CN103279128A - Slip form control method and drive device for dual-redundancy brushless direct-current motor steering engine - Google Patents

Abstract

The invention provides a slip form control method and a drive device for a dual-redundancy brushless direct-current motor steering engine. A slip form drive controller receives a control surface position given signal and a control surface position feedback signal, through the control of a slip form controller algorithm, a dual-redundancy brushless direct-current motor is driven to work, the torque is applied to the controlled surface through a transmission gear set, so that the control surface can act according to the given control surface position signal. By adopting the method and the drive device, the current of two sets of windings of the motor can be balanced, the force dispute problem can be solved, the control precision can be improved, and the reliability of the engine system also can be improved.

Description

The sliding-mode control and the drive unit that are used for two margin brushless DC electric steering engines

Technical field

The present invention relates to a kind of control method and drive unit of electric steering engine.

Background technology

The brush-less Dc motor steering wheel has the advantages that volume is little, control accuracy is high, has obtained using widely in the aircraft steering engine system.At present, the development of steering wheel redundant control system rapidly, present achievement has: publication number is that the patent " dual-redundancy steering engine controller " of CN101799689A adopts two remaining designs, but only power driving circuit two remaining designs have been carried out, go out force motor and still be single remaining motor, its system reliability has much room for improvement; Publication number is that the patent " a kind of dual-redundancy steering engine system " of CN202632110U also adopts two remainings designs, and still, it more stresses the fault diagnosis of system and isolation, for motor control method, still adopts classical PID control, and control accuracy is not high.

Summary of the invention

In order to overcome the deficiencies in the prior art, the present invention is control object with two margin brushless DC motors, and a kind of sliding formwork sharing control strategy is provided, and has solved two cover winding power dispute problems, improves control accuracy.

The technical solution adopted for the present invention to solve the technical problems may further comprise the steps:

The first step, controller receive given rudder face position θ _GvAnd feedback rudder face position θ;

In second step, calculate rudder face site error e=θ _Gv-θ;

In the 3rd step, set up the sliding formwork line

Wherein, c is error coefficient, 0＜c＜10;

The 4th step, the current-sharing electric current output of calculating two electrode windings

$\left\{\begin{array}{c}{\hat{i}}_1=[\mathrm{Jc}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{gv}}-\mathrm{Jc\ω}+J{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{gv}}+\mathrm{B\ω}+T_L+\mathrm{J\ξsgn}\left(s\right)+\mathrm{Jks}]/2K_T\\ {\hat{i}}_2=[\mathrm{Jc}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{gv}}-\mathrm{Jc\ω}+J{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{gv}}+\mathrm{B\ω}+T_L+\mathrm{J\ξsgn}\left(s\right)+\mathrm{Jks}]/2K_T\end{array}\right.$

In the formula: J is load rotating inertia,

Be the subdifferential to given rudder face position,

Be the second differential of given rudder face position, B is the coefficient of viscosity, and ω is motor angular velocity, T _LBe load torque, K _TBe winding average torque coefficient, ξ＞0, k＞0;

The 5th goes on foot, and gathers the current feedback signal i of two motor windings respectively ₁And i ₂, calculate current error signal

And $e_{i2}={\hat{i}}_2-i_2;$

The 6th step, carry out flow equalizing ring PID control, drive two margin brushless DC machine operation;

The 7th step, gather the rudder face position signalling, feed back to controller, namely go to the first step.

The present invention also provides following drive unit: comprise sliding formwork driving governor, two margin brushless DC motor, driving gear set and controlled rudder face.The sliding formwork driving governor receives the given signal in rudder face position and rudder face position feed back signal, through the control of sliding mode controller algorithm, drive two margin brushless DC machine operation, moment is applied to controlled rudder face by driving gear set, and rudder face is moved according to given rudder face position signalling.

Wherein, the sliding formwork driving governor comprises controller DSP, digital buffer circuit unit, drive circuit unit, main power circuit unit, current acquisition circuit unit, given signal conditioning circuit unit, position, position feedback and modulate circuit unit and RS-422 communication unit.The given signal in rudder face position and rudder face position feed back signal are through given signal conditioning circuit unit, position and position feedback and modulate circuit unit input DSP, carry out analog to digital conversion, after DSP receives the rudder face position command, pass through sliding mode control algorithm, output drive signal, drive signal through digital buffer circuit unit and drive circuit unit, drive the power tube of main power circuit unit, the two margin brushless DC machine operation of control.The bus current of two margin brushless DC motors is realized the electric current loop closed-loop control through the sampling of current acquisition circuit unit.The position transducer that links to each other with driving gear set feeds back the current location of rudder face in real time, passes to DSP, finishes the control of rudder face position closed loop.Rudder face position actual measured value is passed to host computer through the RS-422 communication unit and is monitored.

The invention has the beneficial effects as follows: be research object with two margin brushless DC motor servo systems, proposed a kind of sliding formwork sharing control strategy, balance motor two cover winding currents, solution power dispute problem improves the reliability of rudder system simultaneously.

Description of drawings

Fig. 1 is the control procedure process flow diagram.

Fig. 2 is the steering gear control system driving device structure.

Among the figure, 1-steering engine controller, 2-two margin brushless DC motors, 3-driving gear set, 4-controlled rudder face

Wherein, steering engine controller comprises: 5-RS-422 communication unit, 6-given signal conditioning circuit unit, 7-DSP control module, 8-digital buffer circuit unit, 9-driver element, 10-main power circuit unit, 11-current sensor, 12-feedback signal conditioning circuit, 13-rudder face position transducer.

Embodiment

Further describe the present invention below in conjunction with drawings and Examples.

As shown in Figure 1, control method provided by the invention is:

The first step, controller receive given rudder face position θ _GvAnd feedback face position θ; Went to for second step.

In second step, calculate rudder face site error e=θ _Gv-θ; Went to for the 3rd step.

In the 3rd step, set up the sliding formwork line

Wherein,

Be e one subdifferential to the rudder face site error; C is error coefficient, and its span is set at 0＜c＜10 at this; Went to for the 4th step.

In the 4th step, calculate the output of current-sharing electric current

Wherein:

$\left\{\begin{array}{c}{\hat{i}}_1=[\mathrm{Jc}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{gv}}-\mathrm{Jc\ω}+J{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{gv}}+\mathrm{B\ω}+T_L+\mathrm{J\ξsgn}\left(s\right)+\mathrm{Jks}]/2K_T\\ {\hat{i}}_2=[\mathrm{Jc}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{gv}}-\mathrm{Jc\ω}+J{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{gv}}+\mathrm{B\ω}+T_L+\mathrm{J\ξsgn}\left(s\right)+\mathrm{Jks}]/2K_T\end{array}\right.$

In the formula: J is load rotating inertia,

Be the subdifferential to given rudder face position,

Be the second differential of given rudder face position, B is the coefficient of viscosity, and ω is motor angular velocity, T _LBe load torque, K _TBe winding average torque coefficient, ξ＞0, k＞0; Went to for the 5th step.

In the 5th step, gather motor winding 1 current feedback signal i respectively ₁And motor winding 2 current feedback signal i ₂, calculate current error signal

And Went to for the 6th step.

The 6th step, carry out flow equalizing ring PID control, drive two margin brushless DC machine operation; Went to for the 7th step.

The 7th step, gather current rudder face position signalling, feed back to sliding mode controller, namely go to the first step.

As shown in Figure 2, the present invention also provides following drive unit: comprise steering engine controller 1, two margin brushless DC motors 2, driving gear set 3, controlled rudder face 4.Steering engine controller 1 receives the given signal in rudder face position and rudder face position feed back signal, through controller algorithm control, drive two margin brushless DC motor 2 work, moment is applied to controlled rudder face 4 by 3 groups of transmission gears, and controlled rudder face 4 is moved according to given rudder face position signalling.

Wherein, steering engine controller partly comprises: 5-RS-422 communication unit, 6-given signal conditioning circuit unit, 7-DSP control module, 8-digital buffer circuit unit, 9-drive circuit unit, 10-main power circuit unit, 11-current sensor, 12-feedback signal conditioning circuit, 13-rudder face position transducer.The given signal in rudder face position and rudder face position feed back signal pass through given signal conditioning circuit 6 and feedback signal conditioning electricity 12 respectively, DSP control module 7, change, control by control algolithm, output drive signal, drive signal through numeral isolation 8, driving circuit 9, drive the power tube of main power circuit 10, two margin brushless DC motor 2 work of control.Moment is applied to controlled rudder face 4 by 3 groups of transmission gears, and controlled rudder face 4 is moved according to given rudder face position signalling.The bus current of brshless DC motor is sent into DSP control module 7 through current sensor 11 samplings, realizes the electric current loop closed-loop control.With the current location of the position transducer that the links to each other 13 real-time feedback controlled rudder faces 4 of driving gear set 3, pass to DSP control module 7, finish the control of rudder face position closed loop.Rudder face position actual measured value is passed to host computer through RS-422 communication unit 5 and is monitored.

Claims (3)

1. a sliding-mode control that is used for two margin brushless DC electric steering engines is characterized in that comprising the steps:

The first step, controller receive given rudder face position θ _GvAnd feedback rudder face position θ;

In second step, calculate rudder face site error e=θ _Gv-θ;

In the 3rd step, set up the sliding formwork line

Wherein, c is error coefficient, 0＜c＜10;

The 4th step, the current-sharing electric current output of calculating two electrode windings

$\left\{\begin{array}{c}{\hat{i}}_1=[\mathrm{Jc}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{gv}}-\mathrm{Jc\ω}+J{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{gv}}+\mathrm{B\ω}+T_L+\mathrm{J\ξsgn}\left(s\right)+\mathrm{Jks}]/2K_T\\ {\hat{i}}_2=[\mathrm{Jc}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{gv}}-\mathrm{Jc\ω}+J{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{gv}}+\mathrm{B\ω}+T_L+\mathrm{J\ξsgn}\left(s\right)+\mathrm{Jks}]/2K_T\end{array}\right.$

In the formula: J is load rotating inertia,

Be the subdifferential to given rudder face position,

Be the second differential of given rudder face position, B is the coefficient of viscosity, and ω is motor angular velocity, T _LBe load torque, K _TBe winding average torque coefficient, ξ＞0, k＞0;

The 5th goes on foot, and gathers the current feedback signal i of two motor windings respectively ₁And i ₂, calculate current error signal And $e_{i2}={\hat{i}}_2-i_2;$

The 6th step, carry out flow equalizing ring PID control, drive two margin brushless DC machine operation;

The 7th step, gather the rudder face position signalling, feed back to controller, namely go to the first step.

2. drive unit that is used for two margin brushless DC electric steering engines that utilizes the described method of claim 1, comprise sliding formwork driving governor, two margin brushless DC motor, driving gear set and controlled rudder face, it is characterized in that: the sliding formwork driving governor receives the given signal in rudder face position and rudder face position feed back signal, through the control of sliding mode controller algorithm, drive two margin brushless DC machine operation, moment is applied to controlled rudder face by driving gear set, and rudder face is moved according to given rudder face position signalling.

3. the drive unit for two margin brushless DC electric steering engines according to claim 2, it is characterized in that: described sliding formwork driving governor comprises controller DSP, digital buffer circuit unit, drive circuit unit, main power circuit unit, current acquisition circuit unit, given signal conditioning circuit unit, position, position feedback and modulate circuit unit and RS-422 communication unit.The given signal in rudder face position and rudder face position feed back signal are through given signal conditioning circuit unit, position and position feedback and modulate circuit unit input DSP, carry out analog to digital conversion, after DSP receives the rudder face position command, pass through sliding mode control algorithm, output drive signal, drive signal through digital buffer circuit unit and drive circuit unit, drive the power tube of main power circuit unit, the two margin brushless DC machine operation of control.The bus current of two margin brushless DC motors is realized the electric current loop closed-loop control through the sampling of current acquisition circuit unit.The position transducer that links to each other with driving gear set feeds back the current location of rudder face in real time, passes to DSP, finishes the control of rudder face position closed loop.Rudder face position actual measured value is passed to host computer through the RS-422 communication unit and is monitored.

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