro switch is a single term, namely A, B, A-or B-, no step-out is generated at the moment, and the motor is stopped at an accurate position;

step seven, finely adjusting and fixing the position of the microswitch, repeatedly executing the step three until the step four, the step five and a critical state are found, and recording the position P1 of the microswitch;

step eight, repeatedly executing the step seven, finding out the critical state of the adjacent odd steps, and recording the position P2 of the microswitch;

marking the central positions of P1 and P2, and fixing the micro switch at the position;

step ten, repeating the step three to the step nine by the micro switch adjusting method in the other direction.

Technical Field

The invention relates to the field of detection of an atmospheric environment, in particular to a microswitch position adjusting method for positioning a space optical load stepping motor.

Background

The ultraviolet hyperspectral atmospheric composition detector is a space optical load and has the capacity of detecting the content of trace polluted gas in a target area. The load is provided with two detection light paths, namely a main light path and a calibration light path. The main light path detects the sunlight scattered backward on the ground and is used for inverting the gas concentration; the calibration light path detects direct sunlight for spectral calibration. The two light paths are switched through a rotating component, the rotating component mainly comprises a stepping motor and a microswitch, and the microswitch is used for resetting and limiting. The accuracy of the position of the stepping motor directly influences the load detection performance and is a key factor of the load performance.

The stepping motor adopts an open-loop control mode, and the rotating mechanism utilizes a microswitch for positioning and limiting. The specific working mode is as follows: firstly, a load master control sends a reset instruction, and a motor starts to operate; then, a microswitch conducting signal is fed back, the motor immediately returns back to the opposite direction for an integer step, and the position is the reference position (reset position); finally, the master control sends the number of steps to be rotated (which is determined according to the light path in debugging), and the motor runs in place.

The step motor that uses in the load is 2 looks 4 line step motor, and the step angle is 1.8, and the operation mode is two-phase eight beats: AB → B → A-B → B-AB → A, and the corresponding driving phase sequence is 1 → 2 → 3 → 4 → 5 → 6 → 7 → 8, and the motor hardware driving principle is shown in FIG. 2. Because the winding coil passes through current in the running process of the motor, interference can be generated on the imaging assembly, and the signal-to-noise ratio of the spectrometer is reduced; in addition, long-time electrification can aggravate the temperature rise of the motor and influence the service life. Therefore, the motor is required to have no electrified maintaining function, the current of the winding coil is cancelled immediately after the motor rotates in place, and the motor keeps in place by the self-positioning torque of the motor. Because the stepping motor is excited to move according to the current in the winding coil, the motor is switched to operate by one step after each current. This inevitably produces jitter, the amplitude of which is PWM and speed dependent. The dither amplitude is also consistent each time when operating in accordance with uniform PWM and speed parameters. When the motor rotates near the micro-switch, the jitter may cause the micro-switch to go out of position by mistake. This approach can create the following problems: when the motor driving phase sequence stops at the composite phase sequence (the A and the B are electrified when the A and the B are the same), if the motor current is cancelled, the motor gear cannot keep the original position, and returns to the phase A or the phase B under the action of the self-positioning torque, so that the step-out phenomenon is generated, and the angle deviation generated by the step-out is 0.9 degrees. The step-out can lead to the light path switching mechanism to take place the position deviation, influences the observation effect, reduces the accuracy and the reliability of later stage data processing result.

Disclosure of Invention

The invention provides a micro switch adjusting method for positioning a space optical load stepping motor, which aims to solve the problem of step-out phenomenon possibly caused by the existing drive control mode. The adjusting method is applied to the assembling and testing stages of the optical machine, can accurately calibrate the current position of the microswitch, finds a safety interval without step-out by matching with a feedback signal of a phase sequence driven by a stepping motor, and fixes the microswitch at the central position of the safety interval. The accurate fixed position can effectively avoid the occurrence of step loss.

The technical scheme adopted by the invention is as follows: a micro-switch adjusting method for positioning a space optical load stepping motor comprises the following specific implementation steps:

step one, adjusting the micro-switch adjusting device to any limit position, wherein the position is used as an initial position of an adjusting scheme.

And step two, connecting a motor drive controller and upper computer software, and observing a drive phase sequence of the conduction time of the microswitch fed back by the upper computer.

And step three, sending a reset instruction through the upper computer to enable the motor to run clockwise or anticlockwise.

And step four, the motor gear lever operates until the microswitch is closed to generate a conducting signal, the motor reversely operates for 4 steps (generally even steps according to requirements), and the motor driving phase sequence m when the motor stops is returned.

And step five, if m is an odd number of 1,3,5 or 7, the driving phase sequence at the conduction moment of the micro switch is a coincidence phase, and the two winding coils are simultaneously excited, namely AB, AB-A-B or A-B-A. At the moment, the coil stops being electrified, so that the position of the motor is uncertain, and step loss can be generated.

Step six, if m is an even number 2,4,6 and 8, the motor driving phase sequence at the conduction moment of the micro switch is a single term, namely A, B, A-or B-, no step-out is generated at the moment, and the motor stops at an accurate position.

Step seven, finely adjusting the position of the microswitch, fixing, repeatedly executing the step three until the step four, the step five and a critical state are found, and recording the position P1 of the microswitch.

And step eight, repeatedly executing the step seven, finding the critical state of the adjacent odd steps, and recording the position P2 of the microswitch.

Step nine, mark the center position of P1 and P2, fix the microswitch in this position.

Step ten, repeating the step three to the step nine by the micro switch adjusting method in the other direction.

Compared with the prior art, the invention has the advantages that:

(1) the invention provides a simple, feasible and reliable adjusting scheme without an accurate positioning scheme of a micro-switch mounting position in the prior art, can accurately position the optimal position of the micro-switch, and effectively eliminates the step-out phenomenon of a stepping motor in the resetting process.

(2) The adjusting method provided by the invention is convenient to operate, easy to repeat, accurate in adjustment and has guiding significance in the process of the optical-mechanical debugging test.

(3) The invention positions the micro-switches respectively from the reason of step-out, and the positions are consistent with the test state after the load.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic block diagram of the driver of the present invention;

FIG. 3 is a diagram of a motor position test according to the present invention;

FIG. 4 is a flow chart of an implementation of the present invention;

FIG. 5 is a diagram of upper computer software implemented by the present invention.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

The invention discloses a micro-switch position adjusting method for positioning a space optical load stepping motor, and the system is connected as shown in figure 1 and mainly comprises the stepping motor, a rotating disc, a stop lever and a micro-switch. The rotating disc is fixed on the output shaft of the motor and is used for mounting the calibration plate assembly and the switching mirror; the rotating disc moves along with the output shaft of the motor and rotates to different angle positions to switch the calibration component and the switching mirror; the micro switch is fixed on the outer wall of the motor base, the stop lever is fixed below the edge of the rotating disc and is positioned on a concentric circle with the micro switch touch arm, the micro switch touch arm can be operated clockwise or anticlockwise to hit the micro switch touch arm, when the touch arm is in place, the micro switch triggers a conduction signal, the signal is received by the FPGA to carry out corresponding action, and therefore the reset position of the rotating disc is accurately calibrated. The upper computer sends a control command to the motor driver, the driver analyzes a motor driving signal after receiving the command, the motor is driven to rotate, and a microswitch conduction signal is fed back to the upper computer through the controller. The functional block diagram of the stepping motor driver is shown in fig. 2 and comprises a differential interface, a main control FPGA, a motor driving chip LMD18200 and a microswitch action detection circuit. The differential interface loads serial communication connection of the digital tube computer. The FPGA is used as a control core of the driver and is responsible for communicating with a load counting tube computer, generating a drive chip control signal and controlling the movement of the stepping motor; meanwhile, the initial zero position of the rotating component is judged by detecting the action signal of the microswitch. And the LMD18200 is used as a double-path H-bridge driving circuit to realize the control of the current direction and the current magnitude of the stepping motor and drive the stepping motor to move according to the control signal of the FPGA. The micro-switch action detection circuit processes action signals of the micro-switch and then sends the action signals to the FPGA.

The specific implementation mode is as follows:

step one, adjusting the micro-switch adjusting device to any limit position, wherein the position is used as an initial position of an adjusting scheme.

And step two, connecting a motor drive controller and upper computer software, and observing a drive phase sequence of the conduction time of the microswitch fed back by the upper computer, as shown in fig. 5.

And step three, the upper computer sends an instruction to the motor drive board, and the motor runs for 100 steps clockwise or anticlockwise according to the instruction until the motor gear lever is driven to the microswitch. The command parameters are set according to the actual demand of the on-rail operation of the load, now requiring 50% PWM and 900(34 steps/sec) speed division.

And step four, the motor gear lever operates until the microswitch is closed, an in-place conducting signal is generated at the moment, and the drive plate drives the motor to reversely operate for 4 steps after receiving the conducting signal (according to actual requirements, the number of the backspacing steps is an even number, and the motor drive plate is solidified and backspacing for 4 steps). And the in-place stop position is the reset position of the motor, and then the motor is operated by taking the in-place stop position as a reference, corresponding steps are operated, and the motor driving phase sequence m is returned when the motor is stopped.

And step five, if m is an odd number of 1,3,5 or 7, the driving phase sequence at the conduction moment of the micro switch is in accordance with the phase sequence, and the two winding coils are excited simultaneously, namely AB, AB-, A-B or A-B-. At the moment, the coil stops electrifying, the position of the motor is uncertain, step loss can be generated, and the angle error is 0.9 degrees.

Step six, if m is an even number 2,4,6 and 8, the motor driving phase sequence at the conduction moment of the micro switch is a single-phase sequence, namely A, B, A-or B-, no step-out is generated at the moment, and the motor stops at the accurate position set by the instruction.

Step seven, finely adjusting the position of the microswitch, fixing the microswitch, repeatedly executing the step three until the critical states of the step four and the step five are found, and marking the position P1 of the microswitch.

Step eight, repeatedly executing the step seven, finding the critical state of the adjacent odd steps, and marking the position P2 of the microswitch.

Step nine, mark the center position of P1 and P2, fix the microswitch in this position. And repeatedly sending a reset instruction, observing the position of the laser light spot on the wall, and fixing the retreating position of the motor gear lever after the motor gear lever is driven to the microswitch, wherein the microswitch is in the optimal position.

Step ten, repeating the step three to the step nine by the micro switch adjusting method in the other direction, and the details are not repeated.