CN104615140A - Electromechanical servo system for aerodynamic control - Google Patents
Electromechanical servo system for aerodynamic control Download PDFInfo
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- CN104615140A CN104615140A CN201510086626.3A CN201510086626A CN104615140A CN 104615140 A CN104615140 A CN 104615140A CN 201510086626 A CN201510086626 A CN 201510086626A CN 104615140 A CN104615140 A CN 104615140A
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Abstract
The invention provides an electromechanical servo system for aerodynamic control. The electromechanical servo system for the aerodynamic control comprises four electromechanical actuators, one main servo control driver, one driven servo control driver and at least on servo power source which supplies a power source, wherein the main servo control driver drives and controls two of the four electromechanical actuators, and the driven servo control driver drives and controls the other two of the four electromechanical actuators. According to the electromechanical servo system for the aerodynamic control, the main servo control driver and the driven servo control driver respectively control two electromechanical actuators. Comparing with the prior art, the electromechanical servo system for the aerodynamic control can effectively reduce the number of electronic equipment of the whole electromechanical servo system so that the integration of the equipment can be improved, the total volume can be effectively reduced, and the total weight can be lightened.
Description
Technical field
The present invention relates to aircraft field, in particular to a kind of aerodynamic force control electromechanical servo system.
Background technology
The flight of carrier rocket and useful load aircraft etc. thereof is controlled to perform closed-loop system and is generally referred to as servo-drive system, one of typical apply of servo-drive system is exactly drive air rudder face to swing, thus change of flight device aerodynamic configuration produces aerodynamic moment, and then control the attitude of aircraft, various rudder faces as civil aircraft are exactly the typical apply utilizing servo-drive system to carry out aerodynamic force control, utilize the swing of pneumatic rudder face can control the attitude of aircraft flight.Along with the development of science and technology and the continuous lifting of aerospace applications demand, the aircraft that servo-drive system is flown in endoatmosphere is applied and also gets more and more.
In recent years, along with the develop rapidly of electromechanical servo technology, simultaneously electromechanical servo system because of its intrinsic composition with the remarkable advantage such as structure is simple, use and maintenance facilitates, become various aircraft servo-drive system mainstream applications product gradually.Servo-drive system is the object reaching aerodynamic force control, generally comprises a set of powered actuation mechanism, for exporting expanding-contracting action, plays the effect (the corresponding set of execution mechanism of each rudder face of aircraft) swinging rudder face; A set of control driving arrangement, for performing closed loop control algorithm, drives topworks's output power; A set of energy device that can use on board the aircraft, for whole servo-drive system provides primary energy.
More specifically, the electromechanical servo system adopted on board the aircraft is generally made up of following components: electromechanical actuator (comprising servomotor and gear train), servo controller, servo-driver, servo power power supply and respective cable net.Wherein servo power power supply provides primary direct current energy for whole electromechanical servo system; Servo controller is used for receiving steering order signal, receiving system feedback status information, runs closed loop control algorithm, generating power driving instruction; Servo-driver is by power inversion circuit, and the direct current energy inversion provided by servo power power supply is threephase AC electric energy, is supplied to servomotor; And servomotor is as the power executive component of whole system, Driving Torque, rotating speed power motion, drive electromechanical transmission mechanism acting, realizes aerodynamic force and control; And cable system is responsible for relevant portion to couple together.
More than composition is the element that electromechanical servo system controls for aerodynamic force, along with the continuous lifting that aerial vehicle requires properties, the requirement of aircraft to weight and volume is extremely harsh, if servo-drive system can reduce own wt, then in identical flying distance situation, then can improve payload mass, or increase flying distance when payload mass is constant.Therefore, more higher brand-new requirements are proposed to servo-drive system.According to traditional design, the volume of whole servo-drive system and weight all cannot meet the installation and use requirement of aircraft, therefore need to design a kind of miniaturization, integrated, lighting electromechanical servo system.
Summary of the invention
The present invention aims to provide a kind of aerodynamic force control electromechanical servo system reducing weight and volume.
The invention provides a kind of aerodynamic force control electromechanical servo system, comprise four electromechanical actuators, main servo control and drive system, one from servocontrol driver and at least one the servo power power supply providing power supply, wherein, two in main servo control and drive system drived control four electromechanical actuators, control other two four electromechanical actuators from servocontrol driver drives.
Further, main servo control and drive system is interconnected and the CAN connector communicated with comprising from servocontrol driver; Main servo control and drive system also comprises 1553B Bussing connector.
Further, main servo control and drive system is connected by dual-redundant CAN bus with the CAN connector from servocontrol driver.
Further, every platform electromechanical actuator comprises power electric input connector, motor rotor position feedback electrical connectors and displacement of the lines feedback connectors.
Further, main servo control and drive system and all also comprise three-phase alternating current electrical source of power connector, direct supply input connector and actuator feedback connectors from servocontrol driver; Wherein, three-phase alternating current electrical source of power connector is connected with the power electric input connector of electromechanical actuator; Direct supply input connector is connected with at least one servo power power supply; Motor rotor position feedback electrical connectors and the displacement of the lines feedback connectors of actuator feedback connectors and electromechanical actuator are connected.
Further, servo power power supply is two, and servo power power acquisition thermobattery.
Present invention also offers a kind of aircraft, comprise four control flaps, aircraft also comprises above-mentioned electromechanical servo system, and four electromechanical actuator one_to_one corresponding of electromechanical servo system drive four control flaps.
Further, every platform electromechanical actuator comprises servomotor, the gear train coordinated with servomotor, the upper journal that is fixedly connected with servo motor stator, and the down journal be connected with gear train output shaft; The rocking arm that control flaps has rudderpost and is fixedly connected with rudderpost, the transmission bracket of upper journal and aircraft is hinged, down journal and rocking arm is hinged swings with drived control rudder.
Further, aircraft is column type, the circumferentially sectional uniform distribution of four control flaps, and four electromechanical actuators are corresponding with four control flaps to be uniformly distributed.
Further, main servo control and drive system, to be fixed in aircraft bulkhead from servocontrol driver and at least one servo power power supply by support.
According to electromechanical servo system of the present invention and aircraft, main servo control and drive system and control two electromechanical actuators respectively from servocontrol driver, compared to existing technology, effectively can reduce the number of electronic devices of whole electromechanical servo system, thus raising device integration, effectively reduce cumulative volume, also reduce general assembly (TW).
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the connection diagram according to aerodynamic force control electromechanical servo system of the present invention;
Fig. 2 is according to the main servo control and drive system of aerodynamic force control electromechanical servo system of the present invention with from servocontrol driver annexation schematic diagram;
Fig. 3 is the schematic layout pattern in flying vehicles control cabin according to aerodynamic force control electromechanical servo system of the present invention;
Fig. 4 is according to electromechanical actuator principle schematic of the present invention;
Fig. 5 realizes the assembling schematic diagram with control flaps according to electromechanical actuator of the present invention.
Embodiment
Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
As shown in Figures 1 to 4, according to aerodynamic force control electromechanical servo system of the present invention, comprise four electromechanical actuators 10 (the first electromechanical actuator 11 in Fig. 1, second electromechanical actuator 13, 3rd electromechanical actuator 13 and the 4th electromechanical actuator 14), a main servo control and drive system 20, one from servocontrol driver 30 and at least one the servo power power supply 40 providing power supply, wherein, two in main servo control and drive system 20 drived control four electromechanical actuators 10, other two from servocontrol driver 30 drived control four electromechanical actuators 10.The present invention is by main servo control and drive system 20 and control two electromechanical actuators 10 respectively from servocontrol driver 30, compared to existing technology, effectively can reduce the number of electronic devices of whole electromechanical servo system, thus raising device integration, effectively reduce cumulative volume, also reduce general assembly (TW).
Particularly, each parts annexation shown in composition graphs 1 is known, and each electromechanical actuator 10 comprises three electrical cnnectors, is power electric input connector, motor rotor position feedback electrical connectors and displacement of the lines feedback connectors respectively.Main servo control and drive system 20, containing six electric connectors, is a 1553B Bussing connector, a CAN connector, two three-phase alternating current electrical source of power connectors, a direct supply input connector and actuator feedback connectors respectively.More specifically, 1553B Bussing connector is used for being connected with aircraft central control system; CAN connector is used for communicating with from servocontrol driver 30, and two three-phase alternating current electrical source of power connectors are connected with the power electric input connector of two electromechanical actuators 10 respectively; Direct supply input connector is connected with at least one servo power power supply 40; Motor rotor position feedback electrical connectors and the displacement of the lines feedback connectors of actuator feedback connectors and electromechanical actuator 10 are connected.
Main servo control and drive system 20 is compared from servocontrol driver 30, only lack 1553B Bussing connector, other are identical with main servo control and drive system 20, namely also comprise a CAN connector, two three-phase alternating current electrical source of power connectors, a direct supply input connector and actuator feedback connectors.
Shown in composition graphs 1 and Fig. 2, aerodynamic force control electromechanical servo system of the present invention, main servo control and drive system 20 is adopted to combine with from servocontrol driver 30, every platform servocontrol driver drives 2 electromechanical actuators, 4 electromechanical actuators are separate according to respective instruction, coordinate the technical scheme swinging and jointly complete aerodynamic force and control.As shown in Figure 2, main servo control and drive system 20 with complete digital communication from servocontrol driver 30 by dual-redundant CAN bus, CAN A and CAN B is separate, realizes physics pair Redundancy Design.One large feature of master and slave servocontrol driver is each own one piece of DSP digital processing unit, but each own 2 cover controlling functions circuit, be respectively I channels peripheral circuit and II channels peripheral circuit, the status information capture to 2 electromechanical actuators, process can be realized and control; The power drive of each own 2 cover functional independences, is respectively I channel power and drives core circuit and II channel power to drive core circuit, realize the driving to two servomotors.The core of this design has been integrated in an equipment by the electronic equipment realizing two electromechanical actuators control drivings, shares a DSP, on the one hand can be cost-saving, the more important thing is the design achieving Highgrade integration, achieve miniaturization and lighting.
Main servo control and drive system 20 be only that main servo control and drive system possesses 1553B bus communication function from the difference of servocontrol driver 30 on hardware circuit design, and implementation is master and slave servocontrol driver uses the identical circuit printing plate of design, then do not install for from servocontrol driver 1553B related hardware device.Adopt this design, the hardware circuit board design that can realize master and slave servocontrol driver is completely the same, and the Design consistency of product is good, technology controlling and process is good, replaceability is good, cost control is good.While realizing difference in functionality, as much as possible ensure that the consistance of product, reduce cost.
Preferably, the servo power energy 40 of aerodynamic force control electromechanical servo system of the present invention comprises 2 thermobatterys (first the servo power energy 41 and the second servo energy 42), the pattern that two thermobatterys adopt relay to power, at the beginning of system starts, first a thermobattery is activated, after treating work to a period of time, activate another thermobattery, two thermobattery relays are powered, the working time of whole system can be extended like this, meet the job requirement of aerial vehicle flying for long time.
Shown in composition graphs 1 to 3, present invention also offers a kind of aircraft, comprise four control flaps 50 and aforesaid aerodynamic force control electromechanical servo system, four electromechanical actuator 10 one_to_one corresponding of electromechanical servo system drive four control flaps 50, and namely every platform electromechanical actuator 10 controls a control flaps 50.The system layout figure in flying vehicles control cabin is known for aerodynamic force control electromechanical servo system shown in composition graphs 3.4 electromechanical actuators circumferentially sectional uniform layout, namely four electromechanical actuators 10 differ 90 ° of placements, for the electromechanical servo system layout of typical rotational symmetry endoatmosphere aircraft, 4 electromechanical actuators control 4 control flaps 50 respectively, to realize the gesture stability of aircraft.
Shown in composition graphs 3, two servo power power supplys 40 and master and slave servocontrol driver are placed in the middle of electromechanical actuator 10 respectively, be fixed in aircraft on bulkhead 70 by support, the quality of mounting structure can be reduced to a certain extent, improve aircraft flight distance; In addition, the second order frequency that cantilever mounting means brings can be eliminated, the Integral modes frequency of aircraft can be improved, helpful to the flight stability of aircraft.Electrical connection is completed by cable system according to annexation as shown in Figure 1 between each stand-alone device.
Shown in the schematic diagram of the electromechanical actuator 10 shown in composition graphs 4, every platform electromechanical actuator 10 comprises servomotor 1, the gear train 2 coordinated with servomotor 1, the upper journal 3 be fixedly connected with servomotor 1 stator, and the down journal 4 to be connected with gear train 2 output shaft, servomotor 1 adopts permanent magnet synchronous servo motor, gear train 2 adopts ball-screw transmission mechanism to realize Linear transmission, namely the rotor of output shaft axle of servomotor 1 is directly connected with leading screw, permanent magnet synchronous servo motor rotarily drives leading screw and rotates, ball-screw the most at last rotation motion is changed to the external output power of rectilinear motion.The sharpest edges adopting linear electromechanical actuator to reduce intermediate transmission link, improves system effectiveness, reduces electromechanical actuator weight, to volume and the extremely harsh aircraft electromechanical servo system of quality requirements very applicable.
Shown in composition graphs 5, the Rocker arm 52 that control flaps 50 has rudderpost 51 and is fixedly connected with rudderpost 51, upper journal 3 is hinged with the transmission bracket 60 of aircraft, and down journal 4 swings with drived control rudder 50 with Rocker arm 52 is hinged.The roller screw gear train of electromechanical actuator 10 can realize stretching motion, thus realizes the swing of Rocker arm 52 swing drive rudder face, realizes aerodynamic force and controls.4 control flaps 50 are in 90 ° of placement, independent separately, coordinate the triple channel control swinging and can realize aircraft pitch orientation, yaw direction and rolling direction.
Composition graphs 1 to 5 illustrates aerodynamic force control electromechanical servo system method of work of the present invention, after the control electricity power supply of electromechanical servo system, first aircraft central control system sends a road activation signal to a thermobattery, activates a servo power power supply.Simultaneously, aircraft central control system utilizes 1553B number bus and main servo control and drive system 20 to set up correspondence, send the steering order signal of 4 electromechanical actuators 20 to main servo control and drive system, main servo control and drive system 20 resolves through agreement, the steering order from 2 electromechanical actuators needed for servocontrol driver 30 is sent to from servocontrol driver by dual-redundant CAN bus.The each self-operating closed loop control algorithm of master and slave servocontrol driver drives 4 electromechanical actuators, completes aerodynamic force and controls.Simultaneously, send whole feedback data to main servo control and drive system by dual-redundant CAN bus from servocontrol driver 30, main servo control and drive system sends the feedback data from servocontrol driver to carrier rocket central control system together with self feedback data by 1553B number bus.After work to certain hour, the servo power power supply energy first activated can not maintain follow-up work requirement, now central control system reactivation second piece of thermobattery, and system continues according to said process work, until aerial mission terminates.In the present invention, the products such as servo controller, servo-driver, electromechanical actuator, servo power power supply, power-supply adapter, existing invention all has and relates to or have off-the-shelf, can as parts of the present invention or a part.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
1, achieve electronic equipment integrated, the electronic equipment unit quantity of whole electromechanical servo system can be reduced, compared to existing technology, effectively can reduce the volume and weight of electromechanical servo system, and keep function and performance constant;
2, use thermobattery and take the working method of power supply relay, by working energy time lengthening one times, the working time of aircraft can be improve;
3,4 electromechanical actuator 10 design points of electromechanical servo system are identical, can mutually replace; Main servo control and drive system 20 is consistent with from the design of servocontrol driver 30 internal electron circuit ingredient major part, and adjustment can realize exchanging slightly, can reduce the quantity of backup unit, cost-saving.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. an aerodynamic force control electromechanical servo system, it is characterized in that, comprise four electromechanical actuators (10), main servo control and drive system (20), one from servocontrol driver (30) and at least one the servo power power supply (40) providing power supply, wherein, two in four electromechanical actuators (10) described in described main servo control and drive system (20) drived control, described from other two four electromechanical actuators (10) described in servocontrol driver (30) drived control.
2. aerodynamic force control electromechanical servo system according to claim 1, is characterized in that,
Described main servo control and drive system (20) was interconnected and the CAN connector communicated with described to comprise from servocontrol driver (30);
Described main servo control and drive system (20) also comprises 1553B Bussing connector.
3. aerodynamic force control electromechanical servo system according to claim 2, is characterized in that,
Described main servo control and drive system (20) is connected by dual-redundant CAN bus with the described CAN connector from servocontrol driver (30).
4. aerodynamic force control electromechanical servo system according to claim 2, is characterized in that,
Described in every platform, electromechanical actuator (10) comprises power electric input connector, motor rotor position feedback electrical connectors and displacement of the lines feedback connectors.
5. aerodynamic force control electromechanical servo system according to claim 4, is characterized in that,
Described main servo control and drive system (20) and describedly all also comprise three-phase alternating current electrical source of power connector, direct supply input connector and actuator feedback connectors from servocontrol driver (30); Wherein,
Described three-phase alternating current electrical source of power connector is connected with the power electric input connector of described electromechanical actuator (10);
Described direct supply input connector is connected with described at least one servo power power supply (40);
Motor rotor position feedback electrical connectors and the displacement of the lines feedback connectors of described actuator feedback connectors and described electromechanical actuator (10) are connected.
6. aerodynamic force control electromechanical servo system according to any one of claim 1 to 5, is characterized in that,
Described servo power power supply (40) is two, and described servo power power supply (40) adopts thermobattery.
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| CN201510086626.3A CN104615140A (en) | 2015-02-17 | 2015-02-17 | Electromechanical servo system for aerodynamic control |
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| CN106444713A (en) * | 2016-10-20 | 2017-02-22 | 北京精密机电控制设备研究所 | Multi-intelligent stand-alone servo control system based on dual redundant CAN bus communication |
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| CN109466802A (en) * | 2018-11-28 | 2019-03-15 | 四川航天烽火伺服控制技术有限公司 | A kind of aerospace craft flight control system and its Electromechanical Actuators |
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Application publication date: 20150513 |