CN103112576A - Steering engine controller - Google Patents
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- CN103112576A CN103112576A CN 201310005797 CN201310005797A CN103112576A CN 103112576 A CN103112576 A CN 103112576A CN 201310005797 CN201310005797 CN 201310005797 CN 201310005797 A CN201310005797 A CN 201310005797A CN 103112576 A CN103112576 A CN 103112576A
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Abstract
The invention relates to a steering engine controller comprising a power supply module, a control module, a motor drive module, a peripheral equipment upper computer and a steering engine execution mechanism, wherein the steering engine execution mechanism is provided with a position sensor, the power supply module is connected with the control module and the motor drive module, the control module is connected with the motor drive module, the motor drive module is connected with the steering engine execution mechanism, and the upper computer is connected with the control module. The control module comprises a signal conditioning module, an analog to digital (AD) conversion module, a digital to analog (DA) conversion module, a control algorithm processing module, a communication module and a protective module. A steering engine controller can independently control two steering engines through one control algorithm processing module, meanwhile, the size of the system is reduced, system power consumption is lowered, and resources are saved.
Description
Technical field
The present invention relates to a kind of steering engine controller, particularly a kind of independent steering engine controller of controlling two steering wheels simultaneously, belong to the Brushless DC Motor Position Control technical field.
Background technology
At present, in steering gear control system, be that a steering engine controller is controlled a steering wheel mostly.In actual applications, a system need to use two even a plurality of steering wheels usually, the demand of controlling to satisfy two dimension or multi-dimensional movement.The conventional rudder machine controller quantity of using in this type systematic is more, and system bulk is just larger, take up room also just larger, and the waste resource.
Summary of the invention
Can only control a steering wheel in order to overcome existing steering engine controller, need to use a plurality of steering engine controllers in using the system of a plurality of independent steering wheels, take up room large and waste the problem of resource, the invention provides a kind of independent two steering wheels, practical, compact steering engine controller controlled simultaneously.
For addressing the above problem, technical scheme of the present invention is as follows:
A kind of steering engine controller comprises: power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; On described steering engine actuator, position transduser is installed;
Wherein, power module is connected with motor drive module with control module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module;
Wherein, the acting as of power module isolated the vdc of input and is converted to the required magnitude of voltage of each module, for driver module and motor drive module provide direct supply;
Acting as of control module realized the closed loop control to the rudder placement of foot, and control signal exported to motor drive module;
Acting as of motor drive module, the direct supply that power module is provided changes the three phase mains that motor needs into; Motor is protected, and controlled the mode of operation of steering engine actuator; The built-in H bridge circuit of described motor drive module;
Acting as of upper computer sent the steering wheel control command, limits the target location of steering wheel, and accepts the location information of steering engine controller feedback;
Acting as of steering engine actuator accepted the instruction of steering engine controller, drives the steering wheel motion;
Described control module comprises: signal condition module, AD modular converter, DA modular converter, control algorithm processing module, communication module, protection module;
Wherein, the signal condition module is connected with the AD modular converter, and the DA modular converter is connected with protection module; AD modular converter, communication module, DA modular converter, protection module are connected with the control algorithm processing module respectively; The signal condition module is connected with position transduser on steering engine actuator; Motor drive module is connected with protection module with the control algorithm processing module respectively; Communication module is connected with upper computer;
Wherein, acting as of signal condition module with the position signal process conversion of position transduser input, exported to the AD modular converter;
Acting as of AD modular converter, the analog voltage signal that the signal condition module is exported is converted to digital signal, and digital signal is outputed to the control algorithm processing module;
Acting as of DA modular converter, the digital signal that the control algorithm processing module is exported is converted to analog voltage signal, and analog voltage signal is exported to protection module;
Acting as of protection module, input voltage and output current signal to the motor drive module that obtains from the control algorithm processing module detect, and with the input voltage of motor drive module and outgoing current threshold ratio, and under-voltage, the overvoltage that will obtain and overcurrent protection signal are exported to the control algorithm processing module;
Acting as of communication module realized control command between upper computer and control algorithm processing module and the bidirectional transmission of feedback information;
Acting as of control algorithm processing module, receive on the one hand the control command of upper computer, detect current rudder angle position and compare with the target location by the position transduser on steering engine actuator, if miss the mark position, controlling motor drive module by instruction is rotated further motor, until arrive target rudder angle position in the error allowed band, and to the final rudder angle of upper computer feedback, to form the closed loop control to the rudder angle position.Be to set the threshold value of under-voltage, overvoltage and overcurrent protection for protection module on the other hand, detect under-voltage, overvoltage and the overcurrent protection signal of protection module output; When, overvoltage under-voltage when occurring or over current fault, the output of turn-offing motor drive module by instruction, the protection of realization to steering engine controller;
Further, when motor used is brshless DC motor, acting as of described motor drive module, receive the control command of control algorithm processing module, the PWM waveform of command request is satisfied in generation, drive built-in H bridge circuit through bootstrap circuit boost and power amplification circuit, it is the required three phase mains of brshless DC motor that power module is offered the direct supply inversion that motor drive module is used for electric machine rotation;
Described motor drive module, signal condition module, AD modular converter, DA modular converter and protection module all comprise two passages, can drive respectively two independently steering wheels.
A kind of steering wheel control method, the method adopts steering engine controller of the present invention, and concrete steps are as follows:
Step 2, by the control algorithm processing module, AD modular converter, communication module, DA modular converter, protection module are carried out initialization; The control algorithm processing module after by the DA modular converter, the digital voltage current threshold being converted to the electric current and voltage threshold value of simulation, outputs to protection module to the given digital voltage current threshold of DA modular converter;
Position transduser on step 3, steering engine actuator detects the current location of steering wheel, and current location information is converted into electric signal, is transferred to the signal condition module and processes; Signal after the signal condition module will be processed is transferred to the AD modular converter;
Step 4, upper computer send the steering wheel control command, limit the target location of steering wheel; The steering wheel control command is transferred to the control algorithm processing module through communication module;
Step 5, control algorithm processing module are sent instruction to the AD modular converter, make digital data transmission after the AD modular converter will be changed to the control algorithm processing module;
Step 6, in the control algorithm processing module, compared in current location and the target location of steering wheel; According to comparison result, carry out the situation judgement;
If current location is consistent with the target location, connect step 7;
If current location and target location are inconsistent, connect step 8;
Step 7, control algorithm processing module to the upper computer current steering wheel of feedback position, finish this working process by communication module;
Step 8, control algorithm processing module calculate steering wheel and move to the required parameter in target location by current location, and movement instruction is exported to steering engine actuator by motor drive module, drive the steering wheel motion;
Step 9, motor drive module are transferred to protection module with the signal of outgoing current and inner H bridge circuit input voltage, after the built-in signal conditioning circuit of protection module is processed, compare with the electric current and voltage threshold value of simulating in protection module, and comparison result is transferred to the control algorithm processing module; According to comparison result, carry out the situation judgement;
If there is overcurrent, overvoltage or undervoltage condition, connect step 10;
If overcurrent, overvoltage or undervoltage condition do not occur, connect step 11;
Step 10, control algorithm processing module are sent instruction to motor drive module, turn-off the H bridge circuit of motor drive module inside, and H bridge circuit and steering wheel are protected;
Step 11, repeating step three ~ nine are until steering wheel moves to the target location.
Beneficial effect
The invention provides a kind of steering engine controller, can independently control two steering wheels by a control algorithm processing module, can reduce system bulk simultaneously, reduce system power dissipation, economize on resources.
Description of drawings
Fig. 1 is the composition module map of steering engine controller of the present invention;
Fig. 2 is the composition module map of control module.
The specific embodiment
Below by embodiment, the present invention is described in more detail.
Embodiment
Steering engine controller as shown in Figure 1 comprises: power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; On described steering engine actuator, position transduser is installed;
Wherein, power module is connected with motor drive module with control module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module;
Wherein, the acting as of power module isolated the vdc of input and is converted to the required magnitude of voltage of each module, for driver module and motor drive module provide direct supply;
Acting as of control module realized the closed loop control to the rudder placement of foot, and control signal exported to motor drive module;
Acting as of motor drive module, the direct supply that power module is provided changes the three phase mains that motor needs into; Motor is protected, and controlled the mode of operation of steering engine actuator; The built-in H bridge circuit of described motor drive module;
Acting as of upper computer sent the steering wheel control command, limits the target location of steering wheel, and accepts the location information of steering engine controller feedback;
Acting as of steering engine actuator accepted the instruction of steering engine controller, drives the steering wheel motion;
Control module as shown in Figure 2 comprises: signal condition module, AD modular converter, DA modular converter, control algorithm processing module, communication module, protection module;
Wherein, the signal condition module is connected with the AD modular converter, and the DA modular converter is connected with protection module; AD modular converter, communication module, DA modular converter, protection module are connected with the control algorithm processing module respectively; The signal condition module is connected with position transduser on steering engine actuator; Motor drive module is connected with protection module with the control algorithm processing module respectively; Communication module is connected with upper computer;
Wherein, acting as of signal condition module by photoelectric encoder or potentiometer, with the position signal process conversion of position transduser input, exported to the AD modular converter;
Acting as of AD modular converter, the analog voltage signal that the signal condition module is exported is converted to digital signal, and digital signal is outputed to the control algorithm processing module;
Acting as of DA modular converter, the digital signal that the control algorithm processing module is exported is converted to analog voltage signal, and analog voltage signal is exported to protection module;
Acting as of protection module, input voltage and output current signal to the motor drive module that obtains from the control algorithm processing module detect, and with the input voltage of motor drive module and outgoing current threshold ratio, and under-voltage, the overvoltage that will obtain and overcurrent protection signal are exported to the control algorithm processing module;
Acting as of communication module by the RS232 interface of light-coupled isolation or the CAN communication interface of light-coupled isolation, realized control command between upper computer and control algorithm processing module and the bidirectional transmission of feedback information;
Acting as of control algorithm processing module, by built-in general processor, digital signal processor or field programmable logic array, receive on the one hand the control command of upper computer, detect current rudder angle position and compare with the target location by the position transduser on steering engine actuator, if miss the mark position, controlling motor drive module by instruction is rotated further motor, until arrive target rudder angle position in the error allowed band, and to the final rudder angle of upper computer feedback, to form the closed loop control to the rudder angle position.Be to set the threshold value of under-voltage, overvoltage and overcurrent protection for protection module on the other hand, detect under-voltage, overvoltage and the overcurrent protection signal of protection module output; When, overvoltage under-voltage when occurring or over current fault, the output of turn-offing motor drive module by instruction, the protection of realization to steering engine controller;
Further, when motor used is brshless DC motor, acting as of described motor drive module, receive the control command of control algorithm processing module, the PWM waveform of command request is satisfied in generation, drive built-in H bridge circuit through bootstrap circuit boost and power amplification circuit, it is the required three phase mains of brshless DC motor that power module is offered the direct supply inversion that motor drive module is used for electric machine rotation;
Described power module is comprised of two isolation modules, and one road isolation module is isolated into after one the tunnel output as other one tunnel with input voltage, and other one the tunnel through after isolation, and power distribution is become four tunnel outputs.Described motor drive module, signal condition module, AD modular converter, DA modular converter and protection module all comprise two passages, can drive respectively two independently steering wheels.
A kind of steering wheel control method, the method adopts steering engine controller of the present invention, and concrete steps are as follows:
Step 2, by the control algorithm processing module, AD modular converter, communication module, DA modular converter, protection module are carried out initialization; The control algorithm processing module after by the DA modular converter, the digital voltage current threshold being converted to the electric current and voltage threshold value of simulation, outputs to protection module to the given digital voltage current threshold of DA modular converter;
Position transduser on step 3, steering engine actuator detects the current location of steering wheel, and current location information is converted into electric signal, is transferred to the signal condition module and processes; Signal after the signal condition module will be processed is transferred to the AD modular converter;
Step 4, upper computer send the steering wheel control command, limit the target location of steering wheel; The steering wheel control command is transferred to the control algorithm processing module through communication module;
Step 5, control algorithm processing module are sent instruction to the AD modular converter, make digital data transmission after the AD modular converter will be changed to the control algorithm processing module;
Step 6, in the control algorithm processing module, compared in current location and the target location of steering wheel; According to comparison result, carry out the situation judgement;
If current location is consistent with the target location, connect step 7;
If current location and target location are inconsistent, connect step 8;
Step 7, control algorithm processing module to the upper computer current steering wheel of feedback position, finish this working process by communication module;
Step 8, control algorithm processing module calculate steering wheel and move to the required parameter in target location by current location, and movement instruction is exported to steering engine actuator by motor drive module, drive the steering wheel motion;
Step 9, motor drive module are transferred to protection module with the signal of outgoing current and inner H bridge circuit input voltage, after the built-in signal conditioning circuit of protection module is processed, compare with the electric current and voltage threshold value of simulating in protection module, and comparison result is transferred to the control algorithm processing module; According to comparison result, carry out the situation judgement;
If there is overcurrent, overvoltage or undervoltage condition, connect step 10;
If overcurrent, overvoltage or undervoltage condition do not occur, connect step 11;
Step 10, control algorithm processing module are sent instruction to motor drive module, turn-off the H bridge circuit of motor drive module inside, and H bridge circuit and steering wheel are protected;
Step 11, repeating step three ~ nine are until steering wheel moves to the target location.
In sum, these are only preferred embodiment of the present invention, is not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. steering engine controller, it is characterized in that: described steering engine controller comprises power module, control module and motor drive module, and external equipment upper computer and steering engine actuator; On described steering engine actuator, position transduser is installed;
Wherein, power module is connected with motor drive module with control module respectively, and control module is connected with motor drive module, and motor drive module is connected with steering engine actuator; Upper computer is connected with control module;
Wherein, the acting as of power module isolated the vdc of input and is converted to the required magnitude of voltage of each module, for driver module and motor drive module provide direct supply;
Acting as of control module realized the closed loop control to the rudder placement of foot, and control signal exported to motor drive module;
Acting as of motor drive module, the direct supply that power module is provided changes the three phase mains that motor needs into; Motor is protected, and controlled the mode of operation of steering engine actuator;
Acting as of upper computer sent the steering wheel control command, limits the target location of steering wheel, and accepts the location information of steering engine controller feedback;
Acting as of steering engine actuator accepted the instruction of steering engine controller, drives the steering wheel motion.
2. a kind of steering engine controller according to claim 1, it is characterized in that: described control module comprises: signal condition module, AD modular converter, DA modular converter, control algorithm processing module, communication module, protection module;
Wherein, the signal condition module is connected with the AD modular converter, and the DA modular converter is connected with protection module; AD modular converter, communication module, DA modular converter, protection module are connected with the control algorithm processing module respectively; The signal condition module is connected with position transduser on steering engine actuator; Motor drive module is connected with protection module with the control algorithm processing module respectively; Communication module is connected with upper computer;
Wherein, acting as of signal condition module with the position signal process conversion of position transduser input, exported to the AD modular converter;
Acting as of AD modular converter, the analog voltage signal that the signal condition module is exported is converted to digital signal, and digital signal is outputed to the control algorithm processing module;
Acting as of DA modular converter, the digital signal that the control algorithm processing module is exported is converted to analog voltage signal, and analog voltage signal is exported to protection module;
Acting as of protection module, input voltage and output current signal to the motor drive module that obtains from the control algorithm processing module detect, and with the input voltage of motor drive module and outgoing current threshold ratio, and under-voltage, the overvoltage that will obtain and overcurrent protection signal are exported to the control algorithm processing module;
Acting as of communication module realized control command between upper computer and control algorithm processing module and the bidirectional transmission of feedback information;
Acting as of control algorithm processing module, receive on the one hand the control command of upper computer, detect current rudder angle position and compare with the target location by the position transduser on steering engine actuator, if miss the mark position, controlling motor drive module by instruction is rotated further motor, until arrive target rudder angle position in the error allowed band, and to the final rudder angle of upper computer feedback, to form the closed loop control to the rudder angle position; Be to set the threshold value of under-voltage, overvoltage and overcurrent protection for protection module on the other hand, detect under-voltage, overvoltage and the overcurrent protection signal of protection module output; When, overvoltage under-voltage when occurring or over current fault, the output of turn-offing motor drive module by instruction, the protection of realization to steering engine controller.
3. a kind of steering engine controller according to claim 2, it is characterized in that: described motor drive module, signal condition module, AD modular converter, DA modular converter and protection module all comprise two passages, can drive respectively two independently steering wheels.
4. steering wheel control method is characterized in that: the method adopts as steering engine controller as described in claim 1～3 any one, and described method workflow is as follows:
Step 1, power on to power module, the vdc of input is converted to each module required voltage value, for control module and motor drive module provide direct supply;
Step 2, by the control algorithm processing module, AD modular converter, communication module, DA modular converter, protection module are carried out initialization; The control algorithm processing module after by the DA modular converter, the digital voltage current threshold being converted to the electric current and voltage threshold value of simulation, outputs to protection module to the given digital voltage current threshold of DA modular converter;
Position transduser on step 3, steering engine actuator detects the current location of steering wheel, and current location information is converted into electric signal, is transferred to the signal condition module and processes; Signal after the signal condition module will be processed is transferred to the AD modular converter;
Step 4, upper computer send the steering wheel control command, limit the target location of steering wheel; The steering wheel control command is transferred to the control algorithm processing module through communication module;
Step 5, control algorithm processing module are sent instruction to the AD modular converter, make digital data transmission after the AD modular converter will be changed to the control algorithm processing module;
Step 6, in the control algorithm processing module, compared in current location and the target location of steering wheel; According to comparison result, carry out the situation judgement;
If current location is consistent with the target location, connect step 7;
If current location and target location are inconsistent, connect step 8;
Step 7, control algorithm processing module to the upper computer current steering wheel of feedback position, finish this working process by communication module;
Step 8, control algorithm processing module calculate steering wheel and move to the required parameter in target location by current location, and movement instruction is exported to steering engine actuator by motor drive module, drive the steering wheel motion;
Step 9, motor drive module are transferred to protection module with the signal of outgoing current and inner H bridge circuit input voltage, after the built-in signal conditioning circuit of protection module is processed, compare with the electric current and voltage threshold value of simulating in protection module, and comparison result is transferred to the control algorithm processing module; According to comparison result, carry out the situation judgement;
If there is overcurrent, overvoltage or undervoltage condition, connect step 10;
If overcurrent, overvoltage or undervoltage condition do not occur, connect step 11;
Step 10, control algorithm processing module are sent instruction to motor drive module, turn-off the H bridge circuit of motor drive module inside, and H bridge circuit and steering wheel are protected;
Step 11, repeating step three ~ nine are until steering wheel moves to the target location.
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| CN201310005797.XA CN103112576B (en) | 2013-01-08 | 2013-01-08 | A kind of servos control method |
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| CN201310005797.XA CN103112576B (en) | 2013-01-08 | 2013-01-08 | A kind of servos control method |
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| CN104536310A (en) * | 2014-11-27 | 2015-04-22 | 哈尔滨金都太阳能科技有限公司 | Rotating speed controller of driving motor of submersible propeller |
| CN104597801A (en) * | 2014-11-27 | 2015-05-06 | 哈尔滨金都太阳能科技有限公司 | Rotating speed monitoring device with wireless monitoring alarming function for main shaft of propeller |
| CN105607526A (en) * | 2014-11-14 | 2016-05-25 | 中国航空工业第六一八研究所 | High-precision small servo controller for electric steering gears |
| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| CN106564587A (en) * | 2016-10-12 | 2017-04-19 | 重庆零度智控智能科技有限公司 | Steering engine protection system and method, as well as unmanned aerial vehicle |
| CN106899239A (en) * | 2017-03-28 | 2017-06-27 | 哈尔滨工业大学 | A kind of motor remote parameter control system and its method |
| CN107965494A (en) * | 2017-10-12 | 2018-04-27 | 武汉船用机械有限责任公司 | A kind of rotary vane type steering gear failure detector and method |
| CN108227537A (en) * | 2016-12-14 | 2018-06-29 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of aircraft stepper motor servo-control system and method based on RVDT position feedbacks |
| WO2018209767A1 (en) * | 2017-05-19 | 2018-11-22 | 深圳市靖洲科技有限公司 | Integrated test system for servo of driverless car |
| CN111376245A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
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| CN114413957A (en) * | 2021-12-24 | 2022-04-29 | 中国航天空气动力技术研究院 | Digital universal testing device and system for steering engine |
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| US5244426A (en) * | 1989-05-30 | 1993-09-14 | Suzuki Jidosha Kogyo Kabushiki Kaisha | Power steering system for an outboard motor |
| EP1923307B1 (en) * | 2006-11-17 | 2013-02-20 | Yamaha Hatsudoki Kabushiki Kaisha | Steering system for a watercraft |
| 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 |
| 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 |
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| CN105607526A (en) * | 2014-11-14 | 2016-05-25 | 中国航空工业第六一八研究所 | High-precision small servo controller for electric steering gears |
| CN104536310A (en) * | 2014-11-27 | 2015-04-22 | 哈尔滨金都太阳能科技有限公司 | Rotating speed controller of driving motor of submersible propeller |
| CN104597801A (en) * | 2014-11-27 | 2015-05-06 | 哈尔滨金都太阳能科技有限公司 | Rotating speed monitoring device with wireless monitoring alarming function for main shaft of propeller |
| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| CN106564587B (en) * | 2016-10-12 | 2019-10-11 | 天津远度科技有限公司 | Steering engine protects system and method, unmanned plane |
| CN106564587A (en) * | 2016-10-12 | 2017-04-19 | 重庆零度智控智能科技有限公司 | Steering engine protection system and method, as well as unmanned aerial vehicle |
| CN108227537A (en) * | 2016-12-14 | 2018-06-29 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of aircraft stepper motor servo-control system and method based on RVDT position feedbacks |
| CN106899239A (en) * | 2017-03-28 | 2017-06-27 | 哈尔滨工业大学 | A kind of motor remote parameter control system and its method |
| WO2018209767A1 (en) * | 2017-05-19 | 2018-11-22 | 深圳市靖洲科技有限公司 | Integrated test system for servo of driverless car |
| CN107965494A (en) * | 2017-10-12 | 2018-04-27 | 武汉船用机械有限责任公司 | A kind of rotary vane type steering gear failure detector and method |
| CN111376245A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN111376245B (en) * | 2018-12-27 | 2022-02-22 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN112230668A (en) * | 2020-10-14 | 2021-01-15 | 四川航天烽火伺服控制技术有限公司 | Drive circuit and system |
| CN114413957A (en) * | 2021-12-24 | 2022-04-29 | 中国航天空气动力技术研究院 | Digital universal testing device and system for steering engine |
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