CN104617847A - Fault-tolerant electro-mechanical actuating system - Google Patents
Fault-tolerant electro-mechanical actuating system Download PDFInfo
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- CN104617847A CN104617847A CN201510088866.7A CN201510088866A CN104617847A CN 104617847 A CN104617847 A CN 104617847A CN 201510088866 A CN201510088866 A CN 201510088866A CN 104617847 A CN104617847 A CN 104617847A
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Abstract
The invention provides a fault-tolerant electro-mechanical actuating system which comprises a fault-tolerant controller, a fault-tolerant actuator and a fault-tolerant electro-mechanical actuator. The electro-mechanical actuator comprises a fault-tolerant motor. The fault-tolerant controller receives control instructions and feedback information of the fault-tolerant electro-mechanical actuating system and generates the power driving instruction. The fault-tolerant actuator actuates the fault-tolerant motor according to the power driving instruction. According to the fault-tolerant electro-mechanical actuating system, each phase winding of the fault-tolerant motor can work independently and constitutes backup with each other by adoption of the fault-tolerant motor. Comparing with the corresponding double winding motor, the fault-tolerant electro-mechanical actuating system can effectively solve the problem of the unbalanced force of rotors and reduce the weight and the volume so that the power density and the reliability can be effectively improved.
Description
Technical field
The present invention relates to flight control method, in particular to a kind of fault-tolerant electromechanical actuating system.
Background technology
Actuating system is the crucial actuator in flight control system, for improving the safety and reliability of whole flight control system, reduce system weight and volume, current flight control system is just towards many electricity or complete electric future development, be the hot points and trends that Now Domestic is studied outward, especially electromechanical actuator (EMA) is important development direction.
In prior art, in order to improve the reliability of Electromechanical Actuators, usually adopt double-winding motor or bi-motor structure.Although adopt the reliability that can improve electric system during double-winding motor, but when driver or single winding break down, and after the output of fault winding is closed, rotor force in radial can be made uneven, in order to make up power loss, usually the power output of healthy phases winding is doubled, cause rotor force in radial energy imbalance more serious, work long hours and rotor bearing can be caused to wear and tear, and then affect the life and reliability of follow-up reducing gear and actuator.When adopting bi-motor structure, relative double-winding structure, the volume and weight of Electromechanical Actuators is increased, and need the synthesis of increase power or velocity composite mechanism the output of two motors to be carried out comprehensively, the volume and weight of Electromechanical Actuators is increased further, the power density of Electromechanical Actuators is reduced, and after breaking down, the power density of Electromechanical Actuators reduces further; After single motor system jam, the effect that faulty channel may not only can not play, even can affect normal operation and the reliability of whole Electromechanical Actuators.Not only complex structure, bi-motor structure also also exists and controls the problems such as complexity, current-unbalance, efficiency are low.
Summary of the invention
The present invention aims to provide a kind of fault-tolerant electromechanical actuating system improving reliability and power density.
The invention provides a kind of fault-tolerant electromechanical actuating system, comprise fault tolerant type controller, fault tolerant type driver and fault tolerant type electromechanical actuator, wherein, fault tolerant type electromechanical actuator comprises fault-tolerant motor, fault tolerant type controller receives the feedback information of control command and fault-tolerant electromechanical actuating system, and generating power driving instruction, fault tolerant type driver is according to power drive order-driven fault-tolerant motor.
Further, fault-tolerant motor is fault tolerant permanent magnet machine, comprises N phase winding, and adjacent two phase windings are mutually isolated by fault-tolerant teeth, wherein, and N >=3.
Further, fault tolerant type driver comprises logic control element and H bridge drives topology, and logic control element has the input be connected with fault tolerant type controller, and control H bridge drives the output of topology; H bridge drives topology equal with the number of phases of the winding of fault tolerant permanent magnet machine, and corresponding connection.
Further, fault tolerant type driver also comprises drived control isolating chip group, and output and the H bridge of drived control isolating chip group drive the control end of topology to be connected.
Further, fault tolerant type driver also comprises overcurrent and overheating protection circuit, and overcurrent is connected with the overcurrent of the output andlogic control unit of overheating protection circuit is corresponding with temperature protection signal input.
Further, fault tolerant type electromechanical actuator comprises reducing gear and actuator, and actuator and fault-tolerant motor are driven by reducing gear and be connected, and actuator is used for rudder face or engine jet pipe swings.
Further, fault-tolerant electromechanical actuating system also comprises the primary importance transducer measuring rudder face or engine jet pipe position.
Further, fault-tolerant electromechanical actuating system also comprises the second place transducer of the position of the rotor measuring fault-tolerant motor.
Further, fault-tolerant electromechanical actuating system also comprises the brake of the rotor of locking fault-tolerant motor.
Further, fault tolerant type controller comprises the first control unit and the second control unit, and the first control unit and the second control unit backup each other, and the cross reference control command received and the drive and control of electric machine instruction sent.
According to fault-tolerant electromechanical actuating system of the present invention, by adopting fault-tolerant motor, each phase winding of fault-tolerant motor works alone and mutually forms backup, compare corresponding double-winding motor and effectively can make up the stressed imbalance problem of rotor, relative bi-motor structure, effectively weight and volume be can reduce, thus effectively power density and reliability improved.
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 Organization Chart according to fault-tolerant electromechanical actuating system of the present invention;
Fig. 2 is the Organization Chart according to fault tolerant type driver of the present invention;
Fig. 3 is according to four phase module fault tolerant permanent magnet machine structure charts 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 Figure 1, control the fault-tolerant electromechanical actuating system that the present invention proposes is described with the rudder face of carrier rocket.In the present invention, fault-tolerant electromechanical actuating system comprises fault tolerant type controller 10, fault tolerant type driver 20 and fault tolerant type electromechanical actuator, wherein, fault tolerant type electromechanical actuator comprises fault-tolerant motor 30, fault tolerant type controller 10 receives the feedback information of control command and fault-tolerant electromechanical actuating system, and generating power driving instruction, fault tolerant type driver 20 is according to power drive order-driven fault-tolerant motor 30.The present invention is by adopting fault-tolerant motor 30, each phase winding 31 of fault-tolerant motor 30 works alone and mutually forms backup, compare corresponding double winding 31 motor and effectively can make up the stressed imbalance problem of rotor, relative bi-motor structure, effectively weight and volume be can reduce, thus effectively power density and reliability improved.
Particularly, fault-tolerant motor 30 is fault tolerant permanent magnet machine, comprise N phase winding 31, the winding 31 of N phase module fault tolerant permanent magnet machine adopts centralized modular construction, General N >=3, for four phase module fault tolerant permanent magnet machines as shown in Figure 3, comprise rotor and stator, rotor comprises and is arranged on permanent magnet 34 on motor shaft 35 and sleeve 33, stator comprises 4 phase windings 31, every phase winding 31 is provided with two inputs, and kept apart by fault-tolerant teeth 32 (without winding tooth) between each winding 31, serve physics, electrically, magnetic circuit, almost completely isolated on heat, pass through magnetic Circuit Design, when making winding 31 short trouble occurs, short circuit current can be suppressed near rated current scope, owing to being spaced from each other by fault-tolerant teeth 32 between adjacent two-phase, make the heat of short circuit phase and magnetic linkage can not have influence on the normal work of other phases, when N phase module fault tolerant permanent magnet machine normally works, each identical time work, be equivalent to N number of monophase machine work simultaneously, form N-modular redundancy structure, backup each other between each phase relation, and when there is winding 31 open circuit and short trouble, each phase winding 31 electric current can adopt vector control and faults-tolerant control strategy, make fault-tolerant after motor output torque and normal value very nearly the same, thus realize failure tolerant function,
Further, fault tolerant type controller 10 major function comprises: receive higher level's control system (such as carrier rocket central control system) send control command, demodulation motor rotor position and rudder face sensing station, gather each phase current and temperature, closed-loop control, failure diagnosis, Fault Identification, Fault Isolation and failure tolerant etc.; Fault tolerant type controller 10 carries out closed-loop control according to control command and current rudder face position, and the PWM of follow-up fault tolerant type driver 20 is exported in adjustment in real time; Fault tolerant type controller 10, according to information such as the electric current gathered and temperature, rotor and rudder face positions, is diagnosed and is identified fault, carry out Fault Isolation and failure tolerant to follow-up fault tolerant type driver 20, motor output performance is remained unchanged.
Preferably, fault tolerant type controller 10 comprises the first control unit and the second control unit, first control unit and the second control unit are checked the control command received, the false command disturbed and cause can be eliminated, first control unit and the second control unit are verified mutually to the drive and control of electric machine instruction exported simultaneously, prevent the Electric Machine Control instruction of output error.Namely the first control unit and the second control unit are monitored mutually, and after a control unit breaks down, the output of faulty control unit can be blocked by another control unit normally, realize the function of the mutual backup of monitoring mutually between double-core.Two control units can be two independently controllers, also can be two control cores, such as dual-core controller separate in a controller.
Shown in composition graphs 2, fault tolerant type driver 20 see mainly comprise logic control element 21, drived control isolating chip group 23, N number of H bridge drive topology 22, overcurrent and overheating protection circuit 24; Logic control element 21 with motor control signal PWM input, overcurrent and temperature protection signal input, control N number of H bridge drive topology 22 output; Motor control signal PWM input is connected with the output of the signal isolating chip of fault tolerant type controller 10; Overcurrent is connected with the output of corresponding overcurrent with overheating protection circuit 24 with temperature protection signal input, logic control element 21 is according to overcurrent or temperature protection signal, can judge overcurrent or overheated phase winding 31 occur, and can the output signal of topology 22 be driven by the control H bridge of corresponding phase winding 31 immediately to block, when the electric current of phase winding 31 or temperature that send fault are reduced to below protection value, then the output signal of topological 22 is driven to open on controls H bridge; Controlling N number of H bridge drives topological 22 outputs to be connected with the input of drived control isolating chip, output and the H bridge of drived control isolating chip group 23 drive the control end input of topology 22 to be connected, each H drives topology with the output of a pair drive motors winding 31, be connected with every phase winding 31 of N phase module fault tolerant permanent magnet machine, thus each phase winding 31 of the fault-tolerant motor 30 driven works.
Shown in composition graphs 1, Electromechanical Actuators of the present invention also comprises motor rotor position sensor (revolving change), rudder face position transducer (RVDT/LVDT) and brake, preferably, in order to improve the reliability of whole Electromechanical Actuators, said structure all adopts two Redundancy Design, namely revolves change, RVDT/LVDT and brake and corresponding bindiny mechanism all adopts two Analysis of Nested Design.
Shown in composition graphs 1, the holding wire revolving change becomes demodulation chip with revolving on fault-tolerant controller and is connected, by the real time position of rotor and velocity feedback to microcontroller; The holding wire of RVDT/LVDT is connected with the RVDT/LVDT demodulation chip on fault-tolerant controller, by the real time position feedback of rudder face to microcontroller, microcontroller according to control command and the feedback information revolving change and RVDT/LVDT, can realize the position-force control of rudder face; Rotor can lock according to control command by brake, thus realizes the locking to rudder face.
Fault tolerant type electromechanical actuator also comprises corresponding reducing gear 40 and actuator 50, reducing gear 40 mainly comprises series of gears group, be provided with power shaft and output shaft, the power shaft of reducing gear 40 is connected with the rotor of fault-tolerant motor 30, for realizing the effect reducing rotating speed and amplify torque, the little torque axis of high rotating speed that motor exports can be become low rotation speed large torque; The output shaft of reducing gear 40 is connected with the power shaft of actuator 50.Actuator 50 mainly comprises the parts such as gear, rocking arm or leading screw, and for driving rudder face action, the input of actuator 50 is connected with the output shaft of reducing gear 40, and the output of actuator 50 is connected with rudder face.
In the present invention, fault tolerant type controller 10 can be formed based on DSP or ARM microprocessor, realizes the functions such as the resolving of control command, closed-loop control, faults-tolerant control; Fault-tolerant motor 30 adopts four phase module fault tolerant permanent magnet machines; Fault tolerant type controller 10 controls fault tolerant type driver 20 according to control command, and then controls four phase module fault tolerant permanent magnet machines drive decelerators, actuator 50 and the action needed for rudder face realization; On the bases such as fault tolerant type controller 10, fault tolerant type driver 20, modularization permanent-magnetism fault-tolerant motor, add the control method such as vector control and faults-tolerant control, whole Electromechanical Actuators can not only be made accurately and efficiently to complete rudder face action, and reliability and the fail safe of whole Electromechanical Actuators can be ensured.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
According to fault-tolerant electromechanical actuating system of the present invention, by adopting fault-tolerant motor, each phase winding of fault-tolerant motor works alone and mutually forms backup, compare corresponding double-winding motor and effectively can make up the stressed imbalance problem of rotor, relative bi-motor structure, effectively weight and volume be can reduce, thus effectively power density and reliability improved.
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 (10)
1. a fault-tolerant electromechanical actuating system, it is characterized in that, comprise fault tolerant type controller (10), fault tolerant type driver (20) and fault tolerant type electromechanical actuator, wherein, described fault tolerant type electromechanical actuator comprises fault-tolerant motor (30), described fault tolerant type controller (10) receives the feedback information of control command and fault-tolerant electromechanical actuating system, and generating power driving instruction, described fault tolerant type driver (20) fault-tolerant motor (30) according to described power drive order-driven.
2. fault-tolerant electromechanical actuating system according to claim 1, is characterized in that,
Described fault-tolerant motor (30) is fault tolerant permanent magnet machine, comprises N phase winding (31), and described in adjacent two-phase, winding (31) is mutually isolated by fault-tolerant teeth (32), wherein, and N >=3.
3. fault-tolerant electromechanical actuating system according to claim 2, is characterized in that,
Described fault tolerant type driver (20) comprises logic control element (21) and H bridge drives topology (22), described logic control element (21) has the input be connected with described fault tolerant type controller (10), and controls the output that described H bridge drives topology (22);
Described H bridge drives topology (22) equal with the number of phases of the described winding (31) of described fault tolerant permanent magnet machine, and corresponding connection.
4. fault-tolerant electromechanical actuating system according to claim 3, is characterized in that,
Described fault tolerant type driver (20) also comprises drived control isolating chip group (23), and output and the described H bridge of described drived control isolating chip group (23) drive the control end of topology (22) to be connected.
5. fault-tolerant electromechanical actuating system according to claim 4, is characterized in that,
Described fault tolerant type driver (20) also comprises overcurrent and overheating protection circuit (24), and described overcurrent is connected with the overcurrent of described logic control element (21) is corresponding with temperature protection signal input with the output of overheating protection circuit (24).
6. fault-tolerant electromechanical actuating system according to claim 1, is characterized in that,
Described fault tolerant type electromechanical actuator comprises reducing gear (40) and actuator (50), described actuator (50) and described fault-tolerant motor (30) are driven by described reducing gear (40) and are connected, and described actuator (50) swings for rudder face or engine jet pipe.
7. fault-tolerant electromechanical actuating system according to claim 6, is characterized in that,
Described fault-tolerant electromechanical actuating system also comprises the primary importance transducer measuring described rudder face or described engine jet pipe position.
8. fault-tolerant electromechanical actuating system according to claim 1, is characterized in that,
Described fault-tolerant electromechanical actuating system also comprises the second place transducer of the position of the rotor measuring described fault-tolerant motor (30).
9. fault-tolerant electromechanical actuating system according to claim 1, is characterized in that,
Described fault-tolerant electromechanical actuating system also comprises the brake of the rotor of the described fault-tolerant motor of locking (30).
10. fault-tolerant electromechanical actuating system according to claim 1, is characterized in that,
Described fault tolerant type controller (10) comprises the first control unit and the second control unit, and described first control unit and the second control unit backup each other, and the cross reference control command received and the drive and control of electric machine instruction sent.
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| CN105035984A (en) * | 2015-08-17 | 2015-11-11 | 南京航空航天大学 | Vertical lifting system of double-winding permanent magnet fault tolerance motor and control method of vertical lifting system |
| CN105391366A (en) * | 2015-12-23 | 2016-03-09 | 北京精密机电控制设备研究所 | Structure-changeable motor system |
| CN105471349A (en) * | 2015-12-23 | 2016-04-06 | 北京精密机电控制设备研究所 | Variable structure motor system |
| CN111600444A (en) * | 2020-04-15 | 2020-08-28 | 江苏清盐智能科技有限公司 | Intelligent high-precision fault-tolerant self-driven gun turret system |
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