CN104678830A - Electromechanical servo comprehensive control and energy source management device - Google Patents
Electromechanical servo comprehensive control and energy source management device Download PDFInfo
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- CN104678830A CN104678830A CN201410430929.8A CN201410430929A CN104678830A CN 104678830 A CN104678830 A CN 104678830A CN 201410430929 A CN201410430929 A CN 201410430929A CN 104678830 A CN104678830 A CN 104678830A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
Abstract
The invention provides an electromechanical servo comprehensive control and energy source management device, which is used for servo motor control and energy source management, and comprises a microprocessing circuit, detecting circuits, a signal conversion circuit, an isolation driving amplifying circuit and an energy source management circuit, wherein the detecting circuits comprise a first voltage detecting circuit, a first current detecting circuit, a second voltage detecting circuit and a second current detecting circuit. The electromechanical servo comprehensive control and energy source management device provided by the invention has the advantages that the comprehensive management of absorption and release of energy sources can be realized, in addition, the system composition is simplified, the system weight is reduced, and meanwhile, the self test of an electromechanical servo system can be realized.
Description
Technical field
The present invention relates to technical field of servo control, particularly a kind of electromechanical servo Comprehensive Control and energy management apparatus.
Background technology
Servo-drive system is that the flight of the aerospace flight vehicles such as carrier rocket, missile armament and aircraft controls topworks, is controlled, the complex controll mode of side-jet control or above three kinds of modes carries out aircraft pitching, the control of driftage and roll channel by thruster vector control, airvane.
Electromechanical servo system is a kind of form of servo-drive system, is main composition with servo controller, servo-driver, electromechanical actuator and servo power power supply.The effect of servo controller is responsible for carrying out analog or digital bus communication with control system (host computer), be responsible for sending the feedback signal of servo-driver and other devices to control system (host computer), the servo controller of some thruster vector control also carries the functions such as pivot angle Command Resolution, position closed loop simultaneously.Servo-driver is the device driving servomotor to operate according to certain instruction, is mainly digital control circuit and power amplification circuit etc., and can realizes the closed-loop control of electromechanical actuator.Electromechanical actuator is made up of servomotor and servo-operated mechanism, is that the mechanical energy electric energy that servo-driver in servo-drive system exports being converted to actuator straight line or rotation exports.
When the use electrical characteristics of aircraft electromechanical servo system are long, working current is little, and short-term operation electric current is large, and requires that response fast.Under the operating mode of high dynamic response, the frequent acceleration in the course of the work of the servomotor in electromechanical actuator and deceleration, anti-filling voltage when making servo power power supply frequently need provide peak point current and servomotor braking need be born.For reducing this impact, the overload simultaneously reducing servo power supply output current exports requirement, need carry out energy management design.
Aircraft energy management apparatus generally adopt independent design or with other unit Integrated designs two kinds of modes, the mode of energy management has and absorbs and release two kinds.
Patent ZL201220322859.0 " a kind of electric power controller based on electromechanical coupling system " adopts a kind of autonomous device absorbed and end to carry out energy management (as shown in Figure 1), this device is made up of diode and capacitance group, diode carries out anti-filling electricity for preventing braking the energy produced to power supply, produces working current instantaneously and export with offset supply when absorption is instead filled with energy and starts when capacitance group is for braking.The advantage of the program can recycle braking energy, and strengthen the peak point current fan-out capability of power supply; Shortcoming is for the occasion that braking energy is comparatively large and operating voltage is higher, require that the withstand voltage and capacity of capacitance group can be larger, therefore the quantity increasing capacitance group series and parallel connections is needed, and the volume and weight of energization management devices, in addition this device does not possess the function of DC bus-bar voltage and bus current measurement, need design extra power converting circuit and communications circuit as increased this function.
Patent ZL201120416755.1 " control circuit that a kind of regenerated energy reliably manages " adopts the form of releasing to carry out energy management (as shown in Figure 2), this device is generally integrated in servo-driver, be made up of braking power pipe and braking resistor, when DC bus-bar voltage is higher than setting threshold value, produce high level by control circuit and braking power pipe is opened and close the pwm signal of servo-driver for Electric Machine Control simultaneously, between positive and negative busbar braking resistor being sealed in power supply, braking energy is released by resistance heating, when DC bus-bar voltage is lower than setting threshold value, braking power pipe is closed, servo-driver place normal operating conditions.The advantage of the program is that volume weight is relatively low, and can bear comparatively high working voltage, cost is lower; Shortcoming only has drainage function, and braking energy is effectively absorbed, and electromechanical actuator can be made temporarily to be in stop control state during braking circuit work.
Summary of the invention
(1) technical matters that will solve
The object of the present invention is to provide a kind of electromechanical servo Comprehensive Control and energy management apparatus, for the absorption realizing the energy and the integrated management of releasing, and simplify system composition and reduce system weight, simultaneously for realizing the self-test of electromechanical servo system.
(2) technical scheme
To achieve these goals, the invention provides a kind of electromechanical servo Comprehensive Control and energy management apparatus, for controlling and energy management servomotor, comprise: micro-processor interface circuit, testing circuit, signaling conversion circuit, isolation drive amplifying circuit, and gas gauge circuit, wherein, described testing circuit comprises the first voltage detecting circuit, first current detection circuit, second voltage detecting circuit, and second current detection circuit, wherein, described first voltage detecting circuit is for detecting the DC bus-bar voltage of described gas gauge circuit input end, and sent to described micro-processor interface circuit by described signaling conversion circuit, described first current detection circuit for detecting the DC bus current of described gas gauge circuit input end, and is sent to described micro-processor interface circuit by described signaling conversion circuit, described second voltage detecting circuit for detecting the DC bus-bar voltage of described gas gauge circuit output terminal, and is sent to described micro-processor interface circuit by described signaling conversion circuit, described second current detection circuit for detecting the DC bus current of described gas gauge circuit output terminal, and is sent to described micro-processor interface circuit by described signaling conversion circuit, described micro-processor interface circuit is used for exporting brake control signal according to the testing result received, and controls described gas gauge circuit and absorb and the energy of releasing after isolation drive amplifying circuit.
Preferably, described gas gauge circuit comprises: absorb tank circuit, and for absorbing and storing anti-filling energy when described servomotor is braked, and generation moment working current exports with offset supply when described servomotor starts; And braking leadage circuit, for the anti-filling energy of releasing during the braking of described servomotor.
Preferably, described micro-processor interface circuit absorbs and the energy of releasing for controlling described gas gauge circuit, specifically comprises: the absorption voltage threshold setting described absorption tank circuit is U
1th, the brake voltage threshold value that described braking leadage circuit is released is U
2th, and U
2thbe greater than U
1th; When the DC bus-bar voltage of described gas gauge circuit output terminal is lower than U
1thtime, described micro-processor interface circuit controls described absorption tank circuit and absorbs and store anti-filling energy when described servomotor is braked; When the DC bus-bar voltage of described gas gauge circuit output terminal is higher than U
2thtime, described micro-processor interface circuit control braking leadage circuit release the braking of described servomotor time anti-filling energy.
Preferably, described gas gauge circuit also comprises for preventing the anti-diode of filling with to its input side of its output end energy, the concrete structure of described gas gauge circuit and described testing circuit is: the first end of described first voltage detecting circuit connects the positive input terminal of described gas gauge circuit input end, and its second end connects the negative input end of described gas gauge circuit input end; The first end of described first current detection circuit connects the positive input terminal of described gas gauge circuit input end, and its second end connects the positive pole of described diode; The first end of described absorption tank circuit connects the negative pole of described diode, and its second end connects the negative input end of described gas gauge circuit input end; The first end of described braking leadage circuit connects the first end of described absorption tank circuit, and its second end connects the second end of described absorption tank circuit; The first end of described second voltage detecting circuit connects the first end of described braking leadage circuit, and its second end connects the second end of described braking leadage circuit and the negative output terminal of described gas gauge circuit output terminal; The first end of described second current detection circuit connects the first end of described second voltage detecting circuit, and its second end connects the positive output end of described gas gauge circuit output terminal.
Preferably, described absorption tank circuit is capacitance group, and described braking leadage circuit comprises brake pipe and the braking resistor of series connection, and described brake pipe carries out switch motion according to described brake control signal.
Preferably, one-level bus interface circuit, for sending the digital controlled signal from external control system to described micro-processor interface circuit, and sends the digital feedback signal of described micro-processor interface circuit to described control system; Secondary bus interface circuit, for sending the digital controlled signal of described micro-processor interface circuit to outside servo-driver, and sends the digital feedback signal from described outside servo-driver to described microprocessor.
Preferably, described one-level bus interface circuit is 1553B bus interface circuit, and described secondary bus interface circuit is CAN circuit, and described micro-processor interface circuit is DSP and core circuit thereof.
Preferably, analog signal processing and change-over circuit, for sending the analog control signal from external control system to described micro-processor interface circuit, and send the digital feedback signal of described micro-processor interface circuit to described control system, and, send the digital controlled signal of described micro-processor interface circuit to outside servo-driver, and send the analog feedback signal from described outside servo-driver to described microprocessor.
Present invention also offers a kind of electromechanical servo system, it comprises aforementioned arbitrary electromechanical servo Comprehensive Control and energy management apparatus.
Preferably, also comprise: servo power power supply, servo-driver and electromechanical actuator, wherein, described servo power power supply connects described gas gauge circuit input end, described servo-driver connects described gas gauge circuit output terminal and described secondary bus interface circuit, described electromechanical actuator comprises servomotor and servo-operated mechanism, and the mechanical energy that the electric energy for being exported by described servo-driver is converted to straight line or rotation exports.
(3) beneficial effect
Feature of the present invention is as follows: (1) can realize " controlling and energy management " integrative design completely of electromechanical servo system, by servo controller and energy management device comprehensive Design, outside the function realizing servo controller, the absorption that the digital control function that can make full use of servo controller realizes the energy and the integrated management of releasing; (2) compare with releasing type energy management two schemes with absorption in prior art, the present invention is by reasonable set multiple protective threshold value, both can by most of energy absorption, can not cause because of too high voltages and braking energy again that the volume and weight of energy management part is excessive, the problem of high cost; (3) detection and the information feed back of gas gauge circuit front and back ends busbar voltage and bus current can be realized, improve the measurability of electromechanical servo system, be convenient to carry out performance evaluation and malfunction elimination; (4) the present invention adopts Integration Design, is electrically connected between reduce engine electric servo system unit kind and unit, reduces the volume and weight of whole system.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Accompanying drawing explanation
With reference to the accompanying drawings and further describe the present invention in conjunction with example.Wherein:
Fig. 1 shows the electrical block diagram of absorption energy management apparatus in prior art;
Fig. 2 shows the structural representation block scheme of releasing type energy management apparatus in prior art;
Fig. 3 shows the structural representation of electromechanical servo Comprehensive Control of the present invention and energy management apparatus;
Fig. 4 shows the electromechanical servo Comprehensive Control of a kind of embodiment of the present invention and the structural representation of energy management apparatus;
Fig. 5 shows the structural representation of gas gauge circuit and testing circuit in the electromechanical servo Comprehensive Control of a kind of embodiment of the present invention and energy management apparatus.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
The present invention proposes a kind of electromechanical servo system Comprehensive Control and energy management apparatus, and comprise the electromechanical servo system of this device, this device can efficiently managing by electrical characteristics for electromechanical servo system, and the height realizing servo controller and servo power supply manager is integrated.
As shown in Figure 3, according to a kind of electromechanical servo Comprehensive Control provided by the invention and energy management apparatus, for controlling and energy management servomotor, it comprises: micro-processor interface circuit, testing circuit, signaling conversion circuit, isolation drive amplifying circuit and gas gauge circuit, wherein, described testing circuit comprises the first voltage detecting circuit, the first current detection circuit, the second voltage detecting circuit and the second current detection circuit.Wherein,
Wherein, described first voltage detecting circuit for detecting the DC bus-bar voltage of described gas gauge circuit input end, and is sent to described micro-processor interface circuit by described signaling conversion circuit.
Wherein, described first current detection circuit for detecting the DC bus current of described gas gauge circuit input end, and is sent to described micro-processor interface circuit by described signaling conversion circuit.
Wherein, described second voltage detecting circuit for detecting the DC bus-bar voltage of described gas gauge circuit output terminal, and is sent to described micro-processor interface circuit by described signaling conversion circuit.
Wherein, described second current detection circuit for detecting the DC bus current of described gas gauge circuit output terminal, and is sent to described micro-processor interface circuit by described signaling conversion circuit.
Wherein, above-mentioned signaling conversion circuit can be one, also can be multiple, such as can be two, described first voltage detecting circuit and described first current detection circuit can share a signaling conversion circuit, and described second voltage detecting circuit and described second current detection circuit can share another signaling conversion circuit.
Wherein, described micro-processor interface circuit is used for exporting brake control signal according to the testing result received, and controls described gas gauge circuit and absorb and the energy of releasing after isolation drive amplifying circuit.
According to embodiment provided by the invention, described gas gauge circuit can comprise: absorb tank circuit and braking leadage circuit.
Wherein, described absorption tank circuit is for absorbing and storing anti-filling energy when described servomotor is braked, and generation moment working current exports with offset supply when described servomotor starts.
Wherein, the anti-filling energy of described braking leadage circuit for releasing during the braking of described servomotor.
According to embodiments of the invention, described electromechanical servo Comprehensive Control and energy management apparatus can also comprise: one-level bus interface circuit and secondary bus interface circuit.
Wherein, described one-level bus interface circuit is used for sending the digital controlled signal from external control system to described micro-processor interface circuit, and sends the digital feedback signal of described micro-processor interface circuit to described control system.
Wherein, described secondary bus interface circuit is used for sending the digital controlled signal of described micro-processor interface circuit to outside servo-driver, and sends the digital feedback signal from described outside servo-driver to described microprocessor.
Particularly, described one-level bus interface circuit can be 1553B bus interface circuit, described secondary bus interface circuit can be CAN circuit, described one-level bus interface circuit and secondary bus interface circuit also can exchange, and also can adopt other form such as the industrial field bus be suitable for and Aviation Digital bus such as RS422/485, Flexray.
Particularly, described micro-processor interface circuit can be DSP and core circuit thereof, can also adopt other service forms such as single-chip microcomputer, programmable logic device (PLD), ARM.
According to embodiment provided by the invention, described electromechanical servo Comprehensive Control and energy management apparatus can also comprise: analog signal processing and change-over circuit, for sending the analog control signal from external control system to described micro-processor interface circuit, and send the digital feedback signal of described micro-processor interface circuit to described control system, and, send the digital controlled signal of described micro-processor interface circuit to outside servo-driver, and send the analog feedback signal from described outside servo-driver to described microprocessor.
As shown in Figure 3, according to a kind of electromechanical servo system provided by the invention, it comprises aforementioned arbitrary electromechanical servo Comprehensive Control and energy management apparatus, also comprises: servo power power supply, servo-driver and electromechanical actuator.
Wherein, described servo power power supply connects described gas gauge circuit input end, described servo-driver connects described gas gauge circuit output terminal and described secondary bus interface circuit, described electromechanical actuator comprises servomotor and servo-operated mechanism, and the mechanical energy that the electric energy for being exported by described servo-driver is converted to straight line or rotation exports.
According to embodiments of the invention, to the quantity of servo-driver without explicitly calling for, can be one, also can be plural any amount.
As shown in Figure 4, principle of work of the present invention is further illustrated according to this embodiment.
The DC bus power supply of servo power power supply inputs to this device, after absorbing tank circuit and braking leadage circuit and carrying out energy management and control, then exports to the electrical source of power of servo-driver as its power main circuit.
DC bus power supply is carrying out all carrying out voltage and current detection before and after energy management, and is sent to DSP and core circuit thereof by signaling conversion circuit.
Judge after DC bus-bar voltage after micro-processor interface circuit receives collection, and export brake control signal, the turn-on and turn-off of the power tube in isolation drive amplifying circuit rear drive braking leadage circuit.
DSP and core circuit thereof realize transmitting with the steering order of servo-driver and the CAN of servo-driver feedback signal by CAN interface circuit.
DSP and core circuit thereof by 1553B bus interface circuit realize with the position of the steering order of control system and electromechanical servo system, motor speed, electric current, energy management before and after DC bus-bar voltage and the number bus of the signal such as electric current transmit.
Another function of DSP and core circuit thereof is synthesis or the decomposition of each station pivot angle instruction that achievement unit point control system sends.
As shown in Figure 5, according to embodiments of the invention, described gas gauge circuit can also comprise for preventing the anti-diode D filled with to its input side of its output end energy; In addition, described absorption tank circuit is capacitance group C, the capacity of the threshold value determination capacitance group that can absorb according to the rated operational voltage of reality, braking energy and permission, withstand voltage and connection in series-parallel composition structure; Described braking leadage circuit comprises brake pipe Q and the braking resistor R of series connection, and described brake pipe Q carries out switch motion according to described brake control signal; In addition, V1, V2 are voltage detecting circuit, I1 and I2 is current detection circuit, are respectively used to the voltage and current signal detecting mains side and electricity consumption side.
The concrete structure of described gas gauge circuit and described testing circuit can be: the first end of described first voltage detecting circuit V1 connects the positive input terminal of described gas gauge circuit input end, and its second end connects the negative input end of described gas gauge circuit input end; The first end of described first current detection circuit I1 connects the positive input terminal of described gas gauge circuit input end, and its second end connects the positive pole of described diode D; The first end of described capacitance group C connects the negative pole of described diode D, and its second end connects the negative input end of described gas gauge circuit input end; The first end of described brake pipe Q connects the first end of described capacitance group C, and its second end connects the first end of described braking resistor R, and second end of described braking resistor R connects second end of described capacitance group C; The first end of described second voltage detecting circuit V2 connects the first end of described braking leadage circuit, and its second end connects second end of described braking resistor R and the negative output terminal of described gas gauge circuit output terminal; The first end of described second current detection circuit I2 connects the first end of described second voltage detecting circuit V2, and its second end connects the positive output end of described gas gauge circuit output terminal.
The applicable switching device such as IGBT, MOSFET can be chosen according to actual needs according to the brake pipe of the embodiment of the present invention.
According to embodiment provided by the invention, adopt two-stage energy management strategies, that is: by capacitive absorption and storage be one-level energy management, and setting absorption voltage threshold is U
1th; What released by braking circuit is Secondary energy management, and setting brake voltage threshold value is U
2th, and the threshold value U of Secondary energy management configuration
2ththreshold value U is set higher than one-level energy management
1th.Differentiated control strategy is realized to the electromechanical servo system energy, namely when the DC bus-bar voltage of described gas gauge circuit output terminal is lower than U
1thtime, brake pipe turns off, and braking energy takes the mode of absorption by stored energy in capacitance group; When the DC bus-bar voltage of described gas gauge circuit output terminal is higher than U
2thtime, open brake pipe, by braking resistor, unnecessary energy is released.
Claims (10)
1. an electromechanical servo Comprehensive Control and energy management apparatus, for controlling and energy management servomotor, it is characterized in that, comprise: micro-processor interface circuit, testing circuit, signaling conversion circuit, isolation drive amplifying circuit and gas gauge circuit, wherein, described testing circuit comprises the first voltage detecting circuit, the first current detection circuit, the second voltage detecting circuit and the second current detection circuit, wherein
Described first voltage detecting circuit for detecting the DC bus-bar voltage of described gas gauge circuit input end, and is sent to described micro-processor interface circuit by described signaling conversion circuit;
Described first current detection circuit for detecting the DC bus current of described gas gauge circuit input end, and is sent to described micro-processor interface circuit by described signaling conversion circuit;
Described second voltage detecting circuit for detecting the DC bus-bar voltage of described gas gauge circuit output terminal, and is sent to described micro-processor interface circuit by described signaling conversion circuit;
Described second current detection circuit for detecting the DC bus current of described gas gauge circuit output terminal, and is sent to described micro-processor interface circuit by described signaling conversion circuit;
Described micro-processor interface circuit is used for exporting brake control signal according to the testing result received, and controls described gas gauge circuit and absorb and the energy of releasing after isolation drive amplifying circuit.
2. device as claimed in claim 1, it is characterized in that, described gas gauge circuit comprises:
Absorb tank circuit, for absorbing and storing anti-filling energy when described servomotor is braked, and generation moment working current exports with offset supply when described servomotor starts; And,
Braking leadage circuit, for the anti-filling energy of releasing during the braking of described servomotor.
3. device as claimed in claim 2, is characterized in that, described micro-processor interface circuit absorbs and the energy of releasing for controlling described gas gauge circuit, specifically comprises:
The absorption voltage threshold setting described absorption tank circuit is U
1th, the brake voltage threshold value that described braking leadage circuit is released is U
2th, and U
2thbe greater than U
1th;
When the DC bus-bar voltage of described gas gauge circuit output terminal is lower than U
1thtime, described micro-processor interface circuit controls described absorption tank circuit and absorbs and store anti-filling energy when described servomotor is braked;
When the DC bus-bar voltage of described gas gauge circuit output terminal is higher than U
2thtime, described micro-processor interface circuit control braking leadage circuit release the braking of described servomotor time anti-filling energy.
4. device as claimed in claim 3, is characterized in that, described gas gauge circuit also comprises for preventing the anti-diode of filling with to its input side of its output end energy, and the concrete structure of described gas gauge circuit and described testing circuit is:
The first end of described first voltage detecting circuit connects the positive input terminal of described gas gauge circuit input end, and its second end connects the negative input end of described gas gauge circuit input end;
The first end of described first current detection circuit connects the positive input terminal of described gas gauge circuit input end, and its second end connects the positive pole of described diode;
The first end of described absorption tank circuit connects the negative pole of described diode, and its second end connects the negative input end of described gas gauge circuit input end;
The first end of described braking leadage circuit connects the first end of described absorption tank circuit, and its second end connects the second end of described absorption tank circuit;
The first end of described second voltage detecting circuit connects the first end of described braking leadage circuit, and its second end connects the second end of described braking leadage circuit and the negative output terminal of described gas gauge circuit output terminal;
The first end of described second current detection circuit connects the first end of described second voltage detecting circuit, and its second end connects the positive output end of described gas gauge circuit output terminal.
5. device as claimed in claim 4, is characterized in that:
Described absorption tank circuit is capacitance group, and described braking leadage circuit comprises brake pipe and the braking resistor of series connection, and described brake pipe carries out switch motion according to described brake control signal.
6. the device as described in as arbitrary in Claims 1 to 5, is characterized in that, also comprise:
One-level bus interface circuit, for sending the digital controlled signal from external control system to described micro-processor interface circuit, and sends the digital feedback signal of described micro-processor interface circuit to described control system;
Secondary bus interface circuit, for sending the digital controlled signal of described micro-processor interface circuit to outside servo-driver, and sends the digital feedback signal from described outside servo-driver to described microprocessor.
7. device as claimed in claim 6, is characterized in that:
Described one-level bus interface circuit is 1553B bus interface circuit, and described secondary bus interface circuit is CAN circuit, and described micro-processor interface circuit is DSP and core circuit thereof.
8. device as claimed in claim 7, is characterized in that, also comprise:
Analog signal processing and change-over circuit, for sending the analog control signal from external control system to described micro-processor interface circuit, and send the digital feedback signal of described micro-processor interface circuit to described control system, and, send the digital controlled signal of described micro-processor interface circuit to outside servo-driver, and send the analog feedback signal from described outside servo-driver to described microprocessor.
9. an electromechanical servo system, is characterized in that, comprising: the arbitrary described electromechanical servo Comprehensive Control of claim 1 ~ 8 and energy management apparatus.
10. system as claimed in claim 9, it is characterized in that, also comprise: servo power power supply, servo-driver and electromechanical actuator, wherein, described servo power power supply connects described gas gauge circuit input end, described servo-driver connects described gas gauge circuit output terminal and described secondary bus interface circuit, and described electromechanical actuator comprises servomotor and servo-operated mechanism, and the mechanical energy that the electric energy for being exported by described servo-driver is converted to straight line or rotation exports.
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| CN105955113A (en) * | 2016-05-10 | 2016-09-21 | 中国电子科技集团公司第三十二研究所 | Intelligent servo control device and equipment using same |
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