CN101895243A - Moment equilibrium controller in redundant actuation system - Google Patents
Moment equilibrium controller in redundant actuation system Download PDFInfo
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- CN101895243A CN101895243A CN 201010230021 CN201010230021A CN101895243A CN 101895243 A CN101895243 A CN 101895243A CN 201010230021 CN201010230021 CN 201010230021 CN 201010230021 A CN201010230021 A CN 201010230021A CN 101895243 A CN101895243 A CN 101895243A
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Abstract
The invention relates to a moment equilibrium controller in redundant actuation system, wherein a power supply management module supplies power to a communication protocol module and a control module via a printed circuit, the control module and the communication protocol module as well as the communication protocol module and a high-speed communication physical interface module are both interconnected via the printed circuit, and the control module realizes external communication via the communication protocol module and the high-speed communication physical interface module; the working frequency of the control module is not less than 10MHz, the communication protocol module needs to be matched with a high-speed communication physical interface which is reserved by a servo driver of the redundant system, and the maximal baud rate of the high-speed communication physical interface is not less than 100kHz. The control module and the communication protocol module adopt DSP chip TMS320F28335 from TI Corp. or SOPC single chip machine C8051F040 from Cygnal Corp. The high-speed optical coupling isolation chip adopts 6N137 and the bus physical drive chip adopts TJA1050T.
Description
Technical field
The invention belongs to each motor load moment equilibrium controller in the redundant actuation system.This device is applied in fields such as extraordinary radar redundant drive control system, other redundant drive control system and dual-motor drive system.
Background technology
In some specific demand occasion, as the air traffic control radar servo system etc., drive system reliability requires very high, is the probability that the minimizing system breaks down, and generally adopts redundant actuation system to reach its high reliability request.
In redundant actuation system, according to the driving power size, adopt many cover drive systems to drive, Dual-motors Driving more commonly, comprise two cover drive systems and two cover control system in the redundant Dual-motors Driving Servo System, specific embodiments can be referring to document " application of Redundancy Design in the air traffic control radar antenna driving system " (electronic product reliability and environmental test, in June, 2005).For reducing drive system power, two cover drive systems are to work simultaneously, (annotate: it is necessary working simultaneously, can reduce to drive drive train power and improve system useful life, drive drive train power reduce to bring drive plurality of advantages such as the drive system volume reduces).And two cover control system, one cover control system is in running order, and an other cover control system is in the Hot Spare state, and when a cover drive system broke down, servo system reduced index, and single cover drives, and an other cover is keeped in repair recovery.For realizing control of bi-motor moment equilibrium and control system automatic switching function, two cover control system and two cover drive systems need be passed through various technology physics interconnection, thereby realize Redundant Control.
In redundant dual drive system in the past, purpose by the interconnection of various technology mainly is to realize the control of bi-motor moment equilibrium and switch when breaking down in system, invent a kind of moment equilibrium controller control two cover drive system moment equilibriums of supporting hot plug, redundant system only need design the purpose that the duplicate common driving control system of two covers can be realized redundant actuation system, the complete physical isolation of two cover driving control systems, work alone separately, system design is simple and clear, technology maturation, single cover system maintenance can outage maintenance.
Mainly there is following shortcoming in tradition redundant drive control system:
1. self there is integrity problem in two complete equipment interconnection systems;
2. interconnect equipment online (under the "on" position) maintenance maintenance difficulty;
3. control appliance requires height, and equipment amount is big, and system forms complicated;
4. complexity height, the corresponding raising of development cost are developed in system design;
Summary of the invention
Technical problem to be solved:
Thereby the invention provides a kind of at above deficiency by two cover independent driving motor moments being detected in real time and by speed control being compensated the moment equilibrium controller of realizing moment equilibrium control.
Technical scheme:
Moment equilibrium controller comprises control module, communication protocol module, high speed communication physical interface module, power management module in a kind of redundant actuation system; Power management module is communication protocol module, control module power supply by printed circuit, between control module and the communication protocol module, all be connected by printed circuit between communication protocol module and the high speed communication physical interface module, control module realizes external communication by communication protocol module and high speed communication physical interface module; Operating frequency 〉=the 10MHz of control module, the high speed communication physical interface that the servo-driver of communication protocol module needs and redundant system is reserved is complementary the maximum baud rate 〉=100KHz of high speed communication physical interface.
Control module and communication protocol module adopt TI Company DSP chip TMS320F28335.
The high speed photo coupling isolating chip adopts 6N137, and the bus physical chip for driving adopts TJA1050T.
Control module and communication protocol module adopt the SOPC single-chip microcomputer C8051F040 of Cygnal company
Beneficial effect:
Design of the present invention makes redundant two driving control system not need electric interconnection, moment equilibrium controller is installed between the drive system of the independent control of two covers, motor torque is carried out equilibrium control, when certain cover drive system breaks down, the maintenance of can cutting off the power supply, system architecture is simple and clear, does not need dedicated control system, has reduced cost.
Description of drawings
Fig. 1 is that the present invention forms schematic diagram;
Fig. 2 is a principle of the invention block diagram;
Fig. 3 is an application example schematic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done explanation in further detail.
As shown in Figure 1, moment equilibrium controller comprises control module, communication protocol module, high speed communication physical interface module, power management module in a kind of redundant actuation system; Described control module is system's control core, is a kind of by monolithic high integration computer (as single-chip microcomputer or digital signal chip), mainly finishes the correction calculation and the data acquisition of torque difference; Communication protocol module is mainly finished according to the different driving system interface and is designed the communications protocol interface (as CAN bus, high-speed figure frequency mouth) that is complementary; The high speed communication physical interface module comprises high speed photo coupling isolating chip and bus physical chip for driving, finishes the physical drives of supporting hot plug and high speed communication; Power management module is mainly moment equilibrium controller power management and detection is provided.
Power management module is communication protocol module, control module power supply by printed circuit, between control module and the communication protocol module, all be connected by printed circuit between communication protocol module and the high speed communication physical interface module, control module realizes external communication by communication protocol module and high speed communication physical interface module.
Operating frequency 〉=the 10MHz of control module, the high speed communication physical interface that the servo-driver of communication protocol module needs and redundant system is reserved is complementary the maximum baud rate 〉=100KHz of high speed communication physical interface.
Control module detects the actual driving moment in redundant two driving control systems or the general two driving control system in real time by communication protocol module and high speed communication physical interface module, and carry out correction calculation, two driving control system speed are compensated, thereby reach moment equilibrium control.
As shown in Figure 2, servo-drive 1 and servo-drive 2 have comprised speed ring, Torque Control and motor respectively, realize the driving of redundant system, and it is the output torque that servo-drive detects motor in real time that moment detects.Servo-drive 1 and servo-drive 2 send moment detection in real time in the drive system to moment equilibrium controller, servo-drive 1 and servo-drive 2 were given in the difference loopback after poor moment correction in the moment equilibrium controller was carried out correction calculation to two actual torque differences of motor, given rotating speed summation back with the control system transmission is as the velocity setting of servo-drive, reach compensation because of the moment inequality that two cover drive system individual differences cause, finally make two the actual moment balanced drive of motor radar antenna runnings.
As shown in Figure 3, moment equilibrium controller comprises two field-bus interfaces (two fully independently interface), moment equilibrium controller adopts TI Company DSP chip TMS320F28335 (or adopting the SOPC single-chip microcomputer C8051F040 of Cygnal company), its operating frequency is 150MHz, this dsp chip contains two-way CAN bus (fieldbus) interface, therefore this chip possesses control module and two functions of communication protocol module (maximum baud rate 1MHz) among Fig. 1
Form two and overlap external interfaces (CAN bus) and be connected to drive system A and drive system B by cable respectively by expanding two cover universal high speed optocouplers (6N137) and physical interfaces (TJA1050T), drive system A and drive system B are the identical general driving of two covers systems, comprise control system and be responsible for the control system operation, servo-driver is used to control motor-driven, and performance element comprises motor, reduction box.
More than be the function and the course of work of moment equilibrium controller, below should be as necessary explanation in the redundant drive control system with regard to moment equilibrium controller:
When two servo-drivers detect moment equilibrium controller and break down, servo-driver automatically switches to the softer control model of characteristic, connect between moment equilibrium controller and the servo-drive and support hot plug, disconnect the connection between moment equilibrium controller and the servo-driver, change moment equilibrium controller, after connection finishes, rework automatically; When in two cover drive systems, a set of fault occurring, adopt single cover to drive, fault drive system outage maintenance, after maintenance finished, operate as normal directly powered on; More than be that moment equilibrium is used in the redundant two driving control systems and uses, moment equilibrium controller also can use in other pairs driving control system, does moment equilibrium control.
Though the present invention with preferred embodiment openly as above; but they are not to be used for limiting the present invention; anyly be familiar with this skill person; without departing from the spirit and scope of the invention; from when can doing various variations or retouching, so being as the criterion of should being defined with the application's claim protection range of protection scope of the present invention.
Claims (4)
1. moment equilibrium controller in the redundant actuation system is characterized in that: comprise control module, communication protocol module, high speed communication physical interface module, power management module; Power management module is communication protocol module, control module power supply by printed circuit, between control module and the communication protocol module, all be connected by printed circuit between communication protocol module and the high speed communication physical interface module, control module realizes external communication by communication protocol module and high speed communication physical interface module; Operating frequency 〉=the 10MHz of control module, the high speed communication physical interface that the servo-driver of communication protocol module needs and redundant system is reserved is complementary the maximum baud rate 〉=100KHz of high speed communication physical interface.
2. moment equilibrium controller in the redundant actuation system according to claim 1 is characterized in that: control module and communication protocol module adopt TI Company DSP chip TMS320F28335.
3. moment equilibrium controller in the redundant actuation system according to claim 1 is characterized in that: the high speed photo coupling isolating chip adopts 6N137, and the bus physical chip for driving adopts TJA1050T.
4. moment equilibrium controller in the redundant actuation system according to claim 1 and 2 is characterized in that: control module and communication protocol module adopt the SOPC single-chip microcomputer C8051F040 of Cygnal company.
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| CN 201010230021 CN101895243A (en) | 2010-07-19 | 2010-07-19 | Moment equilibrium controller in redundant actuation system |
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| CN 201010230021 CN101895243A (en) | 2010-07-19 | 2010-07-19 | Moment equilibrium controller in redundant actuation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106849763A (en) * | 2017-02-28 | 2017-06-13 | 武汉船用机械有限责任公司 | The control method and control device of a kind of hoistable platform |
| CN108566124A (en) * | 2018-03-30 | 2018-09-21 | 宁波欣达印刷机器有限公司 | A kind of material volume bilateral driving control system and material volume equipment |
| CN111769764A (en) * | 2020-05-20 | 2020-10-13 | 中车株洲电力机车研究所有限公司 | Multi-motor power balance control method, electronic equipment and multi-motor transmission system |
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| CN108566124A (en) * | 2018-03-30 | 2018-09-21 | 宁波欣达印刷机器有限公司 | A kind of material volume bilateral driving control system and material volume equipment |
| CN111769764A (en) * | 2020-05-20 | 2020-10-13 | 中车株洲电力机车研究所有限公司 | Multi-motor power balance control method, electronic equipment and multi-motor transmission system |
| CN111769764B (en) * | 2020-05-20 | 2023-04-07 | 中车株洲电力机车研究所有限公司 | Multi-motor power balance control method and related equipment |
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Application publication date: 20101124 |