CN104698984B - The electromechanical servo system of thruster vector control - Google Patents
The electromechanical servo system of thruster vector control Download PDFInfo
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- CN104698984B CN104698984B CN201510086629.7A CN201510086629A CN104698984B CN 104698984 B CN104698984 B CN 104698984B CN 201510086629 A CN201510086629 A CN 201510086629A CN 104698984 B CN104698984 B CN 104698984B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a kind of electromechanical servo system of thruster vector control.According to the electromechanical servo system of the thruster vector control of the present invention, including two electromechanical actuators, one main servo controls driver, one from SERVO CONTROL driver and provide power supply a servo power power supply, wherein, main servo controls driver and distinguishes one electromechanical actuator of drive control from SERVO CONTROL driver, electromechanical actuator is parallel electromechanical actuator, parallel electromechanical actuator includes the gear drive of servomotor and ball-screw transmission mechanism and drive connection servomotor and ball-screw transmission mechanism, ball-screw transmission mechanism and servomotor parallel arrangement.The present invention is by using parallel electromechanical actuator, even if ball-screw transmission mechanism and servomotor parallel arrangement, so as to the axial space-consuming of the whole electromechanical servo system effectively reduced, the requirement that design is used can be met in the case of axially mounted size critical constraints to the full extent.
Description
Technical field
The present invention relates to aircraft field, in particular to a kind of electromechanical servo system of thruster vector control.
Background technology
Flight control execution closed-loop system to carrier rocket and its payload is commonly referred to collectively as servo-drive system, servo system
One of typical case's application of system is exactly to wave liquid engine or SRM Nozzle realizes thruster vector control, is completed to delivery
The control of rocket posture.Solid propellant rocket burns powder column as fuel using solid combustible, possesses that storage time is long, maintainability is good,
It is short using time, using it is flexible the advantages of, be one of rocket developing direction of main flow in the world at present.Accordingly, wave
The closed-loop control servo-drive system of solid rocket motor nozzle is also indispensable control system equipment.
Electromechanical servo system due to the limitation that technical conditions develop, is being generally only used for power level very small rudder in the past
Machine, can not meet the use requirement of carrier rocket thruster vector control at all.But over nearly ten or twenty year, with power electronics skill
Art, power drive technology, magnetic material technology and good digital control technology are developed rapidly, and electromechanical servo technology is used for
The thruster vector control of medium-and-large-sized Solid Launch Vehicle is possibly realized.
Electromechanical servo system is that must perform machine comprising a set of power in the purpose for reaching thruster vector control, servo-drive system
Structure, for exporting expanding-contracting action, plays a part of wobble engine jet pipe；A set of control driving equipment must be included, for holding
Row closed loop control algorithm, driving executing agency power output；Must be entirely to watch comprising the energy used on a set of carrier rocket
Dress system provides primary energy.
More specifically, the actual requirement used according to Solid Launch Vehicle thruster vector control, electromechanical servo system is main
It is made up of following components：Electromechanical transmission mechanism, servomotor, SERVO CONTROL the driver, (control containing activation of servo power power supply
Device processed) and respective cable net, electromechanical transmission mechanism and servomotor collectively form electromechanical actuator.Wherein servo power power supply
Primary direct current energy is provided for whole system；SERVO CONTROL driver runs closed loop control algorithm, root by power inversion circuit
According to use requirement and system status information, the direct current energy inversion that servo power power supply is provided be threephase AC electric energy there is provided
To servomotor；And servomotor is used as the power executive component of whole system, output torque, rotating speed mechanical output, band motivation
Electric transmission does work, and realizes thruster vector control, cable system is responsible for connecting relevant portion.
In traditional electromechanical servo system, due to reasons such as its structure designs, its general power is bigger, space-consuming also phase
To bigger, and develop with the technology of carrier rocket, particularly nearby various kinds of equipment is more for SRM Nozzle, space layout
Anxiety, the limited situation of various installation dimensions, traditional electromechanical servo system has been difficult to meet the nervous delivery of space layout
The requirement of rocket.
The content of the invention
The present invention is intended to provide a kind of electromechanical servo system for the thruster vector control for reducing axial space requirement.
The invention provides a kind of electromechanical servo system of thruster vector control, including two electromechanical actuators, a masters
SERVO CONTROL driver, one from SERVO CONTROL driver and provide power supply a servo power power supply, wherein, main servo
Control driver and distinguish one electromechanical actuator of drive control from SERVO CONTROL driver, electromechanical actuator is that run-in index is electromechanical
Actuator, parallel electromechanical actuator includes servomotor and ball-screw transmission mechanism and drive connection servomotor and rolling
The gear drive of ballscrew transmission mechanism, ball-screw transmission mechanism and servomotor parallel arrangement.
Further, main servo control driver and the CAN for including being connected with each other and communicating from SERVO CONTROL driver are total
Wiring connector；Main servo control driver also includes 1553B Bussing connectors.
Further, main servo control driver and the CAN connector from SERVO CONTROL driver pass through dual redundant
CAN is connected.
Further, electromechanical actuator includes power electric input connector, motor rotor position feedback electrical connectors and line
Displacement Feedback connector.
Further, main servo controls driver and also includes three-phase alternating current electrical source of power company from SERVO CONTROL driver
Connect device, DC supply input connector and actuator feedback connectors；Wherein, three-phase alternating current electrical source of power connector is made with electromechanical
The power electric input connector connection of dynamic device；DC supply input connector is connected with servo power power supply；Actuator feedback connects
The motor rotor position feedback electrical connectors and displacement of the lines feedback connectors for connecing device and electromechanical actuator are connected.
Further, electromechanical servo system also includes an active controller, and active controller includes receiving in aircraft
The reception electric connector of the activation instruction of control system transmission is entreated, and the transmission for sending activation signal to servo power power supply is electrically connected
Connect device.
Present invention also offers a kind of aircraft, including engine jet pipe, aircraft also includes foregoing thrust vectoring control
The electromechanical servo system of system, the electromechanical actuator driving engine jet pipe of electromechanical servo system is swung.
Further, electromechanical actuator includes upper journal and down journal, and engine jet pipe is swingingly arranged on jet pipe and fixed
On frame, upper journal and the nozzle fixing bracket of electromechanical actuator are hinged, and down journal is hinged with engine jet pipe.
Further, electromechanical actuator is two, and two electromechanical actuators along the circumferential direction differ 90 ° of arrangements.
According to the electromechanical servo system of the present invention, by using parallel electromechanical actuator, even if ball-screw-transmission machine
Structure and servomotor parallel arrangement, so that the axial space-consuming of the whole electromechanical servo system effectively reduced, can be with maximum journey
The requirement that design is used is met on degree in the case of axially mounted size critical constraints.In addition, the present invention uses servo-drive
Device and servo controller are integrated the SERVO CONTROL driver schemes of design, can further reduce whole electromechanical servo system and account for
With space, space requirement is met most possibly.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the connection diagram of the electromechanical servo system of the thruster vector control according to the present invention；
Fig. 2 is the parallel electromechanical actuator schematic diagram according to the present invention
Fig. 3 is the main servo control driver of the electromechanical servo system of the thruster vector control according to the present invention and from servo
Control driver annexation schematic diagram；
Fig. 4 is the electromechanical servo system layout of the thruster vector control around engine jet pipe according to aircraft of the present invention
Figure；
Fig. 5 is to realize thruster vector control schematic diagram according to the electromechanical actuator of the present invention.
Embodiment
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Fig. 1 to 2, the electromechanics of the thruster vector control of the present invention is illustrated with the thruster vector control of carrier rocket
Servo-drive system, in the present invention, electromechanical servo system include two electromechanical actuators 10, main servo control driver 20,
One from SERVO CONTROL driver 30 and provide power supply a servo power power supply 40, wherein, main servo control driver
20 and from SERVO CONTROL driver 30 distinguish one electromechanical actuator 10 of drive control, electromechanical actuator 10 be run-in index electromechanics make
Dynamic device, parallel electromechanical actuator includes servomotor 1 and ball-screw transmission mechanism 2 and the He of drive connection servomotor 1
The gear drive 3 of ball-screw transmission mechanism 2, ball-screw transmission mechanism 2 and servomotor 1 are arranged in parallel.The present invention
By using parallel electromechanical actuator, even if ball-screw transmission mechanism 2 and servomotor 1 are arranged in parallel, so that effectively
The axial space-consuming of whole electromechanical servo system reduced, can be to the full extent in the situation of axially mounted size critical constraints
It is lower to meet the requirement that design is used.In addition, the present invention is integrated the servo control of design using servo-driver and servo controller
Driver schemes processed, can further reduce whole electromechanical servo system space-consuming, space requirement is met most possibly.
Preferably, with reference to shown in Fig. 1, electromechanical servo system also includes an active controller 50, and active controller includes
The reception electric connector for the activation instruction that aircraft central control system is sent is received, and activation letter is sent to servo power power supply
Number transmission electric connector.Active controller 50 is designed, can be to influenceing the correlative factor isolation processing of activation signal, Ke Yiyou
Effect ensures the activation reliability and safety in utilization of servo power power supply 40.
With reference to shown in Fig. 1 and Fig. 3 annexation figures, electromechanical actuator 10 includes 3 electrical cnnectors, is power electric respectively
Input connector, motor rotor position feedback electrical connectors and displacement of the lines feedback connectors.Main servo control driver 20 contains 5
Individual electric connector, is respectively 1 completion 1553B digital bus communications and controls the feedback that electricity is powered, 1 receives electromechanical actuator
Signal, 1 completion communicate with from the CAN of SERVO CONTROL driver, the direct current energy of 1 reception servo power power supply is defeated
Enter, 1 to servomotor export three-phase alternating current power signal.4 electric connectors are included from SERVO CONTROL driver 30, are watched with master
Clothes control driver 20 is compared, and no 1553B digital bus communications circuit, other electric interfaces control driver phase with main servo
Together.Servo power power supply 40 has two electrical connector interfaces, and one is the activation signal for receiving active controller 50, and another is
The output interface of DC dynamo electricity.Active controller 50 has two electrical connector interfaces, and one controls to receive aircraft center
The instruction of activation signal that system is sent, another is sends activation signal after converted to servo power power supply.
With reference to shown in Fig. 3, the SERVO CONTROL driver schemes of the electromechanical servo system of the thruster vector control set for innovation
Meter, driver 20 is controlled with from SERVO CONTROL driver 30 to combination, the skill of thruster vector control is completed jointly using main servo
Art scheme.As shown in Figure 3, main servo control driver 20 with it is complete by dual-redundant CAN bus from SERVO CONTROL driver 30
Into digital communication, CAN A and CAN B are separate, realize that physics dual redundant is designed.Main servo control driver 20 with
Only it is that main servo controls driving implement for 1553B bus communication work(from the difference in the hardware circuit design of SERVO CONTROL driver 30
Can, and it is master and slave SERVO CONTROL driver in implementation using designing identical circuit printing plate, and for from servo
Control driver 1553B related hardwares device is not installed then.Using this design method, it is possible to achieve master and slave SERVO CONTROL is driven
The hardware circuit board design of dynamic device is completely the same, the Design consistency of product is good, technology controlling and process is good, circuit board replaceability is good,
Cost control is good.The uniformity of product is as much as possible ensure that while difference in functionality is realized, cost is reduced.
With reference to shown in Fig. 4 and Fig. 5, present invention also offers a kind of aircraft, aircraft also includes foregoing thrust vectoring
The electromechanical servo system of control, the driving engine jet pipe 60 of electromechanical actuator 10 of electromechanical servo system is swung.Compared to existing skill
Art, can effectively reduce the requirements of installation space of electromechanical servo system, can be serious in axially mounted size to the full extent
The requirement that design is used is met in the case of limited.
Further, with reference to shown in Fig. 4 and Fig. 5, the aircraft of the present invention is illustrated by taking Solid Launch Vehicle as an example.Fig. 4
For the integral layout figure of electromechanical servo system near engine jet pipe 60.Two electromechanical actuators 10 are in 90 ° of placements.Electromechanical start
Device 10 realizes the principle of thruster vector control as shown in figure 5, electromechanical actuator can complete stretching motion, so that wobble engine
Jet pipe, two electromechanical actuator routing motions can complete the swing of 360 ° of engine jet pipe holoaxial.Servo power power supply 40 is put
Put between two electromechanical actuators, and main servo controls driver 20, is individually positioned in electromechanics from SERVO CONTROL driver 30
The opposite of actuator 10.The active controller 50 of power supply is placed on electromechanical actuator 10 and between SERVO CONTROL driver 30, respectively
Electrical connection is completed according to annexation as shown in Figure 1 by cable system between individual stand-alone device.
More specifically, with reference to shown in Fig. 2 and 5, the upper journal 4 of electromechanical actuator is fixed on the spray of Solid Launch Vehicle engine
On the jet pipe mounting bracket 70 of pipe, down journal 5 is connected with engine jet pipe 60.Roller screw transmission mechanism 2 can realize flexible fortune
It is dynamic, so as to realize that engine jet pipe 60 is swung around center of oscillation O, realize thruster vector control.In the present invention, servomotor 1 and rolling
Ballscrew transmission mechanism 2 realizes that run-in index is laid out, and centre completes run-in index using gear drive and is driven.Servomotor 1 revolves
Turn band moving gear rotation, gear drive drives roller screw rotation, and most rotation motion is changed to linear motion to ball-screw at last
External power output.It is that can effectively utilize the radial ruler in topology layout using the sharpest edges of parallel electromechanical actuator
It is very little, the requirement to electromechanical actuator axial dimension is reduced, that is, shortens the length of electromechanical actuator, meets shaft orientation layout and be very limited
The applicable cases of system.
Illustrate that the electromechanical servo system of the thruster vector control of the present invention realizes thruster vector control with reference to Fig. 1 to 5
Overall work method：
After aircraft central control system provides control electricity consumption to electromechanical servo system, aircraft central control system hair
The number of delivering letters gives active controller 50, and active controller 50 sends a signal to servo power power supply 40 and then activated after conversion
Servo power power supply 40, why using active controller 50 be because active controller 50 in done signal isolation processing, can
Effectively to ensure the activation reliability and safety in utilization of servo power power supply 40.Meanwhile, aircraft central control system is utilized
1553B number bus sets up correspondence with main servo control driver 20, sends the control instruction of two electromechanical actuators 10
Signal controls driver 20 to main servo, and main servo control driver 20 is resolved by agreement, will be from SERVO CONTROL driver 30
Required control instruction is sent to from SERVO CONTROL driver 30 by dual-redundant CAN bus.Master and slave SERVO CONTROL driver is each
Self-operating closed loop control algorithm drives two electromechanical actuators 10, completes thruster vector control.Meanwhile, from SERVO CONTROL driver
30 send whole feedback data to main servo by dual-redundant CAN bus controls driver 20, main servo control driver 20
In aircraft is sent to by 1553B number bus together with itself feedback data from the feedback data of SERVO CONTROL driver 30
Entreat control system.
In the present invention, main servo control driver, from SERVO CONTROL driver, electromechanical actuator, servo power power supply,
The products such as power source active controller, existing invention relates to or has off-the-shelf, can be as part or one of the invention
Part.As can be seen from the above description, the above embodiments of the present invention realize following technique effect：
1st, it can realize that electromechanical actuator meets design in the case of axial dimension critical constraints and used to the full extent
Requirement；
2nd, it can realize to the full extent in the case where having strict demand to single control unit volume envelope size, it is real
The design of existing SERVO CONTROL driver, while reducing control device unit quantity；
3rd, by setting active controller, the safety in utilization of servo power power supply can be solved the problems, such as；
4th, product interchangeability is good, and two electromechanical actuator designs are identical, can exchange.Master and slave SERVO CONTROL is driven
Dynamic device internal hardware circuit design difference is very small, and most products can be replaced mutually；
5th, with high power density, the use requirement of Solid Launch Vehicle is met.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (6)
1. a kind of electromechanical servo system of thruster vector control, it is characterised in that including two electromechanical actuators (10), a master
SERVO CONTROL driver (20), one from SERVO CONTROL driver (30) and provide power supply a servo power power supply
(40), wherein, main servo control driver (20) and described distinguish drive control one from SERVO CONTROL driver (30)
The electromechanical actuator (10), the electromechanical actuator (10) is parallel electromechanical actuator, the parallel electromechanical actuator
Including servomotor (1) and the ball-screw described in servomotor (1) and ball-screw transmission mechanism (2) and drive connection
The gear drive (3) of transmission mechanism (2), the ball-screw transmission mechanism (2) cloth parallel with the servomotor (1)
Put.
2. the electromechanical servo system of thruster vector control according to claim 1, it is characterised in that
The main servo control driver (20) and the CAN for including being connected with each other and communicating from SERVO CONTROL driver (30)
Bussing connector；
The main servo control driver (20) also includes 1553B Bussing connectors.
3. the electromechanical servo system of thruster vector control according to claim 2, it is characterised in that
The main servo control driver (20) and the CAN connector from SERVO CONTROL driver (30) pass through double superfluous
Remaining CAN connection.
4. the electromechanical servo system of thruster vector control according to claim 2, it is characterised in that
It is anti-that the electromechanical actuator (10) includes power electric input connector, motor rotor position feedback electrical connectors and displacement of the lines
Present connector.
5. the electromechanical servo system of thruster vector control according to claim 4, it is characterised in that
Main servo control driver (20) and it is described from SERVO CONTROL driver (30) also including three-phase alternating current power electric
Source connector, DC supply input connector and actuator feedback connectors；Wherein,
The three-phase alternating current electrical source of power connector is connected with the power electric input connector of the electromechanical actuator (10)；
The DC supply input connector is connected with the servo power power supply (40)；
Motor rotor position feedback electrical connectors and the line position of the actuator feedback connectors and the electromechanical actuator (10)
Move feedback connectors connection.
6. the electromechanical servo system of thruster vector control according to any one of claim 1 to 5, it is characterised in that
The electromechanical servo system also includes an active controller (50), and the active controller includes receiving aircraft center
The reception electric connector for the activation instruction that control system is sent, and the transmission for sending activation signal to the servo power power supply are electric
Connector.
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| CN106438550B (en) * | 2016-09-09 | 2018-02-13 | 北京精密机电控制设备研究所 | A kind of hydraulic servo actuating system |
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