CN104991442A - Large-torque steering engine servo system driven by brushless motor - Google Patents
Large-torque steering engine servo system driven by brushless motor Download PDFInfo
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Abstract
A large-torque steering engine servo system driven by a brushless motor. The system includes a steering engine reducer, a drive motor, a position detection and servo drive controller. The steering engine reducer has relatively high strength and rigidity, can bear certain impact and load, and can be mounted directly as an output joint. A secondary bevel gear group reducer adopts a graphite lubricating copper bush as a sliding bearing to support a gear shaft, and under low-speed motion, can bear a larger load compared with an ordinary roller bearing, and has smaller radial dimension, thereby reducing the size of a reducer shell. The drive motor adopts a two-stage inner rotor brushless direct current motor. The electric steering engine has relatively large structural strength and output power, can be mounted on a joint as a direct driving device, satisfies a requirement of output torque of a joint of a middle-sized robot, is close to an ordinary servo motor in kinematic accuracy, but is relatively low in cost, and thus has wider applicability and popularization significance.
Description
Technical field
The present invention relates to a kind of angular displacement servo-drive system of large output torque, be specifically related to the technology such as Machine Design, motor driving, servocontrol, belong to electromechanical integration technology area.
Background technology
Electric steering engine is a kind of motor-driven angular displacement servo-drive system.Be widely used in automated system, automobile and model toy.The Positioning Servo System that small-sized electric steering wheel Chang Zuowei cost performance is higher, drives the robot of small-sized joint type.High performance big-and-middle-sized electric steering engine then as rudder surface control system at unmanned spacecraft, be used widely in the spacecrafts such as guided missile.
At present, in big-and-middle-sized revolute robot, its each joint often adopt DC servo motor join high accurate speed reducer add rotary encoder form positional servosystem.And the market price of above-mentioned three series products is general higher, often makes the cost of an independent joint just reach unit up to ten thousand, greatly increase the manufacturing cost of revolute robot.And the common electric steering engine in commercial market limit because of its structural strength and drive motor power, be all underloading, output torque is generally difficult to more than more than 10N.m, can not meet the driving power requirement of big-and-middle-sized joint of robot.
Summary of the invention
The object of the present invention is to provide a kind of electric steering engine of high-torque as the direct drive unit of joint of robot and some Angular displacement control occasions, device mainly comprises steering wheel speed reduction unit, drive motor, position detect and servo drive controller.
Steering wheel speed reduction unit has higher intensity and rigidity, can bear certain impact and load, can directly install as exporting joint.Speed reduction unit has larger reduction gear ratio, is about i=224.It is divided into two parts, elementary deceleration be speed ratio i=56 planetary gear set slow down, secondary be i=4 secondary bevel gear set deceleration.
Elementary deceleration adopts 3Z (II) type small teeth number difference planet gear group to slow down, and has compacter volume and larger ratio of gear.
Secondary bevel gear set speed reduction unit adopts graphite lubrication copper bush as sliding supported condition gear shaft, and under low-speed motion, its more common roller bearing can bear larger load, and it has less radial dimension, reduces the size of reducer shell.
Drive motor adopts the two poles of the earth inner-rotor brushless direct current generator of peak power 200W, and it has the feature of low resistance, low inductance, large working current, and physical dimension is about φ 38x50mm.
Servo drive controller is separated setting with motor fuselage, connects, be convenient to be arranged in more conveniently position by means of only cable and data line, controls the spatial volume that whole steering gear system takies flexibly.
Steering gear system has position servo function, can in unequally loaded situation, and the positional information according to control signal wire input makes output shaft maintain fixed angles displaced position.Adopt the servo control algorithm with current hysteresis-band control torque ripple minimization and the control of position ring Self-Tuning Fuzzy-PID Controller.
This electric steering engine has larger structural strength and output power, can be used as direct drive unit and be installed on joint, and meet the output torque requirement of general medium-sized joint of robot, and servo electrical machinery system with general in kinematic accuracy is close, cost is then lower, has wider applicability and dissemination.
Accompanying drawing explanation
The overall three-dimensional plot of Fig. 1 steering gear system;
Fig. 2 drive motor and speed reduction unit Local map;
Fig. 3 reducer shell partly cuts open figure;
Fig. 4 speed reduction unit secondary bevel gear set mounted inside figure;
Fig. 5 planetary reduction gear output shaft structural drawing;
Fig. 6 planetary reduction gear mounted inside figure a;
Fig. 7 planetary reduction gear mounted inside figure b;
Fig. 8 motor and steering engine driver Local map;
In figure: 1. steering wheel speed reduction unit, 2. drive motor, 3. position is detected and servo drive controller, 4. output shaft, 5. bevel gear set reducer shell, 6. steering wheel speed reduction unit lid, 7. Angle Position detecting sensor circuit, 8. cylinder gear wheel, 9. sleeve, 10. graphite lubrication copper bush, 11. magnets, 12. cylinder pinion wheels, 13. cone gears, 14. cone pinions, 15. angular contact ball bearings, 16. planetary reduction gear housings, 17. ball bearings, 18. output inner gears, 19. micro rolling ball bearings, 20. input gear axles, 21. planet carriers, 22. planet wheels, 23. fixed annulus, 24. angular displacement signal lines, 25. hall signal lines, 26. brushless electric machine drive wires, 27. servo driving controllers, 28. signal lamps, 29. power leads just, 30. power leads are born, 31. servos control signal wires.
Embodiment
Below in conjunction with accompanying drawing, lower embodiment is described, but the present invention is not limited to following examples.
Single unit system is as Fig. 1, and based on the high-torque Rudder Servo System that brushless electric machine drives, this system comprises steering wheel speed reduction unit (1), drive motor (2), position detection and servo drive controller (3); Position is detected and the steering wheel servo drive controller (27) of servo drive controller (3) controls drive motor (2) through steering wheel speed reduction unit (1) drive output shaft (4) rotation.
Steering wheel fuselage main body is as Fig. 2, and bevel gear set reducer shell (5) and steering wheel speed reduction unit lid (6) adopt aluminium alloy casting processing, and its overall dimensions is: 130 × 58 × 58mm; Be connected by three common socket head cap screws and six hinged screws of high strength between bevel gear set reducer shell (5) with steering wheel speed reduction unit lid (6), bear larger tangential force; Bevel gear set reducer shell (5) and steering wheel speed reduction unit lid (6) have threaded hole so that install.
Angle Position detecting sensor (7) is fixed on steering wheel speed reduction unit lid (6), and Angle Position detecting sensor (7) is non-contact type magnetic rotary encoder chip, to detect the angle in 360 degree; Output shaft (4) end is fixed with one piece of small cylindrical magnet (11) coaxial with output shaft (4), magnet (11) faces non-contact type magnetic rotary encoder chip to trigger hall detection component wherein, and non-contact type magnetic rotary encoder chip directly exports the Angle Position digital signal of output shaft (4) through internal signal process.
Secondary cone tooth reducer shell is inner as Fig. 3, and its inner diaxon assembly relation is as Fig. 4; The output shaft of drive motor (2) is connected with planetary reduction gear; The roller end of planetary reduction gear is connected with cone pinion (14), and planetary reduction gear is arranged in planetary reduction gear housing (16); The rotating shaft of drive motor (2) is exported by cone pinion (14) after the elementary deceleration of planetary reduction gear, cone pinion (14) engages with cone gear (13), and then cone pinion (14) drives cone gear (13) to rotate; Cone gear (13) and cylinder pinion wheel (12) are connected on same gear shaft by flat key, cylinder gear wheel (8) engages with cylinder pinion wheel (12), cylinder gear wheel (8) is connected on output shaft (4) with flat key, the rotation exported by cone pinion (14) is delivered to cylinder gear wheel (8) through cylinder pinion wheel (12), and is exported by output shaft (4); The straight-tooth wheels reduction gear ratio that the bevel gear set that cone pinion (14), cone gear (13) form and cylinder gear wheel (8), cylinder pinion wheel (12) form is i=2;
Output shaft (4) is hard-faced steel axle, and output shaft (4) two ends are fixed on reducer shell (5) using flanged (FLGD) graphite lubrication copper bush (10) as sliding bearing; Sleeve (9) is placed on output shaft (4) with clearance fit, and sleeve (9) is arranged between the flange of graphite lubrication copper bush (10) and cylinder gear wheel (8) to stop output shaft (4) to slide axially; Cone gear (13) holds out against with the flange of cylinder pinion wheel (12) two ends and two copper bushes (10), slides axially to stop two gears; Cone pinion (14), by coordinating with angular contact ball bearing (15), is fixed on reducer shell (5); One end of angular contact ball bearing (15) presses closer planetary reduction gear housing (16), with bear cone pinion (14) engagement suffered by axial force and radial force.
Planetary reduction gear adopts 3Z (II) type small teeth number difference planet gear group, inner structure Fig. 5, Fig. 6, Fig. 7; The output inner gear (18) of planetary reduction gear is arranged on planetary reduction gear housing (16) by ball bearing (17), cone pinion (14) is connected to by flat key in the rotating shaft of output inner gear (18), as Fig. 5.
Planetary reduction gear gear set is as Fig. 6, Fig. 7; Drive motor (2) exports with flat axle, inserting in the endoporus of input gear axle (20) and to fix with holding screw, input gear axle (20) other end is installed in the bearing seat on output inner gear (18) by micro rolling ball bearing (19); Input gear axle (20) engages with three planet wheels (22), three planet wheels (22) are distributed on planet carrier (21) with 120 degree, planet carrier (21) only for keeping three planet wheels (22), does not coordinate with the axle portion of gear shaft (20); Three planet wheels (22) have identical modification coefficient, and the flank of tooth is meshed with output inner gear (18) and fixed annulus (23) simultaneously; The number of teeth difference of output inner gear (18) and fixed annulus (23) is 3, has different modification coefficients, is differed from and produce larger reduction gear ratio by the number of teeth; Fixed annulus (23) and planetary reduction gear housing (16) are integral type structure, and the inner side of planetary reduction gear housing (16) has six countersunk screw hole, in order to be fixedly connected with drive motor (2).
After opening steering wheel speed reduction unit lid (6), the internal gear of conic reducer and planetary reduction gear just can expose, the inner and interpolation railway grease with easy cleaning speed reduction unit.
Drive motor (2) and position detect and the servo driving controller connected mode of servo drive controller (3) as Fig. 8, wherein servo driving controller (27) is aluminum alloy casing, inside is servos control driving circuit, the shell of servo driving controller (27) is provided with louvre, and the enclosure of servo driving controller (27) has two DC micromotor drive fan heat radiations; Drive motor (2) is the two poles of the earth inner-rotor brushless direct current generator that band Hall element position detects, and three brushless electric machine drive wire (26) input three-phase currents are to drive drive motor (2); The rotor-position signal of drive motor (2) is through hall signal line (25) input servo driving controller (27), and position of output axle detection signal is by angular displacement signal line (24) input servo driving controller (27); Power lead just (29) is connected lithium battery group, to power to whole system with power lead negative (30); Signal lamp (28) whether be energized in order to indication mechanism and steering engine controller (27) whether in running order; Servos control signal wire (31) connects host computer, and input control signal is to control the angular displacement of output shaft (4).
This Electrodynamic Rudder System position ring adopts fuzzy-adaptation PID control to realize closed-loop control, with the departure of angular displacement and rate of change thereof for parameters input fuzzy controller, solve PID controller three link parameter Kp, Ki, Kd, the size of real-time adjustment three parameters, carries out on-line amending to pid control parameter; Fuzzy controller output motor given value of current value is to hystersis controller.
Drive motor (2) is the brushless electric machine of two or two mode conductings, and system suppresses the maximum current of drive motor (2) three-phase with current hysteresis-band control, eliminates the torque ripple that drive motor (2) causes in commutation process; In conjunction with rotor hall sensor signal after the instantaneous value current detecting of the square wave of motor three-phase current, after conversion of tabling look-up, by non-for armature commutation phase current values input hystersis controller, compare with given value of current value, the disconnected order that hystersis controller is led to by six the mosfet pipes controlling drive motor, make non-commutation phase current follow current set-point, to limit the maximal value of armature supply, eliminate the torque ripple that drive motor (2) commutation causes.
Above-mentioned control algolithm with STM8 single-chip microcomputer for hardware realizes.
Claims (5)
1. based on the high-torque Rudder Servo System that brushless electric machine drives, it is characterized in that: this system comprises steering wheel speed reduction unit (1), drive motor (2), position detection and servo drive controller (3); Position is detected and the steering wheel servo drive controller (27) of servo drive controller (3) controls drive motor (2) through steering wheel speed reduction unit (1) drive output shaft (4) rotation;
Be connected by three common socket head cap screws and six hinged screws of high strength between bevel gear set reducer shell (5) with steering wheel speed reduction unit lid (6), bear larger tangential force; Bevel gear set reducer shell (5) and steering wheel speed reduction unit lid (6) have threaded hole so that install;
Angle Position detecting sensor (7) is fixed on steering wheel speed reduction unit lid (6), and Angle Position detecting sensor (7) is non-contact type magnetic rotary encoder chip, to detect the angle in 360 degree; Output shaft (4) end is fixed with one piece of small cylindrical magnet (11) coaxial with output shaft (4), magnet (11) faces non-contact type magnetic rotary encoder chip to trigger hall detection component wherein, and non-contact type magnetic rotary encoder chip directly exports the Angle Position digital signal of output shaft (4) through internal signal process;
In secondary cone tooth reducer shell inside, the output shaft of drive motor (2) is connected with planetary reduction gear; The roller end of planetary reduction gear is connected with cone pinion (14), and planetary reduction gear is arranged in planetary reduction gear housing (16); The rotating shaft of drive motor (2) is exported by cone pinion (14) after the elementary deceleration of planetary reduction gear, cone pinion (14) engages with cone gear (13), and then cone pinion (14) drives cone gear (13) to rotate; Cone gear (13) and cylinder pinion wheel (12) are connected on same gear shaft by flat key, cylinder gear wheel (8) engages with cylinder pinion wheel (12), cylinder gear wheel (8) is connected on output shaft (4) with flat key, the rotation exported by cone pinion (14) is delivered to cylinder gear wheel (8) through cylinder pinion wheel (12), and is exported by output shaft (4); The straight-tooth wheels reduction gear ratio that the bevel gear set that cone pinion (14), cone gear (13) form and cylinder gear wheel (8), cylinder pinion wheel (12) form is i=2;
Output shaft (4) is hard-faced steel axle, and output shaft (4) two ends are fixed on reducer shell (5) using flanged (FLGD) graphite lubrication copper bush (10) as sliding bearing; Sleeve (9) is placed on output shaft (4) with clearance fit, and sleeve (9) is arranged between the flange of graphite lubrication copper bush (10) and cylinder gear wheel (8) to stop output shaft (4) to slide axially; Cone gear (13) holds out against with the flange of cylinder pinion wheel (12) two ends and two copper bushes (10), slides axially to stop two gears; Cone pinion (14), by coordinating with angular contact ball bearing (15), is fixed on reducer shell (5); One end of angular contact ball bearing (15) presses closer planetary reduction gear housing (16), with bear cone pinion (14) engagement suffered by axial force and radial force;
Planetary reduction gear adopts 3Z (II) type small teeth number difference planet gear group, the output inner gear (18) of planetary reduction gear is arranged on planetary reduction gear housing (16) by ball bearing (17), and cone pinion (14) is connected to by flat key in the rotating shaft of output inner gear (18);
Drive motor (2) exports with flat axle, inserting in the endoporus of input gear axle (20) and to fix with holding screw, input gear axle (20) other end is installed in the bearing seat on output inner gear (18) by micro rolling ball bearing (19); Input gear axle (20) engages with three planet wheels (22), three planet wheels (22) are distributed on planet carrier (21) with 120 degree, planet carrier (21) only for keeping three planet wheels (22), does not coordinate with the axle portion of gear shaft (20); Three planet wheels (22) have identical modification coefficient, and the flank of tooth is meshed with output inner gear (18) and fixed annulus (23) simultaneously; The number of teeth difference of output inner gear (18) and fixed annulus (23) is 3, has different modification coefficients, is differed from and produce larger reduction gear ratio by the number of teeth; Fixed annulus (23) and planetary reduction gear housing (16) are integral type structure, and the inner side of planetary reduction gear housing (16) has six countersunk screw hole, in order to be fixedly connected with drive motor (2);
After opening steering wheel speed reduction unit lid (6), the internal gear of conic reducer and planetary reduction gear just can expose, the inner and interpolation railway grease with easy cleaning speed reduction unit;
Drive motor (2) and position detect and servo drive controller (3) servo driving controller connected mode in, wherein servo driving controller (27) is aluminum alloy casing, inside is servos control driving circuit, the shell of servo driving controller (27) is provided with louvre, and the enclosure of servo driving controller (27) has two DC micromotor drive fan heat radiations; Drive motor (2) is the two poles of the earth inner-rotor brushless direct current generator that band Hall element position detects, and three brushless electric machine drive wire (26) input three-phase currents are to drive drive motor (2); The rotor-position signal of drive motor (2) is through hall signal line (25) input servo driving controller (27), and position of output axle detection signal is by angular displacement signal line (24) input servo driving controller (27); Power lead just (29) is connected lithium battery group, to power to whole system with power lead negative (30); Signal lamp (28) whether be energized in order to indication mechanism and steering engine controller (27) whether in running order; Servos control signal wire (31) connects host computer, and input control signal is to control the angular displacement of output shaft (4).
2. the high-torque Rudder Servo System driven based on brushless electric machine according to claim 1, it is characterized in that: this Electrodynamic Rudder System position ring adopts fuzzy-adaptation PID control to realize closed-loop control, with the departure of angular displacement and rate of change thereof for parameters input fuzzy controller, solve PID controller three link parameter Kp, Ki, Kd, the size of real-time adjustment three parameters, carries out on-line amending to pid control parameter; Fuzzy controller output motor given value of current value is to hystersis controller.
3. the high-torque Rudder Servo System driven based on brushless electric machine according to claim 1, it is characterized in that: drive motor (2) is the brushless electric machine of two or two mode conductings, system suppresses the maximum current of drive motor (2) three-phase with current hysteresis-band control, eliminates the torque ripple that drive motor (2) causes in commutation process; In conjunction with rotor hall sensor signal after the instantaneous value current detecting of the square wave of motor three-phase current, after conversion of tabling look-up, by non-for armature commutation phase current values input hystersis controller, compare with given value of current value, the disconnected order that hystersis controller is led to by six the mosfet pipes controlling drive motor, make non-commutation phase current follow current set-point, to limit the maximal value of armature supply, eliminate the torque ripple that drive motor (2) commutation causes.
4. according to claim 1 based on brushless electric machine drive high-torque Rudder Servo System, it is characterized in that: control algolithm with STM8 single-chip microcomputer for hardware realizes.
5. the high-torque Rudder Servo System driven based on brushless electric machine according to claim 1, it is characterized in that: bevel gear set reducer shell (5) and steering wheel speed reduction unit lid (6) adopt aluminium alloy casting processing, and its overall dimensions is: 130 × 58 × 58mm.
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| WO2018040366A1 (en) * | 2016-08-31 | 2018-03-08 | 徐州南普机电科技有限公司 | Sine wave control motor equipped with magnetic encoder sensor |
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| CN107957330A (en) * | 2018-01-10 | 2018-04-24 | 辽宁工程技术大学 | A kind of cutting head of roadheader cutting test platform |
| CN108679203A (en) * | 2018-07-03 | 2018-10-19 | 曹林 | A kind of miniature steering engine transmission mechanism |
| CN108679203B (en) * | 2018-07-03 | 2023-09-22 | 曹林 | Miniature steering engine transmission mechanism |
| WO2020107344A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Servomotor and electrical device |
| CN111406359A (en) * | 2018-11-29 | 2020-07-10 | 深圳市大疆创新科技有限公司 | Steering engine and electric equipment |
| CN110855193A (en) * | 2019-11-26 | 2020-02-28 | 北京工业大学 | Small robot joint steering engine transmission error input end data acquisition control circuit |
| CN110855193B (en) * | 2019-11-26 | 2021-11-05 | 北京工业大学 | Small robot joint steering engine transmission error input end data acquisition control circuit |
| CN115143433A (en) * | 2021-03-31 | 2022-10-04 | 罗布照明公司 | Absolute position sensing system for stepper motor mechanism |
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| CN104991442B (en) | 2018-03-13 |
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