CN104600901B - A kind of four remaining electromechanical coupling systems - Google Patents
A kind of four remaining electromechanical coupling systems Download PDFInfo
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- CN104600901B CN104600901B CN201310530174.4A CN201310530174A CN104600901B CN 104600901 B CN104600901 B CN 104600901B CN 201310530174 A CN201310530174 A CN 201310530174A CN 104600901 B CN104600901 B CN 104600901B
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- Prior art keywords
- gear wheel
- electromechanical coupling
- brushless electric
- coupling system
- remainings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention belongs to the electromechanical coupling system in flight control system, specifically disclose a kind of four remainings electromechanical coupling system, it includes four brushless electric machines, a four remaining displacement transducers, four overload separation mechanisms, four little gears, a gear wheel, a harmonic speed reducer, an output shaft and four servo controllers, four brushless electric machines are uniformly distributed on a circumference, and four remaining displacement transducers are located at the center of circumference.The four remainings electromechanical coupling system, which fully relies on mechanical type structure, realizes integrated design.
Description
Technical field
The invention belongs to the electromechanical coupling system in flight control system, and in particular to a kind of four remainings electromechanical servo machine
Structure.
Background technology
Servo control mechanism is the important component of flight control system, widely should have been obtained on aerospace flight vehicle
With.Because aerospace applications have very high requirement, such as reliability requirement of the manned space flight to carrier rocket to reliability
For 97%, servo-drive subsystem is assigned to, unit RELIABILITY INDEX is close to 0.9999.For high reliability request, servo is improved merely
The reliability of mechanism is difficult the reliability requirement for the system that meets, therefore, and carrying out redundancy design to servo control mechanism turns into the heat of research
Point.Redundancy technology is that system is constituted by increasing certain amount function same unit or identical systems are covered more using, its
Matter is a kind of technology for exchanging system reliability raising for using unnecessary resource.Some or multiple parts break down wherein
In the case of, remaining part still ensures that the complete many redundancies of systemic-function.
In the technology of existing electromechanical coupling system, realized more than redundancy technology by the way of mechanically and electrically combining, and it is remaining
Degree is usually no more than three, can also not fully rely on four remaining electromechanical coupling systems of mechanical structure realization.
The content of the invention
Four remainings that mechanical type structure realizes integrated design are fully relied on it is an object of the invention to provide a kind of
Electromechanical coupling system.
Realize the technical scheme of the object of the invention：A kind of four remaining electromechanical coupling systems, it includes brushless electric machine, four remainings
Outside displacement transducer, overload separation mechanism, little gear, gear wheel, harmonic speed reducer, output shaft and servo controller, gear wheel
Four little gears are engaged in portion, and driven shaft of each little gear each with an overload separation mechanism is connected, each overload separation
Output shaft of the driving shaft of mechanism each with a brushless electric machine is connected, the input of each brushless electric machine each with one
The output end connection of servo controller；The output end of gear wheel is connected with harmonic speed reducer, harmonic speed reducer export firm gear with it is defeated
The input connection of shaft, the output end of output shaft is connected with the input of four remaining displacement transducers.
Four described little gears are uniformly distributed along the circumference of gear wheel.
The output end of described output shaft is located in the centre bore of gear wheel, and output shaft and gear wheel are coaxial.
Pass through decelerator sleeve connection between the output end and harmonic speed reducer of described gear wheel.
The advantageous effects of the present invention are：
（1）The present invention fully relies on mechanical structure and realizes four redundancy designs, brushless electric machine output shaft and gear drive it
Between overload separation mechanism is installed, the size of overload torque can be adjusted by adjusting pressing force of the spring in overload separation mechanism,
During the stuck failure of generation motor, the channel failure can be isolated, protect whole electromechanical coupling system, improve reliability,
And the rated power of every motor is designed as the 50% of system nominal power output, when wherein occur all the way, two-way or three tunnels
During failure, normal work is remained to；
（2）Four-way motor is evenly arranged in a circumferential direction, passes through four sets of little gears and a set of gear wheel gear motion
Four-way power output is synthesized, four remaining displacement transducers are arranged on to the center of four brushless electric machines, effectively profit
With space, the integrated design of electromechanical coupling system is realized.
Brief description of the drawings
Fig. 1 is a kind of theory diagram of four remainings electromechanical coupling system provided by the present invention；
Fig. 2 is a kind of sectional view of four remainings electromechanical coupling system provided by the present invention；
Fig. 3 is Fig. 2 right view.
In figure：1. brushless electric machine, 2. 4 remaining displacement transducers, 3. overload separation mechanisms, 4. right shell bodies, 5. little gears,
6. gear wheel, 7. harmonic speed reducers, 8. output shafts, 9. servo controllers, 10. interfaces, 11. left shells, 12. end caps, 13. slow down
Device sleeve, 14. harmonic speed reducers output firm gear, 15. harmonic speed reducers input firm gear, 16. reducing sleeves.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, a kind of four remainings electromechanical coupling system that the present invention is provided includes：Brushless electric machine 1, more than four
Spend displacement transducer 2, overload separation mechanism 3, right shell body 4, little gear 5, gear wheel 6, harmonic speed reducer 7, output shaft 8, servo
Controller 9, interface 10, left shell 11, end cap 12, decelerator sleeve 13.Little gear 5, overload separation mechanism 3, brushless electric machine 1,
Servo controller 9 has four respectively.It is engaged with four little gears 5 on the excircle of gear wheel 6, four little gears 5 are along gear wheel 6
Circumference be uniformly distributed, connect the driven of overload separation mechanism 3 each via key at the central through hole of each little gear 5
The output shaft interference fit of axle, the driving shaft of overload separation mechanism 3 and a brushless electric machine 1, and connected with pin.Overload separation
There are clutch and spring in mechanism 3, overload torque can be adjusted by the thrust for adjusting spring, blocked in brushless electric machine 1
During dead failure, overload torque reaches threshold value, and clutch is separated, drives driving shaft and driven shaft separation, thus by brushless electric machine 1 with
Disconnecting between little gear 5 so that this branch road is isolated.
The central hole of gear wheel 6 is connected by screw one end of decelerator sleeve 13, the other end of decelerator sleeve 13
Harmonic speed reducer 7 is connected by screw, harmonic speed reducer output firm gear 7 is connected by screw the input of output shaft 8, and harmonic wave subtracts
The rotation of gear wheel 6 is driven to output shaft 8 by fast device 7.The output end of output shaft 8 runs through the centre bore of gear wheel 6.Output shaft 8
Output end and the inputs of four remaining displacement transducers 2 be interference fitted by reducing sleeve 16, output shaft 8 drives four remaining displacements
The input of sensor 2 is rotated.The inside of four remaining displacement transducer 2 includes four internal branch roads, and each internal branch road is respective
It is connected with the signal feedback end of a servo controller 9, four remaining displacement transducers 2 are by the positional information of output shaft 8 with voltage
The form of signal passes to servo controller 9, and four internal branch roads is parallel connections and output signal is identical.When one of those, two
When individual, three internal branch roads break down, it still can guarantee that at least one internal branch road correctly delivers the position of output shaft 8
Information.
The output end of servo controller 9 is connected with the input of brushless electric machine 1 by signal wire, and servo controller 9 is controlled
The rotating speed of brushless electric machine 1 and direction, and current signal and Hall voltage are then fed back to servo controller 9 by brushless electric machine 1.Every
Servo controller 9 receives externally fed and command signal, and outwards exports the shape of the remaining displacement transducer 2 of brushless electric machine 1 and four
State.Servo controller 9, brushless electric machine 1, overload separation mechanism 3, little gear 5, gear wheel 6, harmonic speed reducer 7, output shaft 8, four
Remaining displacement transducer 2 constitutes a complete close loop control circuit.
The left end of output shaft 8 is connected by screw the right-hand member of interface 10, and the outside of interface 10 and output shaft 8 is cased with end cap
12, one end of end cap 12 is connected by screw left shell 11, and left shell 11 is enclosed on the outside of harmonic speed reducer 7, the right side of left shell
End is connected by screw the left end of right shell body 4, and four groups of little gears 5, overload separation mechanisms 3 are respectively positioned in right shell body 4.
As shown in figure 3, in order to make full use of space, four brushless electric machines 1 circumferentially uniform arrangement, four remaining displacements are passed
Sensor 2 is arranged in the center of the circumference, and this arrangement mode causes compact conformation, electromechanical servo is realized in small size
The integrated design of mechanism.
The course of work of the present invention is as follows：During four 1 equal normal works of brushless electric machine, overload separation mechanism 3 is by brushless electricity
The torque of machine 1 passes to little gear 5, and torque is synthesized on gear wheel 6 by four little gears 5, and gear wheel 6 passes through harmonic speed reducer
7 driving output shafts 8 are moved, and four remaining displacement transducers 2 export the position signalling of output shaft 8 to servo controller 9, brushless electricity
Feedback is formed between machine 1 and servo controller 9.The rated power of every brushless electric machine is the 50% of system nominal power output, therefore
Every brushless electric machine 1 need to use its 50% power, you can guarantee system is run with rated output power.
A certain in four brushless electric machines 1 when occurring the stuck failure of non-motor, overload separation mechanism 3 will not cut off this
Branch road, servo controller 9 cuts off the power electricity and control electricity of the brushless electric machine 1, and this branch road can be driven by other normal branch roads
Motion, produces frictional resistance, therefore only exist as the load of a very little.
During the stuck failure of a certain generation motor in four brushless electric machines 1, overload separation mechanism 3 should by mechanical cutting
Disconnecting between bar branch road, i.e. brushless electric machine 1 and little gear 5, servo controller 9 cuts off the power electricity of the brushless electric machine 1
With control electricity, now remaining branch road normal work, the stuck infinite heavy load brought of motor is isolated.There are two branch road hairs
In the case of the stuck failure of generator, the output motor rated power of every motor 100% of normal work, system still can be with work
Make under nominal power.
The present invention is explained in detail above in conjunction with drawings and examples, but the present invention is not limited to above-mentioned implementation
Example, in the knowledge that those of ordinary skill in the art possess, can also make on the premise of present inventive concept is not departed from
Go out various change.The content not being described in detail in the present invention can use prior art.
Claims (4)
1. a kind of four remainings electromechanical coupling system, it is characterised in that：It includes four brushless electric machines (1), four remaining displacement sensings
Device (2), overload separation mechanism (3), little gear (5), gear wheel (6), harmonic speed reducer (7), servo motor output shaft (8) and watch
Take controller (9), four little gears (5) of gear wheel (6) external engagement, each little gear (5) each with an overload separation
The driven shaft connection of mechanism (3), the output of the driving shaft of each overload separation mechanism (3) each with a brushless electric machine (1)
Axle is connected, and the output end of the input of each brushless electric machine (1) each with a servo controller (9) is connected；Gear wheel (6)
Output end be connected with harmonic speed reducer (7), harmonic speed reducer output firm gear (14) and the input of servo motor output shaft (8)
Connection, the output end of servo motor output shaft (8) is connected with the input of four remaining displacement transducers (2).
2. a kind of four remainings electromechanical coupling system according to claim 1, it is characterised in that：Four described little gears
(5) it is uniformly distributed along the circumference of gear wheel (6).
3. a kind of four remainings electromechanical coupling system according to claim 2, it is characterised in that：Described servo control mechanism output
The output end of axle (8) is located in the centre bore of gear wheel (6), and servo motor output shaft (8) and gear wheel (6) are coaxial.
4. a kind of four remainings electromechanical coupling system according to claim 3, it is characterised in that：Described gear wheel (6)
It is connected between output end and harmonic speed reducer (7) by decelerator sleeve (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310530174.4A CN104600901B (en) | 2013-10-31 | 2013-10-31 | A kind of four remaining electromechanical coupling systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310530174.4A CN104600901B (en) | 2013-10-31 | 2013-10-31 | A kind of four remaining electromechanical coupling systems |
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| Publication Number | Publication Date |
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| CN104600901A CN104600901A (en) | 2015-05-06 |
| CN104600901B true CN104600901B (en) | 2017-08-18 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841605A (en) * | 2016-04-25 | 2016-08-10 | 北京青云航空仪表有限公司 | Quad redundant angular displacement sensor |
| CN106763007B (en) * | 2017-02-17 | 2018-01-26 | 北京航空航天大学 | The electric hydrostatic servo control mechanism of integration |
| CN107725705B (en) * | 2017-09-30 | 2020-06-09 | 北京精密机电控制设备研究所 | Linear anti-jamming dual-redundancy electromechanical actuator |
| CN110701249B (en) * | 2019-08-27 | 2022-11-22 | 中国航空工业集团公司西安飞行自动控制研究所 | Parallel type dual-redundancy electric steering engine based on overrunning clutch |
| CN112762816B (en) * | 2020-12-25 | 2022-07-05 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN113734427A (en) * | 2021-07-28 | 2021-12-03 | 北京精密机电控制设备研究所 | Unmanned aerial vehicle dual-redundancy front wheel turning servo system |
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| CN2306100Y (en) * | 1997-08-18 | 1999-02-03 | 北京市电加工研究所 | Rotary servo machining device for numerically controlled linear cutting machine tool |
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| CN101517271A (en) * | 2006-09-25 | 2009-08-26 | 空中客车英国有限公司 | Actuator |
| CN101702372A (en) * | 2009-09-10 | 2010-05-05 | 保定天威集团有限公司 | Assembling platform for large power transformer servo control coil |
| CN101875398A (en) * | 2009-10-30 | 2010-11-03 | 湖北航达科技有限公司 | Multi-redundancy rotary motor-driven mechanism for driving airplane exhaust valve |
| CN102001094A (en) * | 2010-10-21 | 2011-04-06 | 北京航空航天大学 | Reliable joint control-driven component and control method thereof |
| CN102653066A (en) * | 2011-03-04 | 2012-09-05 | 张家港市九鼎机械有限公司 | Integrated transmission case for machine tool |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2306100Y (en) * | 1997-08-18 | 1999-02-03 | 北京市电加工研究所 | Rotary servo machining device for numerically controlled linear cutting machine tool |
| CN101176248A (en) * | 2006-06-05 | 2008-05-07 | Apm有限公司 | Multi-drive motor |
| CN101517271A (en) * | 2006-09-25 | 2009-08-26 | 空中客车英国有限公司 | Actuator |
| CN101702372A (en) * | 2009-09-10 | 2010-05-05 | 保定天威集团有限公司 | Assembling platform for large power transformer servo control coil |
| CN101875398A (en) * | 2009-10-30 | 2010-11-03 | 湖北航达科技有限公司 | Multi-redundancy rotary motor-driven mechanism for driving airplane exhaust valve |
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| CN104600901A (en) | 2015-05-06 |
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