CN103303454B - A kind of electric steering gear device based on speed ring commutation and control method thereof - Google Patents

A kind of electric steering gear device based on speed ring commutation and control method thereof Download PDF

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Publication number
CN103303454B
CN103303454B CN201310162773.5A CN201310162773A CN103303454B CN 103303454 B CN103303454 B CN 103303454B CN 201310162773 A CN201310162773 A CN 201310162773A CN 103303454 B CN103303454 B CN 103303454B
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rudder
signal
control
electric current
dsp
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CN103303454A (en
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李兵强
李志�
林辉
戴志勇
孙欣欣
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Abstract

The invention provides a kind of electric steering gear device based on speed ring commutation and control method thereof, signal conditioning circuit sends into controller DSP through AD conversion after rudder face drift angle Setting signal being carried out voltage transformation, filtering, amplitude limiting processing, DSP exports digital controlled signal, after numeral isolation, give driving circuit convert power control signal to, by controlling main power circuit thus controlling brushless direct current motor work, brshless DC motor drives control surface deflection to follow rudder face drift angle Setting signal by driving gear set; The bus current of brshless DC motor is through current sensor sampling feedback to DSP, and the current drift angle of angular transducer Real-time Feedback rudder face be connected with driving gear set, passes to DSP.Actv. of the present invention accelerates the frequency response of brush-less Dc motor steering wheel, improves the anti-interference resistance of system.

Description

A kind of electric steering gear device based on speed ring commutation and control method thereof
Technical field
The present invention relates to a kind of digitalized electric helm gear and control method, especially the permanent magnet brushless dc of aircraft moves steering wheel.
Background technology
Electric steering gear is a kind of high-precision positional servosystem, steering wheel principle of work accepts the rudder face drift angle Setting signal that main control computer provides, rudder face drift angle Setting signal and rudder face drift angle feedback signal are regulated through signal transacting and program the deflection carrying out primary control surface eventually through output command by steering gear control system, thus the flight attitude of change of flight device or flight path, finally guarantee that aircraft flies according to desired trajectory aloft.Electric steering gear belongs to the front end execution unit of aircraft, windage and resistance will be directly born in the process of high-speed flight, work under bad environment, needing also to ensure deflection precision and speed of response under the prerequisite of bearing the harsh conditions such as heavy load, high/low temperature, strong vibration, this just improves the requirement of core control algorithm.
In recent years, along with the fast development of high-power electric and electronic technology and rare-earth permanent-magnet electric machine technology, electric steering gear technical development is rapid, achieves noticeable achievement, in low power range, replaces traditional hydraulic sterring engine and pneumatic steering gear step by step.Publication number is that the patent of invention " a kind of numeric rudder controller " of CN102854814A just proposes a kind of digitalized electric steering wheel scheme based on DSP module, but it only proposes the whole structural scheme of system, each functional module of system and concrete control method are not provided in detail.The article " a kind of permanent magnet brushless dc moves steering wheel four-quadrant and controls " being published in " electric-engineering journal " provides a kind of electric steering gear control program based on current hysteresis-band control improved on PID basis, but this improvement suppresses for the pulsation of system Driving Torque, for the deflection precision under complex work environment and the not any help of the most important performance of these electric steering gears of speed of response.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of electric steering gear device based on speed ring commutation, motor fast response time, strong interference immunity.
The technical solution adopted for the present invention to solve the technical problems is: a kind of electric steering gear device based on speed ring commutation, comprises signal conditioning circuit, DSP, digital buffer circuit, driving circuit, main power circuit, brshless DC motor, driving gear set, rudder face, current sensor, position transduser and communication circuit.Rudder face drift angle Setting signal is sent into the form of analog signal, signal conditioning circuit sends into controller DSP through AD conversion after being carried out voltage transformation, filtering, amplitude limiting processing, DSP exports 6 railway digital control signals, after numeral isolation, give driving circuit convert power control signal to, power control signal is by controlling main power circuit, thus controlling brushless direct current motor work, brshless DC motor drives control surface deflection to follow rudder face drift angle Setting signal by driving gear set; The bus current of brshless DC motor to DSP, realizes electric current loop closed loop control through current sensor sampling feedback; The current drift angle of angular transducer Real-time Feedback rudder face be connected with driving gear set, passes to DSP, forms speed closed loop; The current drift angle of rudder face is passed to upper computer through communication circuit and is carried out Real-Time Monitoring.
The present invention also provides the control method of said apparatus, comprises the following steps:
The first step: give control desk by rudder face drift angle simulation Setting signal, signal conditioning circuit carries out process in early stage to it, comprises voltage transformation, filtering and amplitude limit;
Second step: it is rudder face declination number Setting signal that the rudder face drift angle simulation Setting signal through process in early stage is sent into controller DSP by AD sampling;
3rd step: speed ring counting variable is reset, by DSP reading angular sensor signal as rudder face declination number feedback signal, deducts rudder face declination number feedback signal with rudder face declination number Setting signal and obtain position deviation;
4th step: carry out position ring PID adjustment, calculates position ring regulation output amount according to position deviation, and it can be used as speed ring given, speed ring is given have positive and negative;
5th step: reset by electric current loop counting variable, utilizes the rudder face declination number feedback signal gathered to calculate rudder face rotating speed as velocity feedback, obtains velocity deviation with the given velocity feedback that deducts of speed ring;
6th step: carry out speed by PID adjustment, speed regulation output amount is calculated according to velocity deviation, and it can be used as electric current loop Setting signal, electric current loop Setting signal has positive and negative, the sign of record current ring Setting signal, to determine the direction of this control cycle bus feedback current, speed ring counting variable is added 1;
7th step: judge that speed ring PID regulates number of times whether to reach set point number n, n≤10, if so, then return second step, if not, then continues down to carry out the 8th step and controls;
8th step: sending into DSP by AD sampling by gathering the bus feedback current of returning after voltage transformation, filtering and amplitude limit, being then multiplied with the symbol of the electric current loop Setting signal of this control cycle, becoming vector, to feed back as electric current loop; Then current deviation is obtained by the given current feedback that deducts of electric current loop;
9th step: carry out electric current loop PID adjustment, calculates electric current loop regulation output amount according to current deviation, electric current loop counting variable is added 1;
Tenth step: the quantitative change of electric current loop regulation output is changed into duty cycle signals, and duty cycle signals has positive and negative;
11 step: convert duty cycle signals to power control signal by driving circuit after numeral isolation, give main power circuit, by control MOSFET in main power circuit turn on and off control rudder face and deflect by control law;
12 step: judge that electric current loop PID regulates number of times whether to reach set point number n, n≤10, if so, then return the 5th step, if not, then returns the 8th step and proceeds electric current loop adjustment.
The invention has the beneficial effects as follows: above-mentioned control method of the present invention is by the positive and negative sign deciding the bus current that current control period collection is returned of the electric current loop Setting signal of this control cycle, namely when needs bus current is that timing just thinks that feedback current is just, just think that when needs bus current is negative feedback current is negative.Due to the given output being speed ring of electric current loop, and the positive and negative of electric current just determines turning to of brshless DC motor, so the control method that this Negotiation speed ring outbound course decides motor steering is just called speed ring commutation method.
This control system had following advantage in Electrodynamic Rudder System compared with traditional steering gear system: (1) electromagnetic torque direction (i.e. direction of current) is consistent with given value of current direction all the time, the impact brought thus is that motor speed direction and electromagnetic torque direction are inconsistent sometimes, braking mode that Here it is, therefore in this case, machine operation, under four-quadrant state, can improve the dynamic responding speed of system by actv.; (2) because direction that electric current loop is given determines the direction of bus feedback current, so feedback current always can follow given electric current closely, so when there being extraneous load to put on rudder face, when control system needs electric current to reduce rapidly, feedback current can lower rapidly, this provides for improved the anti-interference resistance of system, i.e. robustness.
Accompanying drawing explanation
Fig. 1 is brush-less Dc motor steering gear system constructional drawing;
In figure, 1-signal conditioning circuit, 2-controller DSP, 3-digital buffer circuit, 4-driving circuit, 5-main power circuit, 6-brshless DC motor (BLDCM), 7-driving gear set, 8-rudder face, 9-current sensor, 10-position transduser, 11-RS422 communicates.
Fig. 2 is Electrodynamic Rudder System control block diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
Technical scheme of the present invention comprises: controller-DSP, digital buffer circuit, driving circuit, main power circuit, brshless DC motor (BLDCM), driving gear set, rudder face, current sensor, position transduser, 422 communication circuits.Rudder face drift angle Setting signal is sent into the form of analog signal, signal conditioning circuit is carried out voltage transformation, filtering, controller DSP is sent into through AD conversion after amplitude limiting processing, DSP is regulated by control policy, export 6 railway digital control signals, digital controlled signal is given driving circuit and is converted power control signal to after numeral isolation, power control signal opens shutoff by the MOSFET's in control main power circuit, thus control brushless direct current motor (BLDCM) work, brshless DC motor drives control surface deflection to follow rudder face drift angle Setting signal by driving gear set.The bus current of brshless DC motor is sampled through current sensor, realizes electric current loop closed loop control.The current drift angle of angular transducer (coder) Real-time Feedback rudder face be connected with driving gear set, passes to DSP, and calculate rotating speed by current drift angle and form speed closed loop, the current drift angle of the rudder face fed back completes rudder face position-force control.The current drift angle of rudder face is passed to upper computer through RS-422 and is carried out Real-Time Monitoring.
In technical scheme of the present invention, steering gear system control program adopts position-speed-electric current three closed loop PID control.
The concrete control method of system is as follows:
The first step: give control desk by rudder face drift angle simulation Setting signal, signal conditioning circuit carries out the process in early stage such as voltage transformation, filtering, amplitude limit to it;
Second step: it is rudder face declination number Setting signal that the rudder face drift angle simulation Setting signal through process in early stage is sent into controller DSP by AD sampling;
3rd step: speed ring counting variable is reset, with DSP reading angular sensor (digital encoder) signal as rudder face declination number feedback signal, deducts rudder face declination number feedback signal with rudder face declination number Setting signal and obtain position deviation;
4th step: carry out position ring PID adjustment, calculates position ring regulation output amount according to position deviation, and it can be used as speed ring given, speed ring is given have positive and negative;
5th step: electric current loop counting variable is reset, gathers the rudder face declination number feedback signal of returning before utilization and calculate rudder face rotating speed as velocity feedback, obtain velocity deviation with the given velocity feedback that deducts of speed ring;
6th step: carry out speed by PID adjustment, speed regulation output amount is calculated according to velocity deviation, and it can be used as electric current loop Setting signal, electric current loop Setting signal has positive and negative, the sign of record current ring Setting signal, to determine the direction of this control cycle bus feedback current, speed ring counting variable is added 1;
7th step: judge that speed ring PID regulates number of times whether to reach n(n≤10) secondary, if so, then return second step, if not, then continue down to carry out the 8th step and control;
8th step: send into DSP by AD sampling by gathering the bus feedback current (scalar) of returning after the process such as voltage transformation, filtering, amplitude limit, then be multiplied with the symbol of the electric current loop Setting signal of this control cycle, become vector, to feed back as electric current loop.Then current deviation is obtained by the given current feedback that deducts of electric current loop.
9th step: carry out electric current loop PID adjustment, calculates electric current loop regulation output amount (having positive and negative) according to current deviation, electric current loop counting variable is added 1;
Tenth step: the quantitative change of electric current loop regulation output is changed into duty cycle signals, and duty cycle signals has positive and negative.
11 step: convert duty cycle signals to power control signal by driving circuit after numeral isolation, give main power circuit, by control MOSFET in main power circuit turn on and off control rudder face and deflect by control law;
12 step: judge that electric current loop PID regulates number of times whether to reach n(n≤10) secondary, if so, then return the 5th step, if not, then return the 8th step and proceed electric current loop adjustment.
As shown in Figure 1, rudder face position is given to be sent into analog signal, controller DSP 2 is sent into through AD conversion after being nursed one's health by signal conditioning circuit 1, DSP realizes control policy and controls, export 6 road drive singal, drive singal, through digital buffer circuit 3, driving circuit 4 and main power circuit 5, controls brushless direct current motor (BLDCM) 6 work, and it is given that brshless DC motor drives rudder face 8 to deflect to follow rudder face position by driving gear set 7.The bus current of brshless DC motor is sampled through current sensor 9, realizes electric current loop closed loop control.The current location of position transduser (coder) the 10 Real-time Feedback rudder face be connected with driving gear set, passes to DSP, and calculate rotating speed by position signal and form speed closed loop, the position signal fed back completes rudder face position-force control.Rudder face position actual measured value is passed to upper computer through RS-422 communication 11 and is carried out Real-Time Monitoring.
As shown in Figure 2, the present invention adopts classical position-speed-electric current three closed loop PID control, and its concrete control process is:
The first step: give control desk by rudder face drift angle simulation Setting signal, signal conditioning circuit carries out the process in early stage such as voltage transformation, filtering, amplitude limit to it;
Second step: it is rudder face declination number Setting signal P that the rudder face drift angle simulation Setting signal through process in early stage is sent into controller DSP by AD sampling *;
3rd step: reset by speed ring counting variable Vcnt, with DSP reading angular sensor (digital encoder) signal as rudder face declination number feedback signal P, with rudder face declination number Setting signal P *deduct rudder face declination number feedback signal P and obtain position deviation Δ P;
4th step: carry out position ring PID adjustment, calculates position ring regulated quantity according to deviation delta P and exports, and it can be used as the given V of speed ring *, V *have positive and negative;
5th step: reset by electric current loop counting variable Icnt, gathers the rudder face declination number feedback signal of returning and calculates rudder face rotating speed V as velocity feedback, with the given V of speed ring before utilization *deduct velocity feedback V and obtain velocity deviation Δ V;
6th step: carry out speed ring PID adjustment, calculates speed regulation output amount according to velocity deviation Δ V, and it can be used as the given I of electric current loop * (k), I * (k)have positive and negative, speed ring counting variable Vcnt is added 1;
7th step: judge that speed ring PID regulates number of times whether to reach n(n≤10) secondary, if so, then return second step, if not, then continue down to carry out the 8th step and control;
8th step: will the bus current I of returning be gathered 0after signal condition, send into DSP by AD, then pass through formula calculate I as current feedback, wherein I * (k)represent that the electric current loop of this control cycle is given, namely speed ring exports, I * (k)have positive and negative, represent I * (k)symbol.Then given value of current I is used *deduct current feedback I and obtain current deviation Δ I.
9th step: carry out electric current loop PID adjustment, calculates Current adjustment output (having positive and negative) according to current deviation Δ I, electric current loop counting variable Icnt is added 1;
Tenth step: the quantitative change of electric current loop regulation output is changed into duty cycle signals D, and D has positive and negative.
11 step: convert duty cycle signals to power control signal by driving circuit after numeral isolation, give main power circuit, by control MOSFET in main power circuit turn on and off control rudder face and deflect by control law;
12 step: judge that electric current loop PID regulates number of times whether to reach n(n≤10) secondary, if so, then return the 5th step, if not, then return the 8th step and proceed electric current loop adjustment;
The positive and negative of Negotiation speed ring output of the present invention decides the positive and negative of bus feedback current, when needs bus current is that timing just thinks that feedback current is just, just thinks that feedback current is negative when needs bus current is negative, to realize speed ring commutation.

Claims (1)

1. one kind utilizes the control method of the electric steering gear device based on speed ring commutation, the described electric steering gear device that should commutate based on speed ring, comprise signal conditioning circuit, DSP, numeral buffer circuit, driving circuit, main power circuit, brshless DC motor, driving gear set, rudder face, current sensor, angular transducer and communication circuit, rudder face drift angle Setting signal is sent into the form of analog signal, signal conditioning circuit is carried out voltage transformation, filtering, controller DSP is sent into through AD conversion after amplitude limiting processing, DSP exports 6 railway digital control signals, after numeral isolation, give driving circuit convert power control signal to, power control signal is by controlling main power circuit, thus control brshless DC motor work, brshless DC motor drives control surface deflection to follow rudder face drift angle Setting signal by driving gear set, the bus current of brshless DC motor to DSP, realizes electric current loop closed loop control through current sensor sampling feedback, the current drift angle of angular transducer Real-time Feedback rudder face be connected with driving gear set, passes to DSP, forms speed closed loop, the current drift angle of rudder face is passed to upper computer through communication circuit and is carried out Real-Time Monitoring,
The method is characterized in that comprising the steps:
The first step: give control desk by the rudder face drift angle simulation Setting signal that rudder face drift angle Setting signal is sent into analog signal form, signal conditioning circuit carries out process in early stage to it, comprises voltage transformation, filtering and amplitude limit;
Second step: the rudder face drift angle simulation Setting signal that the rudder face drift angle Setting signal through process in early stage is sent into analog signal form is sent into controller DSP for rudder face declination number Setting signal by AD sampling;
3rd step: speed ring counting variable is reset, by DSP reading angular sensor signal as rudder face declination number feedback signal, deducts rudder face declination number feedback signal with rudder face declination number Setting signal and obtain position deviation;
4th step: carry out position ring PID adjustment, calculates position ring regulation output amount according to position deviation, and it can be used as speed ring given, speed ring is given have positive and negative;
5th step: reset by electric current loop counting variable, utilizes the rudder face declination number feedback signal gathered to calculate rudder face rotating speed as velocity feedback, obtains velocity deviation with the given velocity feedback that deducts of speed ring;
6th step: carry out speed by PID adjustment, speed regulation output amount is calculated according to velocity deviation, and it can be used as electric current loop Setting signal, electric current loop Setting signal has positive and negative, the sign of record current ring Setting signal, to determine the direction of this control cycle bus feedback current, speed ring counting variable is added 1;
7th step: judge that speed ring PID regulates number of times whether to reach set point number n, n≤10, if so, then return second step, if not, then continues down to carry out the 8th step and controls;
8th step: sending into DSP by AD sampling by gathering the bus feedback current of returning after voltage transformation, filtering and amplitude limit, being then multiplied with the symbol of the electric current loop Setting signal of this control cycle, becoming vector, to feed back as electric current loop; Then current deviation is obtained by the given current feedback that deducts of electric current loop;
9th step: carry out electric current loop PID adjustment, calculates electric current loop regulation output amount according to current deviation, electric current loop counting variable is added 1;
Tenth step: the quantitative change of electric current loop regulation output is changed into duty cycle signals, and duty cycle signals has positive and negative;
11 step: convert duty cycle signals to power control signal by driving circuit after numeral isolation, give main power circuit, by control MOSFET in main power circuit turn on and off control rudder face and deflect by control law;
12 step: judge that electric current loop PID regulates number of times whether to reach set point number n, n≤10, if so, then return the 5th step, if not, then returns the 8th step and proceeds electric current loop adjustment.
CN201310162773.5A 2013-05-06 2013-05-06 A kind of electric steering gear device based on speed ring commutation and control method thereof Expired - Fee Related CN103303454B (en)

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CN103213666B (en) * 2013-05-06 2015-11-25 西北工业大学 A kind of electric steering gear device of position-based ring commutation and control method
CN103935504B (en) * 2014-03-14 2016-06-29 山东省科学院海洋仪器仪表研究所 A kind of mechanical brake variable-frequency controls ship steering engine driving device and control method
CN105783612B (en) * 2016-03-28 2018-01-05 北京航天控制仪器研究所 A kind of general miniaturization digitalized electric steering engine controller and its control method
CN106143862A (en) * 2016-05-23 2016-11-23 哈尔滨工程大学 A kind of ship steering engine driving means and detecting system thereof
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
CN106712597A (en) * 2017-02-13 2017-05-24 李淋 Driving system applied to motion platform
CN108181853A (en) * 2018-01-16 2018-06-19 合肥华宇智航动力能源有限公司 A kind of yacht steering-engine control system and control method

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CN202379084U (en) * 2011-11-25 2012-08-15 北京自动化控制设备研究所 Multi-loop control and high-power driving circuit for quick-response electric steering engine
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CN103213666B (en) * 2013-05-06 2015-11-25 西北工业大学 A kind of electric steering gear device of position-based ring commutation and control method

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