CN102700706A - Dual-redundancy actuator system and control method - Google Patents

Dual-redundancy actuator system and control method Download PDF

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Publication number
CN102700706A
CN102700706A CN2012101763716A CN201210176371A CN102700706A CN 102700706 A CN102700706 A CN 102700706A CN 2012101763716 A CN2012101763716 A CN 2012101763716A CN 201210176371 A CN201210176371 A CN 201210176371A CN 102700706 A CN102700706 A CN 102700706A
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China
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unit
rudder
current
signal
remaining
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CN2012101763716A
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Chinese (zh)
Inventor
林辉
戴志勇
马冬麒
齐蓉
李兵强
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西北工业大学
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Priority to CN2012101763716A priority Critical patent/CN102700706A/en
Publication of CN102700706A publication Critical patent/CN102700706A/en

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Abstract

The invention discloses a dual-redundancy actuator system and a control method. A redundant drive controller receives a control plane position given signal and drives a dual-redundancy brushless direct-current motor to work, and a turning angle of a control plane follows the control plane position given signal. Redundant technology is used for warm backup of mechanisms, which are easy to damage, in an actuator drive device, the position of the control plane can normally follow the given signal under the normal condition, when a redundancy of the drive device fails, a fault point can be detected in real time and is isolated, a control plane tracking function is finished in a single channel, and accordingly the reliability of the actuator system is improved.

Description

A kind of dual-redundancy steering engine system and control method
Technical field
The present invention relates to a kind of dual-redundancy steering engine system and control method.
Background technology
Steering gear control system is an important actuating unit of flight system, and steering engine controller can be controlled the deflection of rudder face, thereby is controlling the variation of flight attitude, realizes driftage, upset.
At present, the development of steering wheel redundant control system is rapid, and achievement is remarkable.Publication number is that the patent " dual-redundancy steering engine controller " of CN101799689A has adopted two remaining designs; But controller has only carried out the remaining backup to power driving circuit; Do not carry out trouble diagnosing and isolation, thereby nonserviceable down, influence the steering gear system overall performance.The dual-redundancy steering engine control system based on DSP and CPLD introduced in the article " dual-redundancy steering engine Control System Design " that is published in " micromotor "; But the design to two remaining system does not provide in detail; And to not introducing in system fault diagnosis and the isolation; Can not realize diagnosis and isolation, influence the reliability of system the system failure.
Summary of the invention
In order to overcome the deficiency of prior art, the invention provides a kind of dual-redundancy steering engine system, under normal circumstances; Can accomplish the given signal of normal rudder face location following; When actuating device one remaining breaks down, can detect the trouble point in real time and isolate, under single channel; Accomplish the rudder face following function, thereby improve the reliability of steering gear system.
The technical solution adopted for the present invention to solve the technical problems is: comprise redundant drive controller, two margin brushless DC motor and rudder face.The redundant drive controller receives the given signal in rudder face position, drives two margin brushless DC machine operation, and the angle that rudder face is turned over is followed the given signal in rudder face position.
Wherein, the redundant drive controller comprises rudder face position feedback conditioning unit, the given receiving element in rudder face position, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, overcurrent protection auxiliary unit and power-supply system unit.The given receiving element in rudder face position is with given signal input DSP unit, rudder face position; The two-way rudder face position feed back signal input DSP unit that rudder face position feedback conditioning unit records two remaining position transdusers, the DSP unit is controlled the duty cycle signals of two two windings of margin brushless DC motor respectively.The CPLD unit carries out logic operation with two cover hall signals of duty cycle signals and two margin brushless DC motors; The modulation commutation signal of two windings runnings of two margin brushless DC motors is controlled in output respectively; Through buffer circuit unit and power drive unit, the two margin brushless DC motor operations of control.Gather the bus current of two margin brushless DC motors at power drive unit; Through overcurrent protection auxiliary unit, with bus current and predefined overcurrent threshold, if bus current is greater than predefined overcurrent threshold value; Then over-current signal is low; If bus current is smaller or equal to predefined overcurrent threshold value, then over-current signal is high, and over-current signal is sent in the DSP unit.When over current fault appearred in motor, it was low that the DSP unit detects over-current signal, then turn-offs duty cycle signals, thereby got rid of over current fault.The bus current and the phase current of two margin brushless DC machine winding on the power drive unit gathered in the current acquisition unit, and with input DSP unit after bus current and the phase current filtering.The power-supply system unit receives two control power supplys; Through diode two power supplys are connected in parallel; To rudder face position feedback conditioning unit, the given receiving element in rudder face position, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, the power supply of overcurrent protection auxiliary unit; The power-supply system unit receives two driving powers, supplies power to power drive unit.
The stator winding of described pair of margin brushless DC motor be two be enclosed within 30 ° of electric angle mutual deviations on the space Y type bonded assembly winding constitute; Two cover windings are isolated from each other on electric, magnetic field coupling on the space; Remaining each other each other, the shared PM rotor of two margin brushless DC motors.Every cover winding of two margin brushless DC motors has separately independently Hall element, and two cover Hall elements are remaining each other.
The present invention also provides the control method of said apparatus, may further comprise the steps:
The first step: gather two-way rudder face position feed back signal, and carry out the AD conversion.
Second step: if the difference of two-way rudder face position feed back signal then got into for the 4th step, otherwise got into for the 3rd step less than predefined error threshold.
The 3rd step: if one road rudder face position feed back signal is greater than the range maxim of position transduser; Or, then diagnose this road position transduser fault less than its range minimum value, give position feedback with the rudder face position feed back signal assignment of another road position transduser; Got into for the 5th step, otherwise got into for the 4th step.
The 4th step: position feedback equals two-way rudder face position feed back signal sum divided by two.
The 5th step: gather two remaining Hall element signals,, then diagnose this road Hall element fault, otherwise got into for the 6th step if one road Hall element signal is 000 or 111.
The 6th step: gather each remaining winding bus current and phase current.
The 7th step: if one road winding bus current greater than predefined short circuit threshold value, then begins the short circuit timing, greater than predefined short circuit upper limit threshold, then diagnosing this road winding is short trouble, gets into for the tenth step as if the short circuit timing.If one road winding bus current is greater than the motor minimum working current; And less than predefined standard 0 digit current lower limit, then begin the timing of opening circuit, if open circuit timing greater than the predefined upper limit threshold that opens circuit; Then diagnosing this road winding is open circuit fault, gets into for the tenth step.Otherwise got into for the 8th step.
The 8th step: gather the given signal in rudder face position, and carry out the AD conversion.
The 9th step: if the value of position ring counting machine greater than the position ring Ct value, then with the position ring counter O reset, is carried out position ring PID calculating according to the rudder face position is given with the rudder face position feedback, the value with the position ring counting machine adds 1 then; Otherwise directly the value with the position ring counting machine adds 1.
The tenth step: if one road short circuit in winding fault or open circuit fault or cooresponding this road Hall element fault, then this road dutycycle is changed to 0, exports as position ring another road electric current loop is given; Be fed back to bus current; Carry out electric current loop PID computing, DSP is passed in the electric current loop PID output that obtains, and produces duty cycle signals; Return the first step, otherwise got into for the 11 step.
The 11 step: given the half the of position ring output that be respectively of two-way electric current loop, be fed back to bus current separately, through electric current loop PID computing separately, operation result input DSP produces duty cycle signals separately respectively, returns the first step.
The invention has the beneficial effects as follows: the present invention adopts redundancy; The mechanism that damages easily in the steering wheel actuating device has been carried out hot spare; Under normal operation, make corresponding parts be operated in the half the of rated power operation, improved the life-span and the reliability of actuating device.When the some remainings of actuating device break down, can make actuating device switch to operation under the single, guarantee the steering wheel normal operation.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Description of drawings
Fig. 1 is a steering wheel redundant drive apparatus structure.
Among the figure, 1-redundant drive controller, 2-steering wheel, 3-rudder face
Fig. 2 is the redundant drive controller architecture
Among the figure, 4-two margin brushless DC motors, 5-rudder face position feedback conditioning unit; The given receiving element in 6-rudder face position, 7-DSP unit, 8-current acquisition unit; 9-overcurrent protection auxiliary unit, 10-power-supply system unit, 11-CPLD unit; 12-buffer circuit unit, 13-power drive unit.
Fig. 3, the dual-redundancy steering engine system control method.
The specific embodiment
As shown in Figure 1, the present invention includes redundant drive controller part 1, steering wheel part 2 and rudder face part 3.Redundant drive controller part 1 receives the given signal in rudder face position, through control method control, drives two margin brushless DC motors 4 work in the steering wheel, and the angle that rudder face is turned over is followed the given signal in rudder face position.In the present invention, will control power supply, driving power, machine winding, motor Hall element, position transduser, power drive unit and back up design.
Wherein, redundant drive controller part 1 comprises the given receiving element in rudder face position feedback conditioning unit 5, rudder face position 6, DSP unit 7, CPLD unit 11, buffer circuit unit 12, power drive unit 13, current acquisition unit 8, overcurrent protection auxiliary unit 9 and power-supply system unit 10.(0~10V) dwindles 1/3 to the given receiving element 6 in rudder face position with the given signal in rudder face position; The AD port of input DSP unit 7; Carry out analogue to digital conversion, rudder face position feedback conditioning unit 5 dwindles 1/3, the AD port of input DSP unit 7 with rudder face position feed back signal (the two-way 0~10V position signal that is recorded by two remaining position transdusers); Carry out analogue to digital conversion; Regulate through control program, the task manager through DSP unit 7, output is the duty cycle signals of two 4 two windings of margin brushless DC motor of control respectively.CPLD unit 11 carries out logic operation with 4 liang of covers of duty cycle signals and two margin brushless DC motors hall signal; The modulation commutation signal of 4 two windings runnings of two margin brushless DC motors is controlled in output respectively; Through the buffer circuit unit 12 with power drive unit 13, two margin brushless DC motors 4 operations of control.At power drive unit 13, gather the bus current of two margin brushless DC motors 4, through overcurrent protection auxiliary unit 9; Bus current and predefined overcurrent threshold value (in this model machine, predefined overcurrent threshold value is 20A) are compared, if bus current is greater than predefined overcurrent threshold value; Then over-current signal is low; If bus current is smaller or equal to predefined overcurrent threshold value, then over-current signal is high, and over-current signal is sent in the DSP unit 7.When over current fault appearred in two margin brushless DC motors 4, it was low that DSP unit 7 detects over-current signal, then turn-offs duty cycle signals, thereby got rid of over current fault.Bus current and phase current that two margin brushless DC motor 4 windings on the power drive unit 13 are gathered in current acquisition unit 8, and with input DSP unit 7 after bus current and the phase current filtering.Power-supply system unit 10 receives two control power supplys; Through diode two power supplys are connected in parallel; To the given receiving element in rudder face position feedback conditioning unit 5, rudder face position 6, DSP unit 7, CPLD unit 11, buffer circuit unit 12, power drive unit 13, current acquisition unit 8,9 power supplies of overcurrent protection auxiliary unit; Power-supply system unit 10 receives two driving powers, gives power drive unit 13 power supplies.
The steering wheel part is made up of two margin brushless DC electric motor units and reductor.Wherein, the stator winding of two margin brushless DC motors 4 be two be enclosed within 30 ° of electric angles of mutual deviation on the space Y type bonded assembly winding constitute, be isolated from each other, magnetic field coupling on the space remaining each other each other, the shared PM rotor of motor on two cover windings are electric.Every cover winding of two margin brushless DC motors has separately independently Hall element, and two cover Hall elements are remaining each other, closes to be called two remaining Hall elements.The signal that two remaining Hall elements send is called two remaining hall signals.
Control method of the present invention is:
The first step: gather the rudder face position feed back signal, and carry out the AD conversion.Got into for second step.
Second step: if | remaining 1 rudder face position feedback-remaining 2 rudder face position feedback | < predefined error threshold (in this model machine, predefined error threshold is 3 °) then got into for the 7th step, otherwise got into for the 3rd step.
The 3rd step: if remaining 1 rudder face position feedback is greater than range maxim (10V), or remaining 1 rudder face position feedback (10V), got into for the 4th step less than the range minimum value.Otherwise got into for the 5th step.
The 4th step: be diagnosed as remaining 1 position transduser fault, remaining 2 rudder face location feedback value are composed to position feedback.Got into for the 8th step.
The 5th step: if remaining 2 rudder face position feedback are greater than range maxim (10V), or remaining 2 rudder face position feedback (10V), got into for the 6th step less than the range minimum value.Otherwise got into for the 7th step.
The 6th step: be diagnosed as remaining 2 position transduser faults, remaining 1 rudder face location feedback value is composed to position feedback.Got into for the 8th step.
The 7th step: position feedback=(remaining 1 rudder face position feedback+remaining 2 rudder face position feedback)/2 got into for the 8th step.
The 8th step: gather two remaining Hall element signals.Got into for the 9th step.
The 9th step:, then got into for the tenth step, otherwise got into for the 11 step if remaining 1 hall signal is 000 or 111.
The tenth step: be diagnosed as remaining 1 Hall element fault.Got into for the 11 step.
The 11 step:, then got into for the 12 step, otherwise got into for the 13 step if remaining 2 hall signals are 000 or 111.
The 12 step: be diagnosed as remaining 2 Hall element faults.Got into for the 13 step.
The 13 step: gather each remaining winding bus current and phase current.Got into for 14 steps.
The 14 step: if remaining 1 winding bus current greater than predefined short circuit threshold value (in this model machine, predefined short circuit threshold value is 15A), then got into for the 15 step, otherwise got into for the 18 step.
The 15 step: remaining 1 short circuit counting machine adds 1.Got into for the 16 step.
The 16 step: if remaining 1 short circuit counting machine greater than predefined short circuit upper limit threshold (in this model machine, predefined short circuit upper limit threshold is 10), then got into for the 17 step, otherwise got into for the 18 step.
The 17 step: be diagnosed as remaining 1 short circuit in winding fault.Got into for the 22 step.
The 18 step: if remaining 2 winding bus currents greater than predefined short circuit threshold value (in this model machine, predefined short circuit threshold value is 15A), then got into for the 19 step, otherwise got into for the 22 step.
The 19 step: remaining 2 short circuit counting machines add 1.Got into for the 20 step.
The 20 step: if remaining 2 short circuit counting machines greater than predefined short circuit upper limit threshold (in this model machine, predefined short circuit upper limit threshold is 10), then got into for the 21 step, otherwise got into for the 22 step.
The 21 step: be diagnosed as remaining 2 short circuit in winding faults.Got into for the 22 step.
The 22 the step: if remaining 1 winding bus current greater than two margin brushless DC motor minimum working current lower limits (in this model machine; Be limited to 100mA under two margin brushless DC motor minimum working currents) or remaining 2 winding bus currents greater than motor minimum working current lower limit (in this model machine; Be limited to 100mA under two margin brushless DC motor minimum working currents); Then got into for the 23 step, otherwise got into for the 31 step.
The 23 step: if remaining 1 winding phase current less than predefined standard 0 digit current lower limit (in this model machine, predefined standard 0 digit current lower limit 50mA), then got into for the 24 step, otherwise got into for the 27 step.
The 24 step: the remaining 1 winding counting machine that opens circuit adds 1, gets into for the 25 step.
The 25 step: the value of counting machine then got into for the 26 step, otherwise got into for the 27 step greater than the predefined upper limit threshold that opens circuit (in this model machine, the predefined upper limit threshold that opens circuit is 10) if remaining 1 winding opens circuit.
The 26 step: be diagnosed as remaining 1 winding open circuit fault.Got into for the 31 step.
The 27 step: if remaining 2 winding phase currents less than predefined standard 0 digit current lower limit (in this model machine, predefined standard 0 digit current lower limit 50mA), then got into for the 28 step, otherwise got into for the 31 step.
The 28 step: the remaining 2 windings counting machine that opens circuit adds 1, gets into for the 29 step.
The 29 step: the value of counting machine then got into for the 30 step, otherwise got into for the 31 step greater than the predefined upper limit threshold that opens circuit (in this model machine, the predefined upper limit threshold that opens circuit is 10) if remaining 2 windings open circuit.
The 30 step: be diagnosed as remaining 2 winding open circuit faults.Got into for the 31 step.
The 31 step: gather the given signal in rudder face position, and carry out the AD conversion.Got into for the 32 step.
The 32 step: if the value of position ring counting machine then got into for the 33 step greater than position ring Ct value (in this model machine, putting the ring Ct value is 1ms).Otherwise got into for the 34 step.
The 33 step: the position ring counter O reset, carry out position ring PID calculating according to the rudder face position is given with the rudder face position feedback.Got into for the 34 step.
The 34 step: the value of position ring counting machine adds 1. and got into for the 35 step.
The 35 step: if remaining 1 short circuit in winding fault or remaining 1 winding open circuit fault or remaining 1 Hall element fault then got into for the 36 step.Otherwise got into for the 37 step.
The 36 step: remaining 1 dutycycle is changed to 0, and remaining 2 electric current loops are given as position ring output, are fed back to remaining 2 bus currents, carry out remaining 2 electric current loop PID computings, and the task manager of DSP is passed in remaining 2 electric current loop PID output, produces remaining 2 duty cycle signals.Get into the first step.
The 37 step: if remaining 2 short circuit in winding faults or remaining 2 winding open circuit faults or remaining 2 Hall element faults then got into for the 38 step.Otherwise got into for the 39 step.
The 38 step: remaining 2 dutycycles are changed to 0, and remaining 1 electric current loop is given as position ring output, is fed back to remaining 1 bus current, carries out remaining 1 electric current loop PID computing, and the task manager of DSP is passed in remaining 1 electric current loop PID output, produces remaining 1 duty cycle signals.Get into the first step.
The 39 step: remaining 1 and given the half the of position ring output that be respectively of remaining 2 electric current loops; Be fed back to the bus current of remaining separately; Through the electric current loop PID computing of remaining separately, operation result is imported DSP task manager separately, produces the duty cycle signals of remaining 1 and remaining 2 respectively.Get into the first step.

Claims (3)

1. dual-redundancy steering engine system; Comprise redundant drive controller, two margin brushless DC motor and rudder face; It is characterized in that: the redundant drive controller receives the given signal in rudder face position, drives two margin brushless DC machine operation, and the angle that rudder face is turned over is followed the given signal in rudder face position; Wherein, the redundant drive controller comprises rudder face position feedback conditioning unit, the given receiving element in rudder face position, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, overcurrent protection auxiliary unit and power-supply system unit, and the given receiving element in rudder face position is with given signal input DSP unit, rudder face position; The two-way rudder face position feed back signal input DSP unit that rudder face position feedback conditioning unit records two remaining position transdusers, the DSP unit is controlled the duty cycle signals of two two windings of margin brushless DC motor respectively, and the CPLD unit carries out logic operation with two cover hall signals of duty cycle signals and two margin brushless DC motors; The modulation commutation signal of two windings runnings of two margin brushless DC motors is controlled in output respectively; Through buffer circuit unit and power drive unit, the two margin brushless DC motor operations of control are at the bus current of the two margin brushless DC motors of power drive unit collection; Through overcurrent protection auxiliary unit; With bus current and predefined overcurrent threshold, greater than predefined overcurrent threshold value, then over-current signal is low as if bus current; If bus current is smaller or equal to predefined overcurrent threshold value; Then over-current signal is high, and over-current signal is sent in the DSP unit, when over current fault appears in motor; It is low that the DSP unit detects over-current signal; Then turn-off duty cycle signals, thereby get rid of over current fault, the bus current and the phase current of two margin brushless DC machine winding on the power drive unit gathered in the current acquisition unit; And with input DSP unit after bus current and the phase current filtering; The power-supply system unit receives two control power supplys, through diode two power supplys is connected in parallel, to rudder face position feedback conditioning unit, the given receiving element in rudder face position, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, the power supply of overcurrent protection auxiliary unit; The power-supply system unit receives two driving powers, supplies power to power drive unit.
2. dual-redundancy steering engine according to claim 1 system; It is characterized in that: the stator winding of described pair of margin brushless DC motor be two be enclosed within 30 ° of electric angle mutual deviations on the space Y type bonded assembly winding constitute; Two cover windings are isolated from each other on electric, magnetic field coupling on the space; Remaining each other each other, the shared PM rotor of two margin brushless DC motors; Every cover winding of two margin brushless DC motors has separately independently Hall element, and two cover Hall elements are remaining each other.
3. the control method of the said dual-redundancy steering engine of claim 1 system is characterized in that comprising the steps:
The first step: gather two-way rudder face position feed back signal, and carry out the AD conversion;
Second step: if the difference of two-way rudder face position feed back signal then got into for the 4th step, otherwise got into for the 3rd step less than predefined error threshold;
The 3rd step: if one road rudder face position feed back signal is greater than the range maxim of position transduser; Or, then diagnose this road position transduser fault less than its range minimum value, give position feedback with the rudder face position feed back signal assignment of another road position transduser; Got into for the 5th step, otherwise got into for the 4th step;
The 4th step: position feedback equals two-way rudder face position feed back signal sum divided by two;
The 5th step: gather two remaining Hall element signals,, then diagnose this road Hall element fault, otherwise got into for the 6th step if one road Hall element signal is 000 or 111;
The 6th step: gather each remaining winding bus current and phase current;
The 7th step: if one road winding bus current greater than predefined short circuit threshold value, then begins the short circuit timing, greater than predefined short circuit upper limit threshold, then diagnosing this road winding is short trouble, gets into for the tenth step as if the short circuit timing; If one road winding bus current is greater than the motor minimum working current; And less than predefined standard 0 digit current lower limit, then begin the timing of opening circuit, if open circuit timing greater than the predefined upper limit threshold that opens circuit; Then diagnosing this road winding is open circuit fault, gets into for the tenth step; Otherwise got into for the 8th step;
The 8th step: gather the given signal in rudder face position, and carry out the AD conversion;
The 9th step: if the value of position ring counting machine greater than the position ring Ct value, then with the position ring counter O reset, is carried out position ring PID calculating according to the rudder face position is given with the rudder face position feedback, the value with the position ring counting machine adds 1 then; Otherwise directly the value with the position ring counting machine adds 1;
The tenth step: if one road short circuit in winding fault or open circuit fault or cooresponding this road Hall element fault, then this road dutycycle is changed to 0, exports as position ring another road electric current loop is given; Be fed back to bus current; Carry out electric current loop PID computing, DSP is passed in the electric current loop PID output that obtains, and produces duty cycle signals; Return the first step, otherwise got into for the 11 step;
The 11 step: given the half the of position ring output that be respectively of two-way electric current loop, be fed back to bus current separately, through electric current loop PID computing separately, operation result input DSP produces duty cycle signals separately respectively, returns the first step.
CN2012101763716A 2012-05-31 2012-05-31 Dual-redundancy actuator system and control method CN102700706A (en)

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