CN102053570B - Single-chip digital controller for electric steering engine and unipolar and dipolar modulation control method - Google Patents
Single-chip digital controller for electric steering engine and unipolar and dipolar modulation control method Download PDFInfo
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Abstract
The invention relates to a single-chip digital controller for an electric steering engine. The single-chip digital controller comprises a control quantity input logical circuit, a state inspection logical circuit, an arithmetic operation logical circuit used for converting the control quantity M into a forward drive pulse width P or/and a reverse drive pulse width N for output, and a pulse-width modulation logical circuit used for receiving control information of a control register and output signals of the state inspection logical circuit and for outputting corresponding PWM (pulse width modulation) wave signals as per the drive pulse width values P and N output by the arithmetic operation logical circuit. The control quantity input logical circuit, the state inspection logical circuit, the arithmetic operation logical circuit and the pulse-width modulation logical circuit are integrated on a same chip. Since single-chip integration is adopted, the system structure is simpler, which meets the application demand of the control system of the steering engine of a miniaturized aircraft. During use, the output mode can be adjusted as per the double requirements of the electric steering engine for precision and power consumption, and the control efficiency and the flexibility of the steering engine controller are improved.
Description
Technical field
The present invention relates to a kind of digitial controller that can export single bipolar pwm pulse modulation signal with the work of driving electric steering engine.
Background technology
Steering wheel is the topworks of aircraft, and it is directly connected to the control accuracy and the dynamic quality of aircraft.Traditional aircraft is generally continued to use hydraulic sterring engine or air pressure steering wheel, increasingly mature along with full electrical actuation technology in recent years, proof is explored in long-term theory and practice, with electric steering engine replace hydraulic pressure, the air pressure steering wheel has become a kind of inevitable trend.The application of electric steering engine can improve the performance of system in each side such as reliability, maintenanceability, protections greatly, and alleviate greatly aircraft weight, reduce maintenance cost etc.Therefore, electric steering engine has been widely used in the Navigation Control of various aircraft.
Because aircraft special electric steering wheel is very high to the requirement of the control accuracy of controller and real-time, therefore its control system that mainly adopts DSP to combine the PWM pulse width modulator to constitute of its controller realizes steering wheel control at present.Wherein DSP mainly adopts software algorithm to realize the real-time processing of paired domination number certificate, and the PWM pulse width modulator then produces control signal corresponding according to the control data that DSP handles well, requires running with the control steering wheel according to setting.Though the solution of this steering gear control system possesses applying flexible; Characteristics such as control performance is good, but also come with some shortcomings, mainly show as the DSP application and have complex structure; Shortcomings such as technical difficulty is big, cost of development height; Particularly, occupy bigger control system area, thereby can't satisfy the application demand of miniaturization aircraft steering engine control system because the DSP application structure is complicated.
Summary of the invention
The object of the invention provides and a kind ofly controls flexibly, single-chip is integrated, the digitial controller of single bipolar modulated signal output can be provided.
In order to achieve the above object, the technical scheme that the present invention adopted is: a kind of electric steering engine is used the single-chip digitial controller, and it is used to export at least one road PWM pulse-width signal to drive electric steering engine work, and it comprises:
The controlled quentity controlled variable input logic circuit; Described control input logic circuit comprises at least one passage controlled quentity controlled variable register, dead band register, period register and control register, and described passage controlled quentity controlled variable register is used to store respective channel forward steering wheel output pulse duty factor and the pairing controlled quentity controlled variable M of reverse steering wheel output pulse duty factor; Described dead band register and period register be memory cycle T information and Dead Time D information respectively; Described control register is used to store the control information of configuration entire controller work such as each pathway closure enable signal, trigger pip, single bipolar operation pattern;
The state-detection logical circuit; It is mainly used in the controlled quentity controlled variable data that receive in each channel control register; And whether the controlled quentity controlled variable data that receive judged in preset range; If the controlled quentity controlled variable that receives is not in preset range, described state-detection logical circuit will be adjusted controlled quentity controlled variable to preset range automatically, and output s operation control signal and computing load signal;
The arithmetical operation logical circuit, it is made up of multiplier, totalizer, and described arithmetical operation logical circuit is used for converting controlled quentity controlled variable M into forward drive pulse width P or/and reverse drive pulse width N output;
The width modulation logical circuit; Form by at least one width modulation passage; It receives the control information of control register and the output signal of state-detection logical circuit, and according to pulse width values P and N that arithmetic logical operation circuit is exported, exports corresponding PWM waveform signal;
Described controlled quentity controlled variable input logic circuit, state-detection logical circuit, arithmetical operation logical circuit and width modulation logical circuit are integrated on the same chip, and this chip has to be used to receive with the corresponding input pin of the corresponding registers of controlled quentity controlled variable input logic circuit and with width modulation logical circuit PWM waveform signal exports corresponding output pin.
In the embodiment of optimizing according to technique scheme; Described controlled quentity controlled variable input logic circuit also comprises the MUX that is connected with each controlled quentity controlled variable register, and described MUX accepting state detects the s operation control signal of logical circuit output and exports in controlled quentity controlled variable to the arithmetical operation logical circuit of respective channel.
Described state-detection logical circuit controlled quentity controlled variable preset range is between 40～4000, and less than 40, this circuit is with 40 outputs of the controlled quentity controlled variable value of being arranged to as if the controlled quentity controlled variable M that imports; If the controlled quentity controlled variable M of input is greater than 4000, this circuit is with 4000 outputs of the controlled quentity controlled variable value of being arranged to.
In above-mentioned 40～4000 the preset range; When importing controlled quentity controlled variable M between 40～2000; For reverse steering wheel drives output, described reverse steering wheel drives output and is defined as in one-period, and forward steering wheel driving pulse width P is less than reverse steering wheel driving pulse width N; When input controlled quentity controlled variable M between 2000～4000, be that the forward steering wheel drives output, described forward steering wheel drives output and is defined as in one-period, forward steering wheel driving pulse width P is greater than reverse steering wheel driving pulse width N.
Described arithmetical operation logical circuit is according to input controlled quentity controlled variable M, dead band D, cycle T and mode of operation information; The conversion regime that carries out P pulse width and N pulse width is: under the bipolar operation pattern; When input controlled quentity controlled variable during at 40≤M＜2000; The P pulse width is
N pulse width
when input controlled quentity controlled variable M=2000, and the P pulse width is 50%T-D, N pulse width 50%T-D; When input controlled quentity controlled variable 2000＜M≤4000; The P pulse width is that 2000＜M≤4000, N pulse width
are under the monopolar operation pattern; When input controlled quentity controlled variable 40≤M＜2000; The P pulse width be 0%T, N pulse width
when input controlled quentity controlled variable M=2000, the P pulse width is 0%T, N pulse width 0%T; When input controlled quentity controlled variable 2000＜M≤4000, the P pulse width is
N pulse width 0%T.
Described width modulation logical circuit is made up of positive and negative pulse width register, buffer, counter buffer, counter, state machine and output control circuit; Described arithmetical operation logical circuit will be imported and write corresponding positive and negative pulse width register after controlled quentity controlled variable M is converted into P, N, D count value;, the state-detection logical circuit is not written in the buffer under having the situation of error interrupt signal; The data of said buffer begin to be written into counter buffer in each output cycle; The value of counter buffer writes counter in the arrival of next clock signal; Counter is respectively to P, N, D controlled quentity controlled variable counting, and every completion is once counted and will be produced a pulse signal control state machine and carry out the state redirect, and output control circuit is exported the corresponding modulation waveform according to the state of state machine.
The present invention also provides a kind of single bipolar modulated output control method; This method realizes through being arranged on described width modulation logical circuit internal state machine; This state machine has Idle state, PD state, Dead state, ND state; At electrification reset or when quitting work, state machine is in the Idle state; When detecting trigger pip, if current direct impulse width P count value is not equal to 0, then state machine gets into forward drive PD state, and the effective forward drive steering wheel of output low level signal; If current P count value equals 0, state machine then gets into the Dead state, does not export any drive signal; If state machine gets into the PD state, its counter subtracts counting, after accomplishing the needed time counting of forward drive, produces state redirect signal, and state machine gets into the Dead state thereupon; Under the Dead state, counter subtracts counting Dead Time D, and counting finishes back generation state redirect signal, if current N counting is not equal to 0, then state machine gets into reverse drive ND state, output reverse drive steering wheel signal; If current N count value equals 0, then state machine gets into the Idle state, does not export any drive signal; After state machine got into reverse drive ND state, counter subtracted counting, until the count value of having counted reverse drive steering wheel N, gets back to the Idle state once more, so circulation.
Because adopt technique scheme, the present invention has the following advantages: Electromechanical Actuator Controller of the present invention adopts single-chip integrated, and system architecture is simpler, satisfies the application demand of miniaturization aircraft steering engine control system.And through arithmetic operation units such as embedded hardware multiplier, totalizer and shift unit in controller inside; Can the paired domination number certificate handle in real time; Effectively increased data-handling capacity; It is that electric steering engine provides bipolar modulated output and one pole modulation output that the width modulation logical circuit adopts the PWM pulse width modulation mode, so in use, can regulate output mode to the dual requirements of precision and power consumption according to electric steering engine; Improve the control efficiency and the dirigibility of steering engine controller, had bigger application value.
Description of drawings
Accompanying drawing 1 is bipolar width modulation output waveform figure;
Accompanying drawing 2 is an one pole width modulation output waveform figure;
Accompanying drawing 3 is realized theory diagram for single-chip digitial controller of the present invention;
Accompanying drawing 4 is width modulation logic circuit structure block diagram;
Accompanying drawing 5 is the constitutional diagram of width modulation logic circuit states machine.
Embodiment
Below in conjunction with accompanying drawing, the preferred specific embodiment of the present invention is described:
The present invention provide a kind of be integrated in can realize bipolar modulated output on the one chip modulation is exported with one pole be used for the aircraft steering engine driving governor.So-called bipolar modulated be exactly in an output cycle existing forward steering wheel driving pulse P comprise reverse steering wheel driving pulse N again; To the control of steering wheel difference decision by both; As shown in Figure 1; As forward steering wheel driving pulse width P during, will control the steering wheel forward rotation greater than reverse steering wheel driving pulse width N; As forward steering wheel driving pulse width P during, will drive the steering wheel counter-rotation less than reverse steering wheel driving pulse width N; When forward steering wheel driving pulse width P equals reverse steering wheel driving pulse width N, do not drive steering wheel.It is high that this modulation system drives steering wheel precision, quiet, dynamic perfromance good, but that weak point is power consumption is bigger.And the one pole modulation is in an output cycle, to have only wherein a kind of output pulse, and is as shown in Figure 2.If forward drive steering wheel, just output forward steering wheel driving pulse P in each output cycle; And during the reverse drive steering wheel, then only need the reverse steering wheel driving pulse width N of output.This mode can effectively reduce power consumption, but there is static friction in system, and its dynamic and static characteristic can slightly reduce.Because the relative merits of two kinds of modulating modes exist complementary, so can be according to the work requirements of electric steering engine, in the driving process; The bipolar output mode with one pole of conversion; As in the process of steering wheel work, the adjustment of steering wheel position can be selected the unipolar pulse modulation way of output earlier in earlier stage; Carry out coarse regulation, can guarantee lower system drive power consumption; When the steering wheel position was adjusted near the target location, the variable bipolar pulse modulation way of output that is changed to was carried out fine control, thereby is effectively improved its control accuracy, thus two kinds of modulating modes are combined to use, thus obtain bigger benefit.
The controller of realizing single bipolar modulated pattern provided by the present invention, it mainly is made up of controlled quentity controlled variable input logic circuit, state-detection logical circuit, arithmetical operation logical circuit and width modulation logical circuit, and is as shown in Figure 3.Said controlled quentity controlled variable input logic circuit is mainly accomplished input and the storage to each passage controlled quentity controlled variable data; The state-detection logical circuit mainly is that the input controlled quentity controlled variable is detected, and according to testing result output s operation control signal and computing load signal; The arithmetical operation logical circuit mainly is to accomplish the controlled quentity controlled variable data are carried out arithmetic processing, and converts required P pulsewidth of width modulation logical circuit and N pulse-width data into; The width modulation logical circuit produces corresponding electric steering engine pwm control signal according to transforming good controlled quentity controlled variable data.Described each functional circuit is realized through digital circuit; And be integrated on the chip piece; This chip has and the corresponding input pin of the register of controlled quentity controlled variable input logic circuit, and with the corresponding output pin of pulsed modulation logical circuit waveform signal output terminal.Output pins such as chip selection signal as shown in Figure 3, write signal, data [15:0], address input pins such as [3:0] and P0 output, N0 output.To be elaborated to each functional circuit below:
The controlled quentity controlled variable input logic circuit mainly is made up of a plurality of passage controlled quentity controlled variable registers, dead band register, period register and control register.Wherein, Passage controlled quentity controlled variable register is mainly stored each passage forward steering wheel output pulse duty factor and the pairing controlled quentity controlled variable M information of reverse steering wheel output pulse duty factor, and the hyperchannel controlled quentity controlled variable exports data serial successively to the arithmetical operation logical circuit through MUX.Period register and dead band register be memory cycle T information and Dead Time D information respectively.Control register be used to store closing of each passage open enable, control informations such as trigger pip and mode of operation.Various control datas and information will be through the respective pins relevant register of writing direct.Controller shown in the present embodiment, it has 5 passage outputs, so in the controlled quentity controlled variable input logic circuit, have and 5 corresponding to 5 passage controlled quentity controlled variable registers of passage output quantity.Table 1 has provided the address assignment of above-mentioned each register of present embodiment institute practical implementation:
Table 1
Whether said state-detection logical circuit is used to receive the input controlled quentity controlled variable M in the respective channel, and the M value is detected, correct to confirm the controlled quentity controlled variable input.The controlled quentity controlled variable preset range is between 40～4000; If the input controlled quentity controlled variable M value of current reception is in 40～4000; Then import controlled quentity controlled variable and meet the requirements, the state-detection logical circuit will be exported s operation control signal to multichannel selector switch and export the computing load signal to the width modulation logical circuit.If detect input controlled quentity controlled variable M not in 40～4000 scopes, then circuit will be adjusted within controlled quentity controlled variable to this scope automatically.The adjustment mode is: if controlled quentity controlled variable M less than 40, then will import controlled quentity controlled variable M and be arranged to minimum value 40; If controlled quentity controlled variable M greater than 4000, then imports controlled quentity controlled variable M and is set to maximal value 4000.Secondly, under double-edge modulation, if the value of input controlled quentity controlled variable M exceeds the situation of the maximal value (being the difference of cycle and twice Dead Time) that allows output, then circuit will be exported according to the maximal value controlled quentity controlled variable.Simultaneously according to testing result output s operation control signal and computing load signal.
The arithmetical operation logical circuit is mainly accomplished the calculating conversion of input controlled quentity controlled variable M to P, N count value.Different working modes, controlled quentity controlled variable M is also inequality to the conversion relational expression of P, N count value.For fear of the situation that no dead band occurs occurring when two positive and negative full loads overlap output, setting reverse impulse output maximum duty cycle is 98%, so the scope of input controlled quentity controlled variable is designed to 40～4000.When input controlled quentity controlled variable scope is 40～2000, for reverse steering wheel drives output, when input controlled quentity controlled variable scope is 2000～4000, for the forward steering wheel drives output.Table 2 has been listed conversion relational expression under the different working modes:
Table 2
Can find out by last table, comprise under the situation of controlled quentity controlled variable M, cycle T, Dead Time D that the arithmetical operation logical circuit just can calculate the value that the forward steering wheel drives pulsewidth P and reverse steering wheel driving pulsewidth N at the input known signal.Can know that by the relational expression in the table 2 arithmetic circuity need accomplish multiplication, division and subtraction, therefore, on circuit, the multiplication of controlled quentity controlled variable M and cycle T is realized by 16 multipliers.Division is mainly accomplished multiplication result divided by 1000 computing, and promptly
does Taylor expansion with this formula:
So division arithmetic is convertible into displacement and additive operation is accomplished, thereby has reduced circuit power consumption and area, has improved arithmetic speed.
Because the relational expression of controlled quentity controlled variable M and output duty cycle C is: M=2000+2000 * C.Wherein 2000 is for the ease of the special side-play amount that adds of controlled quentity controlled variable input.Can be known that by the above-mentioned relation formula if export 50% forward drive steering wheel signal, promptly output duty cycle is+50%, the value of then importing controlled quentity controlled variable M is 3000.If will export 50% reverse drive steering wheel signal, promptly output duty cycle is-50%, and the value of then importing controlled quentity controlled variable M is 1000; Therefore; In concrete the use, need only output duty cycle according to demand, become corresponding controlled quentity controlled variable M to input in this controller this duty cycle conversion through host computer; Can realize the output of the PWM waveform signal of required dutycycle, so control is extremely simple.
The segmentation of width modulation logical circuit internal circuit is as shown in Figure 4, and it mainly is made up of positive and negative pulse width register (P, N, D register), buffer, counter buffer, counter, state machine and several parts of output control circuit.The signal transitive relation is following between circuit: described arithmetical operation logical circuit writes P, N, D register together with dead band cycle D value after controlled quentity controlled variable M is converted into corresponding P, N count value; Data in the P, N, D register are not written in P, N, the D buffer under the state-detection logical circuit detects the situation of error interrupt signal; To guarantee the validity of control data like this, improve the reliability of circuit; The data of P, N, D buffer are written into counter buffer at the rising edge of the trigger pip that each sign output cycle begins; The value of counter buffer writes counter in next rising edge of clock signal again, has guaranteed the complete of each output periodic Control amount like this; Counter is respectively to P, N, D controlled quentity controlled variable counting, and every completion is once counted and will be produced a pulse signal control state machine and carry out the state redirect; State machine produces the data under the pulse signal control counter loading new state after getting into new state simultaneously; Output control circuit is according to the state output corresponding modulation waveform of state machine.
Further specify in the face of the concrete transfer process of state machine down, this transfer process realizes the output of single bipolar modulated: as shown in Figure 5, and electrification reset or when quitting work, state machine gets into idle waiting Idle state; When the rising edge that detects trigger pip Tstart, if current P count value is not equal to 0, then state machine gets into forward drive PD state, and the effective forward drive steering wheel of output low level signal; If current P count value equals 0, state machine then gets into dead band Dead state, does not export any drive signal; After state machine got into forward drive PD state, counter subtracted counting, after accomplishing the needed time counting of forward drive, produced state redirect signal StartTurn, and state machine gets into dead band Dead state thereupon; Under the state Dead of dead band; Counter subtracts the counting Dead Time, and counting finishes back generation state redirect signal StartTurn, if current N counting is not equal to 0; Then state machine gets into reverse drive ND state after detecting state redirect signal StartTurn, output reverse drive steering wheel signal; If current N count value equals 0, then state machine gets into idle waiting Idle state after detecting state redirect signal StartTurn, does not export any drive signal; After state machine got into reverse drive ND state, counter subtracted counting, got back to idle waiting Idle state, so circulation until producing after the count value of having counted the reverse drive steering wheel after state redirect signal StartTurn. state machine receives state redirect signal.
Above-mentioned structure and logic realization to steering engine controller is illustrated, and it is the most crucial part of design of Controller.The conversion of circuit from logical relation to the physics gate circuit is to adopt Design Compilier circuit synthesis software to carry out circuit logic comprehensively to realize, the domain of circuit is made and adopted layout drawing software Astro to accomplish automatic layout design.Circuit flow manufacturing adopts standard 0.5us CMOS technology to accomplish, and encapsulation adopts 44 pin TSOP ceramic package shells to carry out.Circuit of single-chip integrated standard design and work flow are all adopted in the logic synthesis of circuit, automatic layout design, flow manufacturing and packaging and testing, give unnecessary details no longer in detail at this.
According to the Electromechanical Actuator Controller that foregoing is realized, it has following characteristics:
(1) adopt the single-chip integrated solution, simple in structure, applying flexible, cost of development is low;
(2) adopt the PWM pulse width modulation mode to realize the Digital Control steering wheel, improved control efficiency;
(3) embed arithmetical units such as hardware multiplier, totalizer and shift unit, improved the data-handling capacity and control real-time of control;
(4) have two kinds of mode of operations of bipolar modulated and one pole modulation, satisfy the dual-use demand of high precision and low-power consumption;
(5) have status detection function, effectively protected the steering wheel reliability service;
(6) circuit has the independent controlled output of hyperchannel, satisfies many group steering wheels and controls requirement simultaneously;
The foregoing description only is explanation technical conceive of the present invention and characteristics; Its purpose is to let the personage who is familiar with this technology can understand content of the present invention and enforcement according to this; Can not limit protection scope of the present invention with this; All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (6)
1. an electric steering engine is used the single-chip digitial controller, and it is used to export at least one road PWM pulse-width signal to drive electric steering engine work, and it comprises:
The controlled quentity controlled variable input logic circuit; Described controlled quentity controlled variable input logic circuit comprises at least one passage controlled quentity controlled variable register, dead band register, period register and control register, and described passage controlled quentity controlled variable register is used to store respective channel forward steering wheel output pulse duty factor and the pairing controlled quentity controlled variable M of reverse steering wheel output pulse duty factor; Described dead band register and period register are stored Dead Time D and cycle T information respectively; Described control register is used to store each pathway closure enable signal, trigger pip, single bipolar operation pattern to dispose the control information of entire controller work;
The state-detection logical circuit; It is mainly used in the controlled quentity controlled variable data that receive in each passage controlled quentity controlled variable register; And whether the controlled quentity controlled variable data that receive judged in preset range; If the controlled quentity controlled variable that receives is not in preset range, described state-detection logical circuit will be adjusted controlled quentity controlled variable to preset range automatically, and output s operation control signal and computing load signal;
The arithmetical operation logical circuit, it is made up of multiplier, totalizer, shift unit, and described arithmetical operation logical circuit is used for converting controlled quentity controlled variable M into forward drive pulse width P or/and reverse drive pulse width N output;
The width modulation logical circuit; Form by at least one width modulation passage; It receives the control information of control register and the output signal of state-detection logical circuit, and according to pulse width values P and N that the arithmetical operation logical circuit is exported, exports corresponding PWM waveform signal;
Described controlled quentity controlled variable input logic circuit, state-detection logical circuit, arithmetical operation logical circuit and width modulation logical circuit are integrated on the same chip, and this chip has to be used to receive with the corresponding input pin of the corresponding registers of controlled quentity controlled variable input logic circuit and with width modulation logical circuit PWM waveform signal exports corresponding output pin;
Described state-detection logical circuit controlled quentity controlled variable preset range is between 40～4000, and less than 40, this circuit is with 40 outputs of the controlled quentity controlled variable value of being arranged to as if the controlled quentity controlled variable M that imports; If the controlled quentity controlled variable M of input is greater than 4000, this circuit is with 4000 outputs of the controlled quentity controlled variable value of being arranged to;
In above-mentioned 40～4000 the preset range; When importing controlled quentity controlled variable M between 40～2000; For reverse steering wheel drives output, described reverse steering wheel drives output and is defined as in one-period, and forward steering wheel driving pulse width P is less than reverse steering wheel driving pulse width N; When input controlled quentity controlled variable M between 2000～4000, be that the forward steering wheel drives output, described forward steering wheel drives output and is defined as in one-period, forward steering wheel driving pulse width P is greater than reverse steering wheel driving pulse width N;
Described arithmetical operation logical circuit is according to input controlled quentity controlled variable M, Dead Time D, cycle T and mode of operation information; The conversion regime that carries out P pulse width and N pulse width is: under the bipolar operation pattern; When input controlled quentity controlled variable during at 40≤M＜2000; The P pulse width is
N pulse width
when input controlled quentity controlled variable M=2000, and the P pulse width is 50%T-D, N pulse width 50%T-D; When input controlled quentity controlled variable 2000＜M≤4000; The P pulse width is that
N pulse width
is under the monopolar operation pattern; When input controlled quentity controlled variable 40≤M＜2000; The P pulse width be 0%T, N pulse width
when input controlled quentity controlled variable M=2000, the P pulse width is 0%T, N pulse width 0%T; When input controlled quentity controlled variable 2000＜M≤4000, the P pulse width is
N pulse width 0%T.
2. electric steering engine according to claim 1 is used the single-chip digitial controller; It is characterized in that: described controlled quentity controlled variable input logic circuit also comprises the MUX that is connected with each passage controlled quentity controlled variable register, and described MUX accepting state detects the s operation control signal of logical circuit output and exports in controlled quentity controlled variable to the arithmetical operation logical circuit of respective channel.
3. electric steering engine according to claim 1 is used the single-chip digitial controller, it is characterized in that: the relational expression of described input controlled quentity controlled variable M and output duty cycle C is: M=2000+2000 * C, dutycycle is as required calculated input controlled quentity controlled variable M.
4. electric steering engine according to claim 1 is used the single-chip digitial controller; It is characterized in that: described width modulation logical circuit is made up of positive and negative pulse width register, buffer, counter buffer, counter, state machine and output control circuit; Described arithmetical operation logical circuit will be imported and write corresponding positive and negative pulse width register after controlled quentity controlled variable M is converted into P, N, D count value;, the state-detection logical circuit is not written in the buffer under having the situation of error interrupt signal; The data of said buffer begin to be written into counter buffer in each output cycle; The value of counter buffer writes counter in the arrival of next clock signal; Counter is respectively to P, N, D controlled quentity controlled variable counting, and every completion is once counted and will be produced a pulse signal control state machine and carry out the state redirect, and output control circuit is exported the corresponding modulation waveform according to the state of state machine.
In the claim 1 to 4 any electric steering engine with single-chip digitial controller list bipolar modulated output control method; It is characterized in that: in described width modulation logical circuit, be provided with the state machine change-over circuit; This state machine has idle Idle state, forward drive PD state, dead band Dead state, reverse drive ND state; At electrification reset or when quitting work, state machine is in the Idle state; When detecting trigger pip, if current direct impulse width P count value is not equal to 0, then state machine gets into forward drive PD state, and the effective forward drive steering wheel of output low level signal; If current P count value equals 0, state machine then gets into the Dead state, does not export any drive signal; If state machine gets into the PD state, its counter subtracts counting, after accomplishing the needed time counting of forward drive, produces state redirect signal, and state machine gets into the Dead state thereupon; Under the Dead state, counter subtracts counting Dead Time D, and counting finishes back generation state redirect signal, if current N counting is not equal to 0, then state machine gets into reverse drive ND state, output reverse drive steering wheel signal; If current N count value equals 0, then state machine gets into the Idle state, does not export any drive signal; After state machine got into reverse drive ND state, counter subtracted counting, until the N count value of having counted the reverse drive steering wheel, gets back to the Idle state once more, so circulation.
6. single bipolar modulated output control method according to claim 5 is characterized in that: described trigger pip is that rising edge triggers.
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| CN201371945Y (en) * | 2008-12-29 | 2009-12-30 | 中国航天科技集团公司烽火机械厂 | Electric steering engine controller based on FPGA |
| CN101515162B (en) * | 2009-01-19 | 2011-12-07 | 西安亚同集成电路技术有限公司 | Method for designing steering engine control integrated circuit by digitized collocation method |
| CN101799689A (en) * | 2010-04-08 | 2010-08-11 | 中国电子科技集团公司第三十八研究所 | Dual-redundancy steering engine controller |
-
2010
- 2010-10-29 CN CN 201010524193 patent/CN102053570B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10019687B2 (en) | 2012-02-10 | 2018-07-10 | Abb Schweiz Ag | System and method for automated handling of a workflow in an automation and/or electrical engineering project |
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