CN104590550A - Highly reliable dual redundancy electric steering gear control device - Google Patents
Highly reliable dual redundancy electric steering gear control device Download PDFInfo
- Publication number
- CN104590550A CN104590550A CN201310524761.2A CN201310524761A CN104590550A CN 104590550 A CN104590550 A CN 104590550A CN 201310524761 A CN201310524761 A CN 201310524761A CN 104590550 A CN104590550 A CN 104590550A
- Authority
- CN
- China
- Prior art keywords
- control
- bus
- interface
- motor
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention relates to a highly reliable dual redundancy electric steering gear control device. The device includes a bus interface, a control core, a motor driver module, a sensor interface, a rotary transformer interface, a control power interface, a three-phase motor interface, a power supply circuit and a power supply interface. The control core through the bus interface receives a control instruction from a flight control system, and transmits the controlled quantity, direction signal and virtual Hall signal to the motor driver module; the motor driver module outputs to the motor through the three-phase motor interface to drive the motor to run, and the motor through a reducer to complete the diversion. The invention employs the dual redundancy digital bus to communicate with the flight control system and receive diversion instruction transmitted by the flight control system, so as to realize dual redundancy bus redundancy logic, commutation control of a brushless direct current motor and closed loop control of the front wheel diversion in the internal part.
Description
Technical field
The present invention relates to a kind of highly reliable pair of electronic steering engine control device of redundancy, particularly relate to a kind of undercarriage turning mechanism use, the Electromechanical Actuator Controller of double-bus redundancy.
Background technology
Aircraft (containing unmanned plane) before take-off or after landing, on runway, the stage is run in low ski-running, and it turns to is that swing by nose-gear realizes.Nose-gear is swung and is controlled by nose-gear turning mechanism, and current aircraft nose landing gear turning mechanism many employings hydraulic actuating cylinder realizes.Therefore need badly and a kind of highly reliable pair of novel electronic steering engine control device of redundancy is provided.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of highly reliable, two Redundant Control bus type Nose Wheel Steering electric steering gear control setup.
For solving the problems of the technologies described above, a kind of highly reliable pair of electronic steering engine control device of redundancy of the present invention, comprises bus interface, control core, motor drive module, sensor interface, magslip interface, controls power interface, three phase electric machine interface, power circuit and power power-supply interface;
Control power supply to enter by controlling power interface;
Control power supply converts by power circuit, then powers;
After control core receives the control command from flight control system by bus interface, by the analog quantity of sensor interface collection from linear movement pick-up and triple redundance angular-motion transducer, and control command and analog quantity are carried out computing, generate controlling quantity;
Control core reads the information from magslip by magslip interface, produces virtual hall signal and direction signal according to the information of magslip;
Controlling quantity, direction signal and virtual hall signal are sent to motor drive module by control core;
The power power-supply that power power-supply interface inputs is transformed to three phasevoltage in conjunction with controlling quantity, direction signal and virtual hall signal by motor drive module, exports motor to by three phase electric machine interface, and drive motor operates, and motor completes the change of corner by retarder.
Bus interface comprises main control bus, standby control bus and telemetry bus; Main control bus, standby control bus receive the control command that flight control system sends simultaneously, and send the current pivot angle of steering wheel to flight control system;
Telemetry bus only sends data to flight control system.
Instruction is sent by active and standby two-way control bus to electric steering gear control setup every 20ms after flight control system system electrification.
Control core is monitored the data that flight control system is sent by active/standby control bus;
If two-way bus is all normal, then electric steering gear control setup carries out action according to the instruction on active and standby control bus;
If active and standby control bus fault, then automatically switch to standby control bus;
If the equal fault of two-way bus, then output of cutting off the electricity supply, makes motor be in free state.
Sensor interface comprises precision voltage source circuit and A/D change-over circuit composition;
Precision voltage source circuit is powered to linear movement pick-up and triple redundance angular-motion transducer;
A/D change-over circuit changes the voltage that linear movement pick-up and triple redundance angular-motion transducer return into analog quantity, enters control core and carries out position-force control.
Technique effect of the present invention is as follows:
1, the commutation of brshless DC motor controls the mode adopting the virtual hall signal of magslip, eliminates traditional hall position sensor, adopts failure-free magslip more to carry out accurate commutation to control brshless DC motor.
2, adopt dual redundant bus communication with flight control system, two buses adopt hot standby mode to carry out redundancy.A bus is set to main bus, and another is as backup bus.Under default situations, this device adopts the data of main bus, this device monitors the data in two buses simultaneously, when the data continuous fault in a certain bar bus being detected, then thinks this bus et out of order, if main bus et out of order, then adopt the control data of backup bus.
3, this device provides extra telemetry bus, sends each parameter gathered in controller operational process to user.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of highly reliable pair of electronic steering engine control device of redundancy provided by the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further detailed explanation.
Usually, the nose wheel steering mechanism of aerocraft is made up of electric steering gear control setup, brshless DC motor, magslip, retarder, triple redundance angular-motion transducer, linear movement pick-up.
Electric steering gear control setup receives the instruction from flight control system (as flight-control computer) by two Redundant Control bus, the data simultaneously in Real-Time Monitoring two-way bus.According to the corner instruction that flight control system sends, in conjunction with the information gathered by magslip and displacement pickup, complete the position-force control of brshless DC motor.While carrying out controlling, the parameter of inside is sent to telemetry system by telemetry bus by Electromechanical Actuator Controller, can be used for ground staff's interpretation.
As shown in the figure, the present invention includes bus interface, control core, motor drive module, sensor interface, magslip interface, control power interface, three phase electric machine interface, power circuit and power power-supply interface.
Power circuit can be DC/DC module, also can be the power circuit coordinating peripheral circuit to be formed by power management chip.Control core can be micro controller system, dsp chip or fpga chip.Motor drive module can be motor special driving chip, or adds by power semiconductor the motor-drive circuit that peripheral circuit forms.
Control power supply and enter electric steering gear control setup by controlling power interface, then the power circuit again in device is responsible for being 5V and ± 15V by control power conversion, 5V power supply is converted into 3.3V and 1.8V through LDO chip, powers to sensor, control circuit, motor drive module.
Flight control system (as flight-control computer etc.) carries out bus communication by bus interface and electric steering gear control setup, completes the control to electric steering gear control setup and monitoring.Bus interface comprises main control bus, standby control bus and telemetry bus.Main control bus, standby control bus are operated in full-duplex mode, while the control command receiving flight control system transmission, also send the current pivot angle of steering wheel to flight control system.Telemetry bus is operated in single work pattern, does not receive the data from flight control system, only sends data to flight control system.The bus interface of electric steering gear control setup inside adopts isolation type bus communication module (as isolation type bus level transferring chip) to realize, and control and telemetry bus all adopt SCI serial mode to carry out communication,
After electric steering gear control setup receives the control command from flight control system by bus interface, by the analog quantity of sensor interface collection from steering wheel linear movement pick-up and triple redundance angular-motion transducer, sensor interface can be made up of precision voltage source circuit and A/D change-over circuit.Precision voltage source circuit can be made up of high-precision voltage reference and power amplifier, is used for powering to linear movement pick-up and triple redundance angular-motion transducer.The voltage that A/D change-over circuit is responsible for linear movement pick-up and triple redundance angular-motion transducer return changes analog quantity into, enters control core (as high-speed dsp chip) and carries out position-force control.
Control command from bus interface and the location information from sensor interface are carried out computing by control core, generate controlling quantity (can be PWM pulse width signal, also can be SVPWM signal).In order to make controlling quantity correct be applied on brshless DC motor, control core reads the information from magslip by magslip interface, virtual hall signal and direction signal is produced according to the information of magslip, and controlling quantity, direction signal and virtual hall signal are sent to motor drive module (can be special brushless motor driving chip, the brushless direct current motor drive circuit that also can be made up of decision circuit and power circuit).
The power power-supply that power power-supply interface inputs is transformed to three phasevoltage by controlling quantity, direction signal and virtual hall signal that motor drive module is sent in conjunction with control core, brshless DC motor is exported to by three phase electric machine interface, driving brshless DC motor operates, and brshless DC motor completes the change of corner by retarder.
Electric steering gear control setup just starts after requiring flight control system system electrification to send instruction by active and standby two-way control bus to electric steering gear control setup every 20ms.Wait for a period of time after electric steering gear control setup power-up initializing completes, the data started after wait time flight control system is sent by active/standby control bus are monitored, if continuously all correct data cannot be received from certain road bus in a period of time, then think this road bus failure.If two-way bus is all normal, then electric steering gear control setup carries out action according to the instruction on main bus, if main bus fault, then automatically switch to backup bus, turning is performed according to the instruction in backup bus, if the equal fault of two-way bus, the then power stage of turning control rupturing capacity module, make brshless DC motor be in free state.
In the course of the work, electric steering gear control setup monitors motor speed, electric current in real time, the parameters such as control and power voltage, and judges these parameters according to self-inspection criterion, by the running state of telemetry bus real-time report current power steering engine control device.Thus improve the reliability of system.
Claims (5)
1. the highly reliable pair of electronic steering engine control device of redundancy, is characterized in that: comprise bus interface, control core, motor drive module, sensor interface, magslip interface, control power interface, three phase electric machine interface, power circuit and power power-supply interface;
Described control power supply is entered by described control power interface;
Control power supply converts by described power circuit, then powers;
After described control core receives the control command from flight control system by bus interface, by the analog quantity of sensor interface collection from linear movement pick-up and triple redundance angular-motion transducer, and described control command and analog quantity are carried out computing, generate controlling quantity;
Described control core reads the information from magslip by magslip interface, produces virtual hall signal and direction signal according to the information of magslip;
Controlling quantity, direction signal and virtual hall signal are sent to motor drive module by described control core;
The power power-supply that power power-supply interface inputs is transformed to three phasevoltage in conjunction with described controlling quantity, direction signal and virtual hall signal by described motor drive module, motor is exported to by three phase electric machine interface, drive motor operates, and motor completes the change of corner by retarder.
2. one according to claim 1 highly reliable pair of electronic steering engine control device of redundancy, is characterized in that: described bus interface comprises main control bus, standby control bus and telemetry bus; Described main control bus, standby control bus receive the control command that flight control system sends simultaneously, and send the current pivot angle of steering wheel to flight control system;
Telemetry bus only sends data to flight control system.
3. one according to claim 2 highly reliable pair of electronic steering engine control device of redundancy, is characterized in that: send instruction by active and standby two-way control bus to electric steering gear control setup every 20ms after flight control system system electrification.
4. one according to claim 2 highly reliable pair of electronic steering engine control device of redundancy, is characterized in that: described control core is monitored the data that flight control system is sent by active/standby control bus;
If two-way bus is all normal, then electric steering gear control setup carries out action according to the instruction on active and standby control bus;
If active and standby control bus fault, then automatically switch to standby control bus;
If the equal fault of two-way bus, then output of cutting off the electricity supply, makes motor be in free state.
5. one according to claim 1 highly reliable pair of electronic steering engine control device of redundancy, is characterized in that: described sensor interface comprises precision voltage source circuit and A/D change-over circuit composition;
Precision voltage source circuit is powered to linear movement pick-up and triple redundance angular-motion transducer;
A/D change-over circuit changes the voltage that linear movement pick-up and triple redundance angular-motion transducer return into analog quantity, enters control core and carries out position-force control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310524761.2A CN104590550B (en) | 2013-10-30 | 2013-10-30 | A kind of highly reliable dual redundant electric steering engine control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310524761.2A CN104590550B (en) | 2013-10-30 | 2013-10-30 | A kind of highly reliable dual redundant electric steering engine control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104590550A true CN104590550A (en) | 2015-05-06 |
| CN104590550B CN104590550B (en) | 2017-06-20 |
Family
ID=53116697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310524761.2A Active CN104590550B (en) | 2013-10-30 | 2013-10-30 | A kind of highly reliable dual redundant electric steering engine control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104590550B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297248A (en) * | 2016-09-20 | 2017-01-04 | 北京韦加无人机科技股份有限公司 | A kind of remote motor control method and system |
| CN106364669A (en) * | 2016-09-08 | 2017-02-01 | 北京精密机电控制设备研究所 | Lead screw-shifting fork type electromechanical servo mechanism |
| CN106628075A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Heterogeneous parallel redundant steering mechanism |
| CN107908171A (en) * | 2017-10-31 | 2018-04-13 | 北京精密机电控制设备研究所 | A kind of double remaining electricity feedback servo actuator fault diagnosises and remaining algorithm |
| CN109521689A (en) * | 2018-03-16 | 2019-03-26 | 陕西飞机工业（集团）有限公司 | A kind of design method of aircraft double redundancy ram compression adjustable type rudder face angle control system |
| CN110789737A (en) * | 2019-10-29 | 2020-02-14 | 贵州航天控制技术有限公司 | Drive control circuit and method for space active sun wing spreading mechanism |
| CN111007778A (en) * | 2019-12-24 | 2020-04-14 | 陕西航天时代导航设备有限公司 | Dual-redundancy detection and control system for unmanned aerial vehicle |
| CN111142369A (en) * | 2019-12-27 | 2020-05-12 | 中国航空工业集团公司西安飞机设计研究所 | Fly-by-wire flight control system capable of meeting airworthiness requirement |
| CN112230537A (en) * | 2020-09-25 | 2021-01-15 | 中国直升机设计研究所 | Electromechanical integrated control system of unmanned aerial vehicle |
| CN113212770A (en) * | 2021-05-25 | 2021-08-06 | 象限空间（天津）科技有限公司 | Aircraft power plant control system |
| WO2022027795A1 (en) * | 2020-08-07 | 2022-02-10 | 中山大洋电机股份有限公司 | Electric motor control unit having redundant control and assembly method therefor |
| CN114465536A (en) * | 2020-10-30 | 2022-05-10 | 北京机械设备研究所 | Electric steering engine capable of canceling linear displacement sensor and control method thereof |
| US11843337B2 (en) | 2020-08-07 | 2023-12-12 | Zhongshan Broad-Ocean Motor Co., Ltd. | Combined motor controller and combination method thereof |
| CN114465536B (en) * | 2020-10-30 | 2024-05-03 | 北京机械设备研究所 | Linear electric steering engine without linear displacement sensor and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050082427A1 (en) * | 2003-07-08 | 2005-04-21 | Taehun Seung | Aircraft landing gear actuation system |
| US20090159756A1 (en) * | 2007-12-19 | 2009-06-25 | Honeywell International, Inc. | Aircraft flight control user interface fluid linkage system |
| US20120104158A1 (en) * | 2010-10-29 | 2012-05-03 | Honeywell International Inc. | Compact electric taxi assembly for installation on an aircraft |
| CN102707752A (en) * | 2012-06-29 | 2012-10-03 | 南京航空航天大学 | Multifunctional moment loading controller |
| CN202957785U (en) * | 2012-11-13 | 2013-05-29 | 北京自动化控制设备研究所 | Digital controller for steering engine |
-
2013
- 2013-10-30 CN CN201310524761.2A patent/CN104590550B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050082427A1 (en) * | 2003-07-08 | 2005-04-21 | Taehun Seung | Aircraft landing gear actuation system |
| US20090159756A1 (en) * | 2007-12-19 | 2009-06-25 | Honeywell International, Inc. | Aircraft flight control user interface fluid linkage system |
| US20120104158A1 (en) * | 2010-10-29 | 2012-05-03 | Honeywell International Inc. | Compact electric taxi assembly for installation on an aircraft |
| CN102707752A (en) * | 2012-06-29 | 2012-10-03 | 南京航空航天大学 | Multifunctional moment loading controller |
| CN202957785U (en) * | 2012-11-13 | 2013-05-29 | 北京自动化控制设备研究所 | Digital controller for steering engine |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628075A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Heterogeneous parallel redundant steering mechanism |
| CN106364669A (en) * | 2016-09-08 | 2017-02-01 | 北京精密机电控制设备研究所 | Lead screw-shifting fork type electromechanical servo mechanism |
| CN106297248A (en) * | 2016-09-20 | 2017-01-04 | 北京韦加无人机科技股份有限公司 | A kind of remote motor control method and system |
| CN107908171A (en) * | 2017-10-31 | 2018-04-13 | 北京精密机电控制设备研究所 | A kind of double remaining electricity feedback servo actuator fault diagnosises and remaining algorithm |
| CN109521689A (en) * | 2018-03-16 | 2019-03-26 | 陕西飞机工业（集团）有限公司 | A kind of design method of aircraft double redundancy ram compression adjustable type rudder face angle control system |
| CN110789737A (en) * | 2019-10-29 | 2020-02-14 | 贵州航天控制技术有限公司 | Drive control circuit and method for space active sun wing spreading mechanism |
| CN110789737B (en) * | 2019-10-29 | 2024-03-29 | 贵州航天控制技术有限公司 | Space active solar wingspan opening mechanism driving control circuit and method thereof |
| CN111007778A (en) * | 2019-12-24 | 2020-04-14 | 陕西航天时代导航设备有限公司 | Dual-redundancy detection and control system for unmanned aerial vehicle |
| CN111142369A (en) * | 2019-12-27 | 2020-05-12 | 中国航空工业集团公司西安飞机设计研究所 | Fly-by-wire flight control system capable of meeting airworthiness requirement |
| US11843337B2 (en) | 2020-08-07 | 2023-12-12 | Zhongshan Broad-Ocean Motor Co., Ltd. | Combined motor controller and combination method thereof |
| WO2022027795A1 (en) * | 2020-08-07 | 2022-02-10 | 中山大洋电机股份有限公司 | Electric motor control unit having redundant control and assembly method therefor |
| CN112230537A (en) * | 2020-09-25 | 2021-01-15 | 中国直升机设计研究所 | Electromechanical integrated control system of unmanned aerial vehicle |
| CN114465536A (en) * | 2020-10-30 | 2022-05-10 | 北京机械设备研究所 | Electric steering engine capable of canceling linear displacement sensor and control method thereof |
| CN114465536B (en) * | 2020-10-30 | 2024-05-03 | 北京机械设备研究所 | Linear electric steering engine without linear displacement sensor and control method thereof |
| CN113212770B (en) * | 2021-05-25 | 2023-05-05 | 象限空间（天津）科技有限公司 | Aircraft power plant control system |
| CN113212770A (en) * | 2021-05-25 | 2021-08-06 | 象限空间（天津）科技有限公司 | Aircraft power plant control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104590550B (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104590550A (en) | Highly reliable dual redundancy electric steering gear control device | |
| CN102085664B (en) | Autonomous operation forestry robot intelligent control system | |
| CN205281258U (en) | Double -deck control system of AGV based on ARM | |
| CN103101451B (en) | Double wheel hub motor electronic differential and speed governing Centralized Controller | |
| CN109823522B (en) | Multi-redundancy undercarriage electric retraction controller | |
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN104579029A (en) | Tri-redundancy brushless DC servo drive controller | |
| CN105446329A (en) | Flybywire control system with high safety and low cost | |
| CN104229126A (en) | High-reliability landing gear control system | |
| CN102700542A (en) | Dual-redundancy electric brake device of airplane and control method for dual-redundancy electric brake device | |
| CN102700530A (en) | Redundant driving electric brake of airplane and control method for redundant driving electric brake | |
| CN103401486A (en) | Dual-motor alternating current servo driver with UPS (Uninterrupted Power Supply) power-off information protection | |
| CN106672217A (en) | Architecture of landing gear control system of aircraft | |
| CN103437954A (en) | Wind power variable pitch control system and wind power variable pitch system | |
| CN104407625A (en) | Digital steering engine | |
| CN202608760U (en) | Airplane double-redundancy electric-brake device | |
| CN111976968B (en) | Control circuit and control method for electric turning mechanism of front wheel of airplane | |
| CN207889973U (en) | Unmanned plane electric lifting device frame packing controller | |
| CN103010299B (en) | Automobile electric booster steering system | |
| CN206099827U (en) | Six industrial robot drive arrangement of integration | |
| CN108202325A (en) | Autonomous operation forestry robot intelligent control system | |
| CN203590098U (en) | Dual-motor AC servo driver with UPS power off information protection | |
| CN106143263A (en) | Driving control system and container and/or vehicle inspection carry car | |
| CN105373109A (en) | Delta robot drive-control system | |
| CN109521776A (en) | A kind of intelligent robot chassis control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |