CN104401483A - Electromechanical servo system - Google Patents
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- CN104401483A CN104401483A CN201410643375.XA CN201410643375A CN104401483A CN 104401483 A CN104401483 A CN 104401483A CN 201410643375 A CN201410643375 A CN 201410643375A CN 104401483 A CN104401483 A CN 104401483A
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Abstract
A provided electromechanical servo system belongs to the electromechanical field and is used to solve the problems that a conventional electromechanical servo system cannot be installed in a narrow and small space, is bad in structure adaptability, and the like. The provided system comprises a control driver and three electromechanical servo actuators; the input terminal of the control driver is connected with a host-computer control system of a current electromechanical servo system through an RS422 bus, and the output terminal is connected with the three electromechanical servo actuators; the control driver is sued to receive control instructions sent by the host-computer control system of the current electromechanical servo system, and realizes closed-loop control on the three electromechanical servo actuators according to acquired rectilinear motion displacement signals of the electromechanical servo actuators, and the phase current and the rotation angle positions of servo motors of the electromechanical servo actuators. The electromechanical servo system has the advantages of high integration property, small volume and light weight by employing one control driver for controlling the three electromechanical servo actuators.
Description
Technical field
The present invention relates to field of electromechanical technology, refer to a kind of electromechanical servo system especially.
Background technology
Electromechanical coupling system is the actuating unit of flight control system, by the instruction of receiving control system, produces straight line or rotary motion, and the rudder face promoting aircraft produces operating torque, realizes the thruster vector control of aircraft.Electromechanical servo system has the advantages that structure is simple, dynamic characteristics good, assembling maintainability is good, is widely used in rudder face maneuvering and control field.
But existing hydraulic efficiency servo there is leakage of oil and structure adaptability is poor, be difficult to the problems such as maintenance.And existing electromechanical servo system complex structure, installing space are narrow and small, the large reliability of weight is not high enough, and the wherein many employings of drived control " one-to-one " scheme, be unfavorable for system compact and lightweight, be difficult to the installation and the dynamic characteristics requirement that meet Fu.Therefore, be badly in need of a kind of can meet narrow installation space rudder face handle installation and dynamic characteristics require Fu.
Summary of the invention
In order to solve existing electromechanical servo system complex structure, installing space is narrow and small, weight is large, drived control can only one-to-one, be unfavorable for system compact and weight-saving problem, the invention provides a kind of electromechanical servo system, electromechanical servo system provided by the invention adopts 1 control and drive system to control 3 electromechanical servo actuator, there is high integration, solve the problems referred to above that prior art exists.
A kind of electromechanical servo system provided by the invention, comprises a control and drive system and three electromechanical servo actuator; The input end of described control and drive system is connected with the upper computer control system of current electromechanical servo system by RS422 bus, and mouth is connected respectively with described three electromechanical servo actuator; The control command that described control and drive system is sent for the upper computer control system receiving current electromechanical servo system, gather phase current, the servomotor angular position of rotation of the straight-line motion displacement signal of each electromechanical servo action device and the servomotor of each electromechanical servo action device, realize the closed loop control to described three electromechanical servo actuator.
Wherein, each described electromechanical servo actuator comprises servomotor, ball-screw, guiding mechanism, linear movement pick-up, magslip, housing, bolt assembly, lug component, limit swinging mechanism; One side axle head of described servomotor is connected with described ball-screw, and another side axle head is provided with described magslip; Described lug component, limit swinging mechanism are all installed on the outside of described magslip, and described limit swinging mechanism and lug component align in the radial direction of electromechanical servo actuator; Described guiding mechanism has a cylindrical guide groove, and a side shaft of described ball-screw is arranged in the guide groove of described guiding mechanism, and when described servomotor rotates, described ball-screw moves in the guide groove of described guiding mechanism; Described bolt assembly is installed on the outside axle head of described guiding mechanism; Described linear movement pick-up is fixedly connected with described ball-screw; Described servomotor, ball-screw, guiding mechanism, linear movement pick-up, magslip, bolt assembly, lug component are all arranged in described housing; Described control and drive system gathers the angular position of rotation of described servomotor by described magslip, and gathers the straight-line motion displacement signal of described electromechanical servo actuator by described linear movement pick-up.
Wherein, described ball-screw is single nut fixed type Inner eycle ball-screw, and by increasing steel ball size pretension.
Wherein, described linear movement pick-up adopts straight line, duplex, contact, band centre tapped synthesis film potential meter; Described potentiometric brush assembly of electric is fixed on the nut of described ball-screw, and two resistance plates are arranged on the both sides of described housing.
Wherein, direct-connected by little surplus interference fit flat key between described servomotor and ball-screw.
Wherein, described limit swinging mechanism is oscillating bearing limit pendulum device, comprises little journal stirrup; The little journal stirrup of described limit swinging mechanism and the large journal stirrup of described lug component be arranged in parallel.
Wherein, described control and drive system comprises communication module and three electric machine control driver modules, and the input end of each described electric machine control driver module is connected with described communication module, and mouth is connected with an electromechanical servo action device; Described communication module realizes being connected with the communication of the upper computer control system of current electromechanical servo system by RS422 bus, and realizes the data exchange with described electric machine control driver module by CAN; Each described electric machine control driver module is used under the control of the upper computer control system of current electromechanical servo system, gather the straight-line motion displacement signal of the phase current of the servomotor of the electromechanical servo action device be connected with self, angular position of rotation and electromechanical servo actuator, 6 road pwm control signals are obtained by SVPWM space vector control method, and described 6 road pwm control signals are exported to the electromechanical servo action device be connected with self, to realize the position of this electromechanical servo action device and the electric current of servomotor, the closed loop control of speed.
Wherein, described electric machine control driver module comprises: CAN interface circuit, DSP and peripheral circuit, current sensor, memory circuitry, signal processing circuit, A/D translation circuit, revolve become decoding circuit, Switching Power Supply translation circuit; Described DSP and peripheral circuit are connected with described communication module by described CAN interface circuit; Described memory circuitry is connected with described DSP and peripheral circuit; The mouth of described DSP and peripheral circuit connects electromechanical servo action device to be controlled; Described current sensor is for gathering 2 phase currents of the servomotor of the electromechanical servo action device be connected with described DSP and peripheral circuit; The mouth of described current sensor, the mouth of the linear movement pick-up of electromechanical servo action device be connected with described DSP and peripheral circuit are all connected with the input end of described signal processing circuit, and described signal processing circuit is supplied to described A/D translation circuit after being used for carrying out signal transacting to the phase current of the servomotor of current reception and the straight-line motion displacement signal of electromechanical servo action device and carries out A/D conversion; The mouth of described A/D translation circuit connects described DSP and peripheral circuit; Describedly revolve the magslip mouth becoming the input end of decoding circuit and connects the electromechanical servo action device be connected with described DSP and peripheral circuit, described in revolve change decoding circuit mouth be connected with described DSP and peripheral circuit; The control command that described DSP and peripheral circuit are sent according to upper computer control system and straight-line motion displacement signal, the phase current of servomotor, the angular position of rotation of servomotor of the electromechanical servo action device be connected with self that receive, obtain 6 road pwm control signals by SVPWM space vector control method and export the electromechanical servo action device be connected with self to; All parts that described Switching Power Supply translation circuit controls with current motor to need in driver module to power respectively are connected, for they provide power supply.
Wherein, the DSP in described DSP and peripheral circuit is TMS320F2407A chip.
Wherein, described electric machine control driver module also comprises: the current foldback circuit adopting LM339 tetra-road comparator; The input end of described current foldback circuit is connected with the mouth of described current sensor, and the mouth of described current foldback circuit is connected with described DSP and peripheral circuit; Described current foldback circuit for compare to determine the servomotor of described current sensor collection 2 phase currents in whether have at least a phase current to exceed corresponding predetermined threshold; if; then output low level, described DSP and peripheral circuit cut off the output of 6 road pwm control signals when described current foldback circuit output low level.
The beneficial effect of technique scheme of the present invention is as follows:
Above-mentioned electromechanical servo system provided by the invention adopts 1 control and drive system to control 3 electromechanical servo actuator, integration degree is high, and by the position relationship between each constituent elements in reasonable selection electromechanical servo actuator and optimal design parts, effectively reduce the volume of whole Fu, improve reliability, this electromechanical servo system is simple relative to existing servo system structure, safeguard easily, volume is little, the existing system of weight ratio reduces 20%, and reliability is high, the high integration requirement that 1 drags 3 can be realized.
Accompanying drawing explanation
A kind of electromechanical servo system structural representation that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is the birds-eye view of electromechanical servo actuator;
Fig. 3 is the A-A cutaway view of Fig. 2;
Fig. 4 is the preferred real-time architecture schematic diagram of control and drive system 1 in Fig. 1;
Fig. 5 is the preferred real-time architecture schematic diagram of the electric machine control driver module 14 in Fig. 4;
Fig. 6 be in electromechanical servo system provided by the invention control and drive system to the control principle drawing of electromechanical servo actuator;
Fig. 7 is the preferred real-time architecture schematic diagram of another kind of electric machine control driver module 14.
[description of reference numerals]
1, control and drive system;
2, electromechanical servo actuator;
3, upper computer control system;
4, servomotor;
5, ball-screw;
6, guiding mechanism;
7, linear movement pick-up;
8, magslip;
9, steering wheel housing;
10, bolt assembly;
11, lug component;
12, swinging mechanism is limit;
13, communication module;
14, electric machine control driver module;
15, CAN interface circuit;
16, DSP and peripheral circuit;
17, current sensor;
18, memory circuitry;
19, signal processing circuit;
20, A/D translation circuit;
21, change decoding circuit is revolved;
22, Switching Power Supply translation circuit;
23, current foldback circuit.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
As a kind of electromechanical servo system structural representation that Fig. 1 provides for the embodiment of the present invention, as shown in fig. 1, this system comprises a control and drive system 1 and three electromechanical servo actuator 2.Wherein, the input end of control and drive system 1 is connected with the upper computer control system 3 of current electromechanical servo system by RS422 bus, and the mouth of control and drive system 1 is connected respectively with three electromechanical servo actuator 2; The control command that control and drive system 1 is sent for the upper computer control system 3 receiving current electromechanical servo system, gather the straight-line motion displacement signal of each electromechanical servo action device 2 and the phase current of servomotor, the angular position of rotation of servomotor of each electromechanical servo action device 2, realize the closed loop control to three electromechanical servo actuator 2.
Figure 2 shows that the birds-eye view of electromechanical servo actuator, Fig. 3 is the A-A cutaway view of Fig. 2.As shown in Figures 2 and 3, preferably, electromechanical servo actuator comprises servomotor 4, ball-screw 5, guiding mechanism 6, linear movement pick-up 7, magslip 8, steering wheel housing 9, bolt assembly 10, lug component 11, limit swinging mechanism 12.
Wherein, as shown in figures 2-3, the axle head of servomotor 4 is connected with ball-screw 5, and another side axle head is provided with magslip 8; Lug component 11, limit swinging mechanism 12 are installed on the outside of magslip 8, and limit swinging mechanism 12 and lug component 11 align in the radial direction of electromechanical servo actuator; Guiding mechanism 6 has a cylindrical guide groove, and the left-hand axis of ball-screw 5 is arranged in the guide groove of guiding mechanism 6, and when servomotor 4 rotates, ball-screw 5 moves in the guide groove of guiding mechanism 6; Bolt assembly 10 is installed on the outside axle head of guiding mechanism 6, and namely bolt assembly 10 is installed on the left side axle head of guiding mechanism 6 as illustrated in the drawing; Linear movement pick-up 7 is fixedly connected with ball-screw 5; Servomotor 4, ball-screw 5, guiding mechanism 6, linear movement pick-up 7, magslip 8, bolt assembly 10, lug component 11 are all arranged in steering wheel housing 9.When adopting the preferred electromechanical servo actuator shown in Fig. 2-3, control and drive system 1 in electromechanical servo system provided by the invention gathers the angular position of rotation of servomotor 4 by magslip 8, and the straight-line motion displacement signal of dynamo-electric servoactuator 2 is gathered by linear movement pick-up 7, now, be also provided with in control and drive system 1 for gathering the current sensor with the phase current of servomotor 4.
Because servomotor 4 rotates the rotation causing self, therefore shaping-orientation mechanism is needed, fully digesting and assimilating on the experiential basis of existing product, devise the guiding mechanism based on antifriction-bearing box, namely foregoing guiding mechanism 6 has a cylindrical guide groove, this side shaft of ball-screw 5 is arranged in the guide groove of guiding mechanism 6, this kind of guiding mechanism principle is to be reduced friction by rolling guiding, simultaneously owing to being the outside race face of cylinder and guide groove end contact, mechanical property is good, structure is simple, effectively solves the problem of the aspects such as friction of rolling.
Preferably, ball-screw 5 is single nut fixed type Inner eycle ball-screw, by increasing firm ball diameter pretension.Ball-screw-transmission has that driving efficiency is high, long working life, transmission accuracy high.The development difficult point of miniaturization precision drive ball-screw is endplay adjustment in limited installation space, the choosing of ball-screw material, material heat treatment process technology, raceway process technology.
Preferably, linear movement pick-up 7 adopts straight line, duplex, contact, band centre tapped synthesis film potential meter; Potentiometric brush assembly of electric is fixed on the nut of ball-screw 5, and two resistance plates are arranged on the both sides of steering wheel housing 9.The above-mentioned built-in manner of linear movement pick-up substantially increases reliability relative to external the comparing in existing electromechanical servo system and effectively reduces machine volume, and is fixed on ball-screw nut by sensor brush carrier, simplifies mounting structure.
Connection request gapless between servomotor 4 and ball-screw 5, transmitting torque, the modes such as the technological approaches realized is threaded, key connection, hot charging, the present invention compares analysis to the connection mode of the two from the aspect such as assembling, reliability, selects between servomotor 4 and ball-screw 5 by the direct-connected this preferred implementation of little surplus interference fit flat key.
Because the steering wheel housing 9 rotarily driving electromechanical servo actuator 2 of servomotor 4 rotates, design is therefore needed to prevent rotation mechanism for wind from namely limitting swinging mechanism.Usually can adopt and directly connect firmly, oscillating bearing limit pendulum, to be universally hinged.Because direct attachment is unfavorable for force balance when being laterally subjected to displacement, it is comparatively large that universal hinge connects the dimensional space taken, and is unfavorable for installing, and preferably, limits swinging mechanism 12 for oscillating bearing limit pendulum device, comprise little journal stirrup in system provided by the invention; The limit little journal stirrup of swinging mechanism 12 and the large journal stirrup of lug component 11 be arranged in parallel, play the effect of anti-torsion.
Fig. 4 is the preferred real-time architecture schematic diagram of control and drive system 1 in Fig. 1, the mode of 3 is dragged in control and drive system employing 1,3 electromechanical servo action devices 2 are driven by 1 control and drive system, as shown in Figure 4, control control and drive system 1 and comprise communication module 13 and three electric machine control driver modules 14, the input end of each electric machine control driver module 14 is connected with communication module 13, and mouth is connected with an electromechanical servo action device 2.
Wherein, communication module 13 realizes being connected with the communication of the upper computer control system 3 of current electromechanical servo system by RS422 bus, and realizes the data exchange with electric machine control driver module 14 by CAN.Each electric machine control driver module 14 is under the control of the upper computer control system 3 of current electromechanical servo system, gather the phase current of the servomotor 4 of the electromechanical servo action device 2 be connected with self, the angular position of rotation of servomotor 4 and the straight-line motion displacement signal of this electromechanical servo actuator 2, 6 road pwm control signals are obtained by SVPWM space vector control method, and the electromechanical servo action device 2 be connected with self will be exported after 6 road pwm control signals to, to realize the position of this electromechanical servo action device 2 and the electric current of servomotor, the closed loop control of speed.
Fig. 5 is the preferred real-time architecture schematic diagram of the electric machine control driver module 14 in Fig. 4, as shown in Figure 5, electric machine control driver module 14 comprises: CAN interface circuit 15, DSP and peripheral circuit 16, current sensor 17, memory circuitry 18, signal processing circuit 19, A/D translation circuit 20, revolve become decoding circuit 21, Switching Power Supply translation circuit 22 etc.
Wherein, DSP and peripheral circuit 16 are connected with communication module 13 by CAN interface circuit 15; Memory circuitry 18 is connected with DSP and peripheral circuit 16; The mouth of DSP and peripheral circuit 16 connects electromechanical servo action device to be controlled.All parts that Switching Power Supply translation circuit 22 controls with current motor to need in driver module 14 to power respectively are connected, for they provide power supply.
As previously described, be provided with current sensor in control and drive system 1, the servomotor 4 of the electromechanical servo action device that current sensor 17 is connected with DSP and peripheral circuit 16 connects, for gathering 2 phase currents of this servomotor 4.The mouth of current sensor 17, the mouth of the linear movement pick-up 7 of electromechanical servo action device be connected with DSP and peripheral circuit 16 are all connected with the input end of signal processing circuit 19, and signal processing circuit 19 is supplied to A/D translation circuit 20 after carrying out signal transacting for the phase current of the servomotor 4 to current reception and the straight-line motion displacement signal of electromechanical servo action device 2 and carries out A/D conversion; The mouth of A/D translation circuit 20 connects DSP and peripheral circuit 16.
Revolve the mouth that the input end becoming decoding circuit 21 connects the magslip 8 of the electromechanical servo action device be connected with DSP and peripheral circuit 16, revolve the mouth becoming decoding circuit 21 and be connected with DSP and peripheral circuit 16.Revolve and become decoding circuit 21 for being gathered the angular position of rotation parameter of the servomotor 4 of this electromechanical servo action device by magslip 8.
The control command that DSP and peripheral circuit 16 are sent according to upper computer control system and straight-line motion displacement signal, the phase current of servomotor, the angular position of rotation of servomotor of the electromechanical servo action device be connected with self that receive, obtain 6 road pwm control signals by SVPWM space vector control method and export the electromechanical servo action device that is connected with self to realize the closed loop control to this electromechanical servo action device.
Preferably, the DSP in DSP and peripheral circuit 16 is TMS320F2407A chip.
Fig. 6 be in electromechanical servo system provided by the invention control and drive system to the control principle drawing of electromechanical servo actuator.Wherein, by stator current i that current sensor measurement inverter exports
a, i
b, convert digital quantity i to through A/D
aand i
b, and utilize formula i
c=-(i
a+ i
b) calculate i
c.Converted current i by Clarke conversion and Park successively again
a, i
b, i
cbe transformed into the DC component i in rotating coordinate system
sq, i
sd, i
sq, i
sdas the amount of negative feedback of electric current loop.Magslip is utilized to measure the mechanical corner displacement θ of electrical motor
m, and convert thereof into electric angle θ
ewith rotating speed n.Wherein, electric angle θ
efor participating in the calculating of Park conversion and inverse transformation.Given angle n
refgather displacement signal with linear movement pick-up and export given rotating speed n after position control regulates
ref, n
refwith the deviation of speed feedback amount n through speed regulator, it exports as the electric current q axle reference component i for direct torque
sqref.I
sqrefand i
sdref(equalling zero) and current feedback amount i
sq, i
sddeviation after current relay, export the phase voltage component V of Odq rotating coordinate system respectively
sqrefand V
sdref.V
sqrefand V
sdrefagain by the component V of the stator phase voltage vector of Park inverse transformation change type O α β rectangular coordinate system
s α refand V
s β ref.As the component V of stator phase voltage vector
s α ref, V
s β reftime known with the sector number at its place, just can utilize voltage space vector technology, produce pwm control signal and carry out control inverter.
Preferably, as shown in Figure 7, electric machine control driver module 14 also comprises: the current foldback circuit 23 adopting LM339 tetra-road comparator; The input end of current foldback circuit 23 is connected with the mouth of current sensor 17, and the mouth of current foldback circuit 23 is connected with DSP and peripheral circuit 16; Whether current foldback circuit 23 has at least a phase current to exceed corresponding predetermined threshold in 2 phase currents of servomotor 4 that compare to determine current sensor 17 and gather; if; then output low level, DSP and peripheral circuit 16 cut off the output of 6 road pwm control signals when current foldback circuit 23 output low level.Through verification experimental verification, hardware protection design is feasible, reliable, does not occur the phenomenon of the pipe burnt out in circuit.
In such scheme, electromechanical servo system adopts 1 control and drive system to control 3 electromechanical servo actuator, integration degree is high, and by the position relationship between each constituent elements in reasonable selection electromechanical servo actuator and optimal design parts, effectively reduce the volume of whole Fu, improve reliability.This electromechanical servo system is simple relative to existing servo system structure, safeguards that easily volume is little, the existing system of weight ratio reduces 20%, reliability is high, can realize the high integration requirement that 1 drags 3, therefore, than existing electromechanical servo system, there is advantage, practical.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. an electromechanical servo system, is characterized in that, comprises a control and drive system and three electromechanical servo actuator;
The input end of described control and drive system is connected with the upper computer control system of current electromechanical servo system by RS422 bus, and mouth is connected respectively with described three electromechanical servo actuator; The control command that described control and drive system is sent for the upper computer control system receiving current electromechanical servo system, gather the straight-line motion displacement signal of each electromechanical servo action device and the phase current of servomotor, the angular position of rotation of servomotor of each electromechanical servo action device, realize the closed loop control to described three electromechanical servo actuator.
2. electromechanical servo system as claimed in claim 1, it is characterized in that, each described electromechanical servo actuator comprises servomotor, ball-screw, guiding mechanism, linear movement pick-up, magslip, housing, bolt assembly, lug component, limit swinging mechanism;
One side axle head of described servomotor is connected with described ball-screw, and another side axle head is provided with described magslip; Described lug component, limit swinging mechanism are all installed on the outside of described magslip, and described limit swinging mechanism and lug component align in the radial direction of electromechanical servo actuator; Described guiding mechanism has a cylindrical guide groove, and a side shaft of described ball-screw is arranged in the guide groove of described guiding mechanism, and when described servomotor rotates, described ball-screw moves in the guide groove of described guiding mechanism; Described bolt assembly is installed on the outside axle head of described guiding mechanism; Described linear movement pick-up is fixedly connected with described ball-screw; Described servomotor, ball-screw, guiding mechanism, linear movement pick-up, magslip, bolt assembly, lug component are all arranged in described housing;
Described control and drive system gathers the angular position of rotation of described servomotor by described magslip, and gathers the straight-line motion displacement signal of described electromechanical servo actuator by described linear movement pick-up.
3. electromechanical servo system as claimed in claim 2, it is characterized in that, described ball-screw is single nut fixed type Inner eycle ball-screw, and by increasing steel ball size pretension.
4. electromechanical servo system as claimed in claim 2, is characterized in that, described linear movement pick-up adopts straight line, duplex, contact, band centre tapped synthesis film potential meter; Described potentiometric brush assembly of electric is fixed on the nut of described ball-screw, and two resistance plates are arranged on the both sides of described housing.
5. electromechanical servo system as claimed in claim 2, is characterized in that, direct-connected by little surplus interference fit flat key between described servomotor and ball-screw.
6. electromechanical servo system as claimed in claim 2, is characterized in that, described limit swinging mechanism is oscillating bearing limit pendulum device, comprises little journal stirrup; The little journal stirrup of described limit swinging mechanism and the large journal stirrup of described lug component be arranged in parallel.
7. the electromechanical servo system as described in any one of claim 1 to 6, it is characterized in that, described control and drive system comprises communication module and three electric machine control driver modules, the input end of each described electric machine control driver module is connected with described communication module, and mouth is connected with an electromechanical servo action device;
Described communication module realizes being connected with the communication of the upper computer control system of current electromechanical servo system by RS422 bus, and realizes the data exchange with described electric machine control driver module by CAN;
Each described electric machine control driver module is used under the control of the upper computer control system of current electromechanical servo system, gather the straight-line motion displacement signal of the phase current of servomotor of the electromechanical servo action device be connected with self, the angular position of rotation of servomotor and electromechanical servo actuator, 6 road pwm control signals are obtained by SVPWM space vector control method, and described 6 road pwm control signals are exported to the electromechanical servo action device be connected with self, to realize the position of this electromechanical servo action device and the electric current of servomotor, the closed loop control of speed.
8. electromechanical servo system as claimed in claim 7, it is characterized in that, described electric machine control driver module comprises: CAN interface circuit, DSP and peripheral circuit, current sensor, memory circuitry, signal processing circuit, A/D translation circuit, revolve become decoding circuit, Switching Power Supply translation circuit;
Described DSP and peripheral circuit are connected with described communication module by described CAN interface circuit; Described memory circuitry is connected with described DSP and peripheral circuit; The mouth of described DSP and peripheral circuit connects electromechanical servo action device to be controlled;
Described current sensor is for gathering 2 phase currents of the servomotor of the electromechanical servo action device be connected with described DSP and peripheral circuit; The mouth of described current sensor, the mouth of the linear movement pick-up of electromechanical servo action device be connected with described DSP and peripheral circuit are all connected with the input end of described signal processing circuit, and described signal processing circuit is supplied to described A/D translation circuit after being used for carrying out signal transacting to the phase current of the servomotor of current reception and the straight-line motion displacement signal of electromechanical servo action device and carries out A/D conversion; The mouth of described A/D translation circuit connects described DSP and peripheral circuit;
Describedly revolve the magslip mouth becoming the input end of decoding circuit and connects the electromechanical servo action device be connected with described DSP and peripheral circuit, described in revolve change decoding circuit mouth be connected with described DSP and peripheral circuit;
The control command that described DSP and peripheral circuit are sent according to upper computer control system and straight-line motion displacement signal, the phase current of servomotor, the angular position of rotation of servomotor of the electromechanical servo action device be connected with self that receive, obtain 6 road pwm control signals by SVPWM space vector control method and export the described electromechanical servo action device be connected with self to;
All parts that described Switching Power Supply translation circuit controls with current motor to need in driver module to power respectively are connected, for they provide power supply.
9. electromechanical servo system as claimed in claim 8, is characterized in that, the DSP in described DSP and peripheral circuit is TMS320F2407A chip.
10. electromechanical servo system as claimed in claim 8, it is characterized in that, described electric machine control driver module also comprises: the current foldback circuit adopting LM339 tetra-road comparator; The input end of described current foldback circuit is connected with the mouth of described current sensor, and the mouth of described current foldback circuit is connected with described DSP and peripheral circuit; Described current foldback circuit for compare to determine the servomotor of described current sensor collection 2 phase currents in whether have at least a phase current to exceed corresponding predetermined threshold; if; then output low level, described DSP and peripheral circuit cut off the output of 6 road pwm control signals when described current foldback circuit output low level.
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| CN109491332A (en) * | 2018-12-05 | 2019-03-19 | 北京精密机电控制设备研究所 | A kind of high-speed high-precision multiaxis concurrent control system for electromechanical servo |
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| CN113353290A (en) * | 2021-04-29 | 2021-09-07 | 北京精密机电控制设备研究所 | Miniaturized servo system |
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| CN108762174A (en) * | 2018-05-25 | 2018-11-06 | 北京精密机电控制设备研究所 | A kind of Hot Spare control power supply system |
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| CN113353290A (en) * | 2021-04-29 | 2021-09-07 | 北京精密机电控制设备研究所 | Miniaturized servo system |
| CN114006285A (en) * | 2021-08-31 | 2022-02-01 | 北京精密机电控制设备研究所 | Drawer type water-cooling electric control cabinet assembly |
| CN114476864A (en) * | 2022-01-13 | 2022-05-13 | 北京精密机电控制设备研究所 | Control method of electromechanical servo flexible cable driving device |
| CN114476864B (en) * | 2022-01-13 | 2024-05-10 | 北京精密机电控制设备研究所 | Control method of electromechanical servo flexible cable driving device |
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