CN104678830B - Electromechanical servo comprehensively control and energy management apparatus - Google Patents
Electromechanical servo comprehensively control and energy management apparatus Download PDFInfo
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- CN104678830B CN104678830B CN201410430929.8A CN201410430929A CN104678830B CN 104678830 B CN104678830 B CN 104678830B CN 201410430929 A CN201410430929 A CN 201410430929A CN 104678830 B CN104678830 B CN 104678830B
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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 present invention provides a kind of electromechanical servo comprehensively control and energy management apparatus, for carrying out control and energy management to servo motor, it include: micro-processor interface circuit, detection circuit, signal conversion circuit, isolation drive amplifying circuit and gas gauge circuit, wherein, the detection circuit includes first voltage detection circuit, the first current detection circuit, second voltage detection circuit and the second current detection circuit.A kind of electromechanical servo comprehensively control provided by the invention and energy management apparatus can be realized the absorption of the energy and the integrated management released, and simplify system composition and reduce system weight, while can be realized the self-test of electromechanical servo system.
Description
Technical field
The present invention relates to technical field of servo control, in particular to a kind of electromechanical servo comprehensively control and energy management dress
It sets.
Background technique
Servo-system is the flight control executing agency of the aerospace flight vehicles such as carrier rocket, missile armament and aircraft,
Complex controll mode by thruster vector control, airvane control, side-jet control or three of the above mode is winged to carry out
The pitching of row device, yaw and roll channel control.
Electromechanical servo system is a kind of form of servo-system, with servo controller, servo-driver, electromechanical actuator and
Servo power power supply is main composition.The effect of servo controller is responsible for carrying out analog or digital with control system (host computer)
Bus communication, while being responsible for sending the feedback signal of servo-driver and other devices control system (host computer) to, one
The servo controller of a little thruster vector controls also carries the functions such as pivot angle Command Resolution, position closed loop.Servo-driver is
Drive servo motor according to the device of certain instruction operating, predominantly digital control circuit and power amplification circuit etc., and can be real
The closed-loop control of existing electromechanical actuator.Electromechanical actuator is made of servo motor and servo-operated mechanism, and being will be in servo-system
The electric energy of servo-driver output is converted to the mechanical energy output of actuator straight line or rotation.
Aircraft electromechanical servo system with electrical characteristics be long when operating current it is small, short-term operation electric current is big, and wants
Seek response quickly.The frequent acceleration of servo motor during the work time under the operating condition of high dynamic response, in electromechanical actuator
And deceleration, so that anti-filling voltage when servo power power supply need to frequently provide peak point current and be subjected to servo motor braking.For
The influence is reduced, while the overload output for reducing servo power supply output electric current requires, and need to carry out energy management design.
Aircraft generally used with energy management apparatus independent design or with other single machine Integrated design two ways, energy
The mode of management has absorption and releases two kinds.
Patent ZL201220322859.0 " a kind of electric power controller based on electromechanical coupling system " uses a kind of absorption
Energy management (as shown in Figure 1) is carried out with the self-contained unit of cut-off, which is made of diode and capacitance group, and diode is used for
The energy for preventing braking from generating carries out anti-filling electricity, production when capacitance group instead fills energy and starting for absorbing when braking to power supply
Raw moment operating current is to compensate power supply output.The advantages of program is can be recycled to braking energy, and enhance
The peak point current fan-out capability of power supply；The disadvantage is that and operating voltage higher occasion larger for braking energy, it is desirable that capacitor
The pressure resistance of group and capacity can be larger, it is therefore desirable to and increase capacitance group and connects and quantity in parallel, and energization managing device
Volume and weight, furthermore the device does not have the function of DC bus-bar voltage and bus current measurement, and such as increasing the function need to set
Count additional power converting circuit and communications circuit.
Patent ZL201120416755.1 " a kind of control circuit for reliably managing of regeneration energy " using the form released into
Row energy management (as shown in Figure 2), the device are typically integrated in servo-driver, by braking power pipe and braking resistor group
At when DC bus-bar voltage is higher than given threshold, being generated by control circuit high level and opens braking power pipe simultaneously
The pwm signal that servo-driver is used for motor control is closed, braking resistor is sealed between the positive and negative busbar of power supply, by Brake Energy
Amount is released by resistance heating, and when DC bus-bar voltage is lower than given threshold, braking power pipe is closed, normal at servo-driver
Working condition.The advantages of program is that volume weight is relatively low, can be born compared with high working voltage, cost is relatively low；The disadvantage is that only
There is drainage function, braking energy is not absorbed and utilized effectively, and electromechanical actuator can be made temporarily to locate when braking circuit work
In stopping control state.
Summary of the invention
(1) technical problems to be solved
The purpose of the present invention is to provide a kind of electromechanical servo comprehensively control and energy management apparatus, for realizing the energy
The integrated management for absorbing and releasing, and simplify system composition and reduce system weight, while for realizing electromechanical servo system
Self-test.
(2) technical solution
To achieve the goals above, it the present invention provides a kind of electromechanical servo comprehensively control and energy management apparatus, is used for
Control and energy management are carried out to servo motor, comprising: micro-processor interface circuit, detection circuit, signal conversion circuit, isolation drive are put
Big circuit and gas gauge circuit, wherein the detection circuit includes first voltage detection circuit, the first current detecting electricity
Road, second voltage detection circuit and the second current detection circuit, wherein the first voltage detection circuit is for detecting institute
The DC bus-bar voltage of gas gauge circuit input terminal is stated, and the micro process is transferred to by the signal conversion circuit
Circuit；First current detection circuit is used to detect the DC bus current of the gas gauge circuit input terminal, and passes through
The signal conversion circuit is transferred to the micro-processor interface circuit；The second voltage detection circuit is for detecting the energy
The DC bus-bar voltage of circuit output end is managed, and the micro-processor interface circuit is transferred to by the signal conversion circuit；
Second current detection circuit is used to detect the DC bus current of the gas gauge circuit output end, and passes through the letter
Number conversion circuit is transferred to the micro-processor interface circuit；The micro-processor interface circuit is used for according to the testing result output received
Brake control signal controls the gas gauge circuit absorption and the energy of releasing after isolation drive amplifying circuit.
Preferably, the gas gauge circuit includes: absorption accumulator, for absorbing and storing the servo motor system
Anti- filling energy when dynamic, and moment operating current is generated in servo motor starting to compensate power supply output；And system
Dynamic leadage circuit, the anti-filling energy for releasing when servo motor braking.
Preferably, the micro-processor interface circuit is used to control the gas gauge circuit absorption and the energy of releasing, and specifically includes:
The absorption voltage threshold for absorbing accumulator is set as U1th, the brake voltage threshold value released of braking leadage circuit is
U2th, and U2thGreater than U1th；When the DC bus-bar voltage of the gas gauge circuit output end is lower than U1thWhen, the micro process electricity
Road controls the anti-filling energy when absorption accumulator absorbs and store servo motor braking；When the energy management electricity
The DC bus-bar voltage of road output end is higher than U2thWhen, micro-processor interface circuit control braking leadage circuit is released the servo electricity
Anti- filling energy when mechanism is dynamic.
Preferably, the gas gauge circuit further includes for preventing counter fill to it of its output end energy from inputting end side
Diode, the specific structure of the gas gauge circuit and the detection circuit are as follows: the first of the first voltage detection circuit
End connects the positive input terminal of the gas gauge circuit input terminal, and second end connects the negative of the gas gauge circuit input terminal
Input terminal；The first end of first current detection circuit connects the positive input terminal of the gas gauge circuit input terminal, the
Two ends connect the anode of the diode；The first end for absorbing accumulator connects the cathode of the diode, and second
End connects the negative input end of the gas gauge circuit input terminal；The first end of the braking leadage circuit connects the absorption storage
The first end of energy circuit, second end connect the second end for absorbing accumulator；The of the second voltage detection circuit
One end connects the first end of the braking leadage circuit, and second end connects the second end for braking leadage circuit and the energy
The negative output terminal of power management circuits output end；The first end of second current detection circuit connects the second voltage detection electricity
The first end on road, second end connect the positive output end of the gas gauge circuit output end.
Preferably, the absorption accumulator is capacitance group, and the braking leadage circuit includes concatenated brake pipe and system
Dynamic resistance, the brake pipe carry out switch motion according to the brake control signal.
Preferably, level-one bus interface circuit, for sending the digital controlled signal from external control system to institute
Micro-processor interface circuit is stated, and sends the digital feedback signal of the micro-processor interface circuit to the control system；Secondary bus interface
Circuit for sending the digital controlled signal of the micro-processor interface circuit to external servo-driver, and will come from the outside
The digital feedback signal of servo-driver sends the microprocessor to.
Preferably, the level-one bus interface circuit is 1553B bus interface circuit, and the secondary bus interface circuit is
CAN bus circuit, the micro-processor interface circuit are DSP and its core circuit.
Preferably, analog signal processing and conversion circuit, for that will be passed from the analog control signal of external control system
The micro-processor interface circuit is given, and sends the digital feedback signal of the micro-processor interface circuit to the control system, and, it will
The digital controlled signal of the micro-processor interface circuit sends external servo-driver to, and will be from the external servo-driver
Analog feedback signal sends the microprocessor to.
The present invention also provides a kind of electromechanical servo systems comprising aforementioned any electromechanical servo comprehensively control and energy source capsule
Manage device.
Preferably, further includes: servo power power supply, servo-driver and electromechanical actuator, wherein the servo is dynamic
Power power supply connects the gas gauge circuit input terminal, and the servo-driver connects the gas gauge circuit output end and institute
Secondary bus interface circuit is stated, the electromechanical actuator includes servo motor and servo-operated mechanism, for driving the servo
The electric energy of dynamic device output is converted to the mechanical energy output of straight line or rotation.
(3) beneficial effect
The features of the present invention is as follows: (1) " control and energy management " fully unitaryization that electromechanical servo system can be achieved is set
Servo controller and energy management device comprehensive design can be made full use of servo control outside the function of realizing servo controller by meter
The digital control function of device processed realizes the absorption of the energy and the integrated management released；(2) with it is absorption in the prior art and release
Formula energy management two schemes are compared, the present invention by reasonable set multiple protective threshold value, not only can by most of energy absorption, but also
It will not lead to the problem that the volume and weight of energy management part is excessive, cost is excessively high because of too high voltages and braking energy；(3)
The detection and information that can be realized gas gauge circuit front and back ends busbar voltage and bus current are fed back, and electromechanical servo system is improved
The measurability of system, is convenient for performance evaluation and malfunction elimination；(4) present invention uses Integration Design, reduces electromechanical servo system
It is electrically connected between system single machine type and single machine, reduces the volume and weight of whole system.
Detailed description of the invention
The present invention is further described with reference to the accompanying drawings and in conjunction with example.Wherein:
Fig. 1 shows the electrical block diagram of absorption energy management apparatus in the prior art；
Fig. 2 shows the structural representation block diagrams of releasing type energy management apparatus in the prior art；
Fig. 3 shows the structural schematic diagram of electromechanical servo comprehensively control and energy management apparatus of the invention；
Fig. 4 shows a kind of electromechanical servo comprehensively control of embodiment of the invention and the structural representation of energy management apparatus
Figure；
Fig. 5 shows energy management in the electromechanical servo comprehensively control and energy management apparatus of a kind of embodiment of the invention
The structural schematic diagram of circuit and detection circuit.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
The present invention proposes a kind of electromechanical servo system comprehensively control and energy management apparatus, and the machine comprising the device
Electric servo system, the device can efficiently be managed for electromechanical servo system with electrical characteristics, and realize servo controller with
Servo power supply manager it is highly integrated.
As shown in figure 3, a kind of electromechanical servo comprehensively control and energy management apparatus that provide according to the present invention, for watching
It takes motor and carries out control and energy management comprising: micro-processor interface circuit, detection circuit, signal conversion circuit, isolation drive amplification
Circuit and gas gauge circuit, wherein the detection circuit include first voltage detection circuit, the first current detection circuit,
Second voltage detection circuit and the second current detection circuit.Wherein,
Wherein, the first voltage detection circuit is used to detect the DC bus electricity of the gas gauge circuit input terminal
Pressure, and the micro-processor interface circuit is transferred to by the signal conversion circuit.
Wherein, first current detection circuit is used to detect the DC bus electricity of the gas gauge circuit input terminal
Stream, and the micro-processor interface circuit is transferred to by the signal conversion circuit.
Wherein, the second voltage detection circuit is used to detect the DC bus electricity of the gas gauge circuit output end
Pressure, and the micro-processor interface circuit is transferred to by the signal conversion circuit.
Wherein, second current detection circuit is used to detect the DC bus electricity of the gas gauge circuit output end
Stream, and the micro-processor interface circuit is transferred to by the signal conversion circuit.
Wherein, above-mentioned signal conversion circuit can be one, or it is multiple, for example, can be two, described first
Voltage detecting circuit and first current detection circuit can share a signal conversion circuit, the second voltage detection electricity
Road and second current detection circuit can share another signal conversion circuit.
Wherein, the micro-processor interface circuit is used for according to the testing result output brake control signal received, by isolation
The gas gauge circuit absorption and the energy of releasing are controlled after drive amplification circuit.
The embodiment provided according to the present invention, the gas gauge circuit may include: that absorption accumulator and braking are let out
Electric discharge road.
Wherein, the anti-filling energy absorbed when accumulator is used to absorb and store servo motor braking, and
Moment operating current is generated in servo motor starting to compensate power supply output.
Wherein, anti-filling energy of the braking leadage circuit for releasing when servo motor braking.
According to an embodiment of the invention, the electromechanical servo comprehensively control and energy management apparatus can also include: level-one
Bus interface circuit and secondary bus interface circuit.
Wherein, the level-one bus interface circuit is used to send the digital controlled signal from external control system to institute
Micro-processor interface circuit is stated, and sends the digital feedback signal of the micro-processor interface circuit to the control system.
Wherein, the secondary bus interface circuit is used to send the digital controlled signal of the micro-processor interface circuit to outside
Servo-driver, and send the digital feedback signal from the external servo-driver to the microprocessor.
Specifically, the level-one bus interface circuit can be 1553B bus interface circuit, the secondary bus interface electricity
Road can be CAN bus circuit, and the level-one bus interface circuit and secondary bus interface circuit also can be interchanged, can also be used
The forms such as other applicable industrial field bus such as RS422/485, Flexray and Aviation Digital bus.
Specifically, the micro-processor interface circuit can be DSP and its core circuit, can also use single-chip microcontroller, may be programmed and patrol
Collect other service forms such as device, ARM.
The embodiment provided according to the present invention, the electromechanical servo comprehensively control and energy management apparatus can also include:
Analog signal processing and conversion circuit, for sending the analog control signal from external control system to the micro process electricity
Road, and send the digital feedback signal of the micro-processor interface circuit to the control system, and, by the micro-processor interface circuit
Digital controlled signal sends external servo-driver to, and the analog feedback signal from the external servo-driver is transmitted
To the microprocessor.
As shown in figure 3, a kind of electromechanical servo system provided according to the present invention comprising aforementioned any electromechanical servo is comprehensive
Control and energy management apparatus, further includes: servo power power supply, servo-driver and electromechanical actuator.
Wherein, the servo power power supply connects the gas gauge circuit input terminal, and the servo-driver connects institute
Gas gauge circuit output end and the secondary bus interface circuit are stated, the electromechanical actuator includes that servo motor and servo pass
Motivation structure, the electric energy for exporting the servo-driver are converted to the mechanical energy output of straight line or rotation.
According to an embodiment of the invention, can be one without being distinctly claimed to the quantity of servo-driver, being also possible to two
A above any amount.
As shown in figure 4, further illustrating the working principle of the invention according to this embodiment.
The DC bus power input of servo power power supply is to the device, by absorbing accumulator and braking leadage circuit
After carrying out energy management and control, then export the electrical source of power to servo-driver as its power main circuit.
DC bus power supply carries out voltage and current detection before and after carrying out energy management, and passes through signal conversion circuit
It is transferred to DSP and its core circuit.
Micro-processor interface circuit is judged after receiving the DC bus-bar voltage after acquisition, and exports brake control signal, is passed through
The turn-on and turn-off for braking the power tube in leadage circuit are driven after crossing isolation drive amplifying circuit.
DSP and its core circuit are realized by CAN interface circuit to be driven with the control instruction of servo-driver and servo
The CAN bus transmission of dynamic device feedback signal.
DSP and its core circuit are realized by 1553B bus interface circuit to be watched with the control instruction and electromechanics of control system
The number bus of the signals such as DC bus-bar voltage and electric current before and after the position of dress system, motor speed, electric current, energy management passes
It is defeated.
Another of DSP and its core circuit function are the conjunctions for each station pivot angle instruction that achievement unit point control system is sent
At or decompose.
As shown in figure 5, according to an embodiment of the invention, the gas gauge circuit can also include for preventing its output
End side energy is counter to fill to it diode D for inputting end side；In addition, the absorption accumulator is capacitance group C, it can be according to reality
Rated operational voltage, braking energy and the threshold value absorbed is allowed to determine the capacity of capacitance group, pressure voltage and series-parallel composition knot
Structure；The braking leadage circuit includes concatenated brake pipe Q and braking resistor R, and the brake pipe Q believes according to the control for brake
Number carry out switch motion；In addition, V1, V2 are voltage detecting circuit, I1 and I2 are current detection circuit, are respectively used to detection power supply
The voltage and current signals of side and electricity consumption side.
The gas gauge circuit and the specific structure of the detection circuit can be with are as follows: the first voltage detection circuit V1
First end connect the positive input terminal of the gas gauge circuit input terminal, second end connects the gas gauge circuit input
The negative input end at end；The first end of the first current detection circuit I1 connects the positive input of the gas gauge circuit input terminal
End, second end connect the anode of the diode D；The first end of the capacitance group C connects the cathode of the diode D,
Second end connects the negative input end of the gas gauge circuit input terminal；The first end of the brake pipe Q connects the capacitance group C
First end, second end connects the first end of the braking resistor R, and the second end of the braking resistor R connects the capacitor
The second end of group C；The first end of the second voltage detection circuit V2 connect it is described braking leadage circuit first end, second
End connects the second end of the braking resistor R and the negative output terminal of the gas gauge circuit output end；The second electric current inspection
The first end of slowdown monitoring circuit I2 connects the first end of the second voltage detection circuit V2, and second end connects the energy management electricity
The positive output end of road output end.
Brake pipe according to an embodiment of the present invention can choose the applicable derailing switch such as IGBT, MOSFET according to actual needs
Part.
The embodiment provided according to the present invention, using two-stage energy management strategies, it may be assumed that be by capacitive absorption and storage
Level-one energy management sets and absorbs voltage threshold as U1th；Being released by braking circuit is Secondary energy management, setting braking
Voltage threshold is U2th, and the threshold value U of Secondary energy management configuration2thThreshold value U is set higher than level-one energy management1th.To electromechanics
The servo-system energy realizes differentiated control strategy, i.e., when the DC bus-bar voltage of the gas gauge circuit output end is lower than U1th
When, brake pipe shutdown, braking energy takes the mode of absorption by energy stores into capacitance group；When the gas gauge circuit is defeated
The DC bus-bar voltage of outlet is higher than U2thWhen, brake pipe is opened, extra energy is released by braking resistor.
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (10)
1. a kind of electromechanical servo comprehensively control and energy management apparatus, for carrying out control and energy management to servo motor,
It is characterized in that, comprising: micro-processor interface circuit, detection circuit, signal conversion circuit, isolation drive amplifying circuit and energy management
Circuit, wherein the detection circuit include first voltage detection circuit, the first current detection circuit, second voltage detection circuit,
And second current detection circuit, wherein
The first voltage detection circuit is used to detect the DC bus-bar voltage of the gas gauge circuit input terminal, and passes through institute
It states signal conversion circuit and is transferred to the micro-processor interface circuit；
First current detection circuit is used to detect the DC bus current of the gas gauge circuit input terminal, and passes through institute
It states signal conversion circuit and is transferred to the micro-processor interface circuit；
The second voltage detection circuit is used to detect the DC bus-bar voltage of the gas gauge circuit output end, and passes through institute
It states signal conversion circuit and is transferred to the micro-processor interface circuit；
Second current detection circuit is used to detect the DC bus current of the gas gauge circuit output end, and passes through institute
It states signal conversion circuit and is transferred to the micro-processor interface circuit；
The micro-processor interface circuit is used to amplify electricity by isolation drive according to the testing result output brake control signal received
The gas gauge circuit absorption and the energy of releasing are controlled behind road.
2. device as described in claim 1, which is characterized in that the gas gauge circuit includes:
Accumulator is absorbed, it is electric for absorbing and storing anti-filling energy when servo motor braking, and in the servo
Moment operating current is generated when machine starts to compensate power supply output；And
Leadage circuit is braked, the anti-filling energy for releasing when servo motor braking.
3. device as claimed in claim 2, which is characterized in that the micro-processor interface circuit is for controlling the gas gauge circuit
It absorbs and the energy of releasing, specifically includes:
The absorption voltage threshold for absorbing accumulator is set as U1th, the brake voltage threshold braking leadage circuit and releasing
Value is U2th, and U2thGreater than U1th；
When the DC bus-bar voltage of the gas gauge circuit output end is lower than U1thWhen, the micro-processor interface circuit controls the suction
Receive anti-filling energy when accumulator absorbs and store servo motor braking；
When the DC bus-bar voltage of the gas gauge circuit output end is higher than U2thWhen, the micro-processor interface circuit control braking is let out
Electric discharge road release the servo motor braking when anti-filling energy.
4. device as claimed in claim 3, which is characterized in that the gas gauge circuit further includes for preventing its output end
Side energy is counter to fill to it diode for inputting end side, the specific structure of the gas gauge circuit and the detection circuit are as follows:
The first end of the first voltage detection circuit connects the positive input terminal of the gas gauge circuit input terminal, second end
Connect the negative input end of the gas gauge circuit input terminal；
The first end of first current detection circuit connects the positive input terminal of the gas gauge circuit input terminal, second end
Connect the anode of the diode；
The first end for absorbing accumulator connects the cathode of the diode, and second end connects the gas gauge circuit
The negative input end of input terminal；
The first end of the braking leadage circuit connects the first end for absorbing accumulator, and second end connects the absorption
The second end of accumulator；
The first end of the second voltage detection circuit connect it is described braking leadage circuit first end, second end connection described in
Brake the second end of leadage circuit and the negative output terminal of the gas gauge circuit output end；
The first end of second current detection circuit connects the first end of the second voltage detection circuit, second end connection
The positive output end of the gas gauge circuit output end.
5. device as claimed in claim 4, it is characterised in that:
The absorption accumulator is capacitance group, and the braking leadage circuit includes concatenated brake pipe and braking resistor, described
Brake pipe carries out switch motion according to the brake control signal.
6. the device as described in Claims 1 to 5 is any, which is characterized in that further include:
Level-one bus interface circuit, for sending the digital controlled signal from external control system to the micro process electricity
Road, and send the digital feedback signal of the micro-processor interface circuit to the control system；
Secondary bus interface circuit, for sending the digital controlled signal of the micro-processor interface circuit to external servo-driver,
And send the digital feedback signal from the external servo-driver to the micro-processor interface circuit.
7. device as claimed in claim 6, it is characterised in that:
The level-one bus interface circuit is 1553B bus interface circuit, and the secondary bus interface circuit is CAN bus electricity
Road, the micro-processor interface circuit are DSP and its core circuit.
8. device as claimed in claim 7, which is characterized in that further include:
Analog signal processing and conversion circuit, for sending the analog control signal from external control system to micro- place
Circuit is managed, and sends the digital feedback signal of the micro-processor interface circuit to the control system, and, by the micro process electricity
The digital controlled signal on road sends external servo-driver to, and by the analog feedback signal from the external servo-driver
Send the micro-processor interface circuit to.
9. a kind of electromechanical servo system characterized by comprising any electromechanical servo comprehensively control of claim 6~8
And energy management apparatus.
10. system as claimed in claim 9, which is characterized in that further include: servo power power supply, servo-driver, Yi Jiji
Motor-driven cylinder, wherein the servo power power supply connects the gas gauge circuit input terminal, and the servo-driver connects institute
Gas gauge circuit output end and the secondary bus interface circuit are stated, the electromechanical actuator includes that servo motor and servo pass
Motivation structure, the electric energy for exporting the servo-driver are converted to the mechanical energy output of straight line or rotation.
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| CN201410430929.8A CN104678830B (en) | 2014-08-27 | 2014-08-27 | Electromechanical servo comprehensively control and energy management apparatus |
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| CN201410430929.8A CN104678830B (en) | 2014-08-27 | 2014-08-27 | Electromechanical servo comprehensively control and energy management apparatus |
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| CN202737738U (en) * | 2012-07-04 | 2013-02-13 | 北京精密机电控制设备研究所 | Power supply management device based on electromechanical servo mechanism |
| CN103427462B (en) * | 2013-08-19 | 2015-11-04 | 中国科学院电工研究所 | A kind of bank of super capacitors charging circuit with electric voltage equalization ability |
| CN103441686B (en) * | 2013-09-04 | 2015-06-17 | 北京天诚同创电气有限公司 | Control system and method for braking module of DC busbars of wind-power current transformer |
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2014
- 2014-08-27 CN CN201410430929.8A patent/CN104678830B/en active Active
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