CN105173063B - A kind of unmanned plane integral electric steering wheel - Google Patents
A kind of unmanned plane integral electric steering wheel Download PDFInfo
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- CN105173063B CN105173063B CN201510634060.3A CN201510634060A CN105173063B CN 105173063 B CN105173063 B CN 105173063B CN 201510634060 A CN201510634060 A CN 201510634060A CN 105173063 B CN105173063 B CN 105173063B
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Abstract
A kind of unmanned plane integral electric steering wheel, it is particularly applicable in unmanned plane rudder face control field, the program is using DC brushless motor as power source, the scheme that DC brushless motor+planetary reduction gear+hollow type angular displacement sensor is connected in series, make steering wheel compact conformation, reduce its bulk, and improve its working life and reliability；Steering wheel housing is designed using sealed construction, with stronger dustproof and waterproof ability, can adapt to severe working environment.Control strategy of the control driver using position+two level current limiting, restrictor ring are mainly used to limit the safety that excessive electric current, protection electric steering engine and unmanned plane occurs in system under abnormal conditions.Instruct for square wave formula position angle, angle command Real-time Collection is realized by the way of capture is interrupted, and the control strategy using angle limit filtration+instruction compensation improves the precision of acquisition angles instruction, can greatly improve the precision of unmanned plane during flying attitude, precision is up to 0.1 °.
Description
Technical field
The present invention relates to a kind of unmanned plane integral electric steering wheel, belongs to unmanned plane rudder face control technology field.
Background technology
With developing rapidly for unmanned plane, it is to meet the technical requirements such as reliability, lighting that unmanned plane increasingly improves, it is right
Put forward higher requirement as the electric steering engine of unmanned plane important component part.Electric steering engine is used as unmanned aerial vehicle control system
Actuator, is one of crucial execution unit of unmanned plane, is mainly used to control the rudder face angle of unmanned plane, to adjust unmanned plane
Deflection, pitching, the attitude such as rolling, its service behaviour and reliability directly affect the control accuracy and work of unmanned plane during flying attitude
Make reliability.
Substantial amounts of research be have also been made for steering engine for unmanned plane system both at home and abroad.Futaba companies and the series of Dynamixel
Steering wheel can provide various small-power steering wheels.The country, BJ University of Aeronautics ＆ Astronautics, Northwestern Polytechnical University, Harbin Institute of Technology
And the unit such as related scientific research institutes has carried out the research of unmanned plane electric steering engine.Current unmanned plane mostly is with electric steering engine
Using brush direct current motor as power source, little moment of torsion type steering wheel, it is impossible to the requirement of moment of torsion and reliability that satisfaction is gradually stepped up.
It is complicated for unmanned plane use environment, and require, with quick response speed, to need to carry out miniaturization, lightweight
Change, High Reliability Design.Traditional unmanned plane electric steering engine adopts brush direct current motor as power source, multistage little gear conduct
Gear reduction mechanism, has that carrying torque is little, life cycle is short, environmental suitability is poor, control accuracy is poor (for 0.15 °～0.2 °
Between) the shortcomings of, it is impossible to meet the requirement of rapidity and high reliability.
The content of the invention
The present invention technology solve problem be：Overcome prior art not enough, there is provided a kind of highly reliable, high response speed, height
The unmanned plane electric steering engine of precision, realizes the accurate adjustment of the attitudes such as unmanned plane deflection, pitching, rolling.The electric steering engine can
To realize the quick adjustment of UAV Attitude, and meet work long hours, the requirement of high response speed, high leakproofness.
The present invention technical solution be：A kind of unmanned plane integral electric steering wheel, including：Steering wheel and control drive
Device, steering wheel include housing (1), output rocking arm (2), upper cover plate (3), back shroud (4), front shroud (5), DC brushless motor (8),
Planetary reduction gear (9), angular displacement sensor clip (10), hollow type angular displacement sensor (11), electric connector (12)；Control is driven
Dynamic device includes：Panel (6), driving plate (7)；
DC brushless motor (8), planetary reduction gear (9), hollow type angular displacement sensor (11) are sequentially connected, string is formed
Connection formula layout, installed in the centre of steering wheel housing (1)；Planetary reduction gear (9) is fixed on steering wheel housing (1), brush DC electricity
Machine (8) is on planetary reduction gear (9)；The rotor of hollow type angular displacement sensor (11) is fixed on planetary reduction gear (9)
On output shaft, the stator of hollow type angular displacement sensor (11) is fixed on steering wheel housing (1) by clip (10), screw (17)
On, the one end for exporting rocking arm (2) is also secured on the output shaft of planetary reduction gear (9)；
Panel and driving plate are fixedly mounted on the internal both sides of steering wheel housing (1)；Electric connector (12) and panel and
Driving plate connects；DC brushless motor (8) is connected by wire with driving plate (7)；Hollow type angular displacement sensor (11) passes through
Wire is connected with panel (6)；Panel (6) and driving plate (7) are connected by wire；
Panel (6) receives the angle command of the square being input into from electric connector (12), the angle of the square
Instruction controlled output rocking arm pendulum angle, calculates the cycle of the angle command of square from the angle command of square,
It is compared with the theoretical cycle of the angle command of square, obtains Periodic Compensation value A1 of the angle command of square；
Panel (6) receives the zero-bit angle command of the square being input into from electric connector (12), the square
The zero-bit angle that zero-bit angle command controlled output rocking arm swings, calculates from the zero-bit angle command of square and represents zero-bit
The time of angle command, it is compared with the theoretical time for representing zero-bit angle command, the zero-bit angle for obtaining square refers to
The offset A2 of order；
By the offset A2 of the zero-bit angle command of Periodic Compensation value A1 and square of the angle command of square
It is added, obtains total angle command offset A, total angle command offset A compensation is represented into the arbitrarily angled of square
The time of instruction, complete to instruct angle compensation；Time of the arbitrarily angled instruction for representing square after by compensation resolve as
Actual angle command θ；
Hollow type angular displacement sensor (11) output angle information at work, feeds back to panel (6), panel (6)
Instruct the output angle information that θ and hollow type angular displacement sensor (11) feed back to be compared the actual angle for calculating, obtain
To the angular error for producing, middle controlled quentity controlled variable U is obtained according to the angular error1；
By middle controlled quentity controlled variable U1With the PWM duty cycle that is used for of the PWM cycle value of setting, current limliting mark, current limliting are set
Flag bit is that 0 expression does not change PWM duty cycle；Current limliting flag bit is that PWM duty cycle is set to 0 by 1 expression；
Current limliting flag bit is judged, if current limliting flag bit is 1, PWM duty cycle is set to into 0, is exported to driving plate
(7)；If current limliting flag bit be 0, the PWM duty cycle is directly output to into driving plate (7), driving plate (7) according to PWM duty cycle,
The supply voltage of output DC brushless motor (8), drives DC brushless motor (8) to rotate, the output shaft of DC brushless motor (8)
Be fixedly connected with the sun gear (14) of planetary reduction gear (9), sun gear (14) by engaging with planetary reduction gear (9), direct current without
Torque and speed that brush motor (8) is exported by the output shaft of itself, the sun gear (14) through planetary reduction gear (9) are passed to
After planetary reduction gear (9), according to the speed reducing ratio of planetary reduction gear (9), after carrying out torque and rate conversion, output rocking arm is delivered to
(2), drive output rocking arm (2) to swing, realize position-force control；Stop screw (16) is fixed with housing (1) by front shroud (5)
Connection, and play a part of mechanical position limitation to exporting rocking arm (2)；
Upper cover plate (3), back shroud (4), front shroud (5) and housing (1) constitute closed hollow cavity；
Calculate after the time of the arbitrarily angled instruction for representing square with total angle command offset compensation
Actual angle instruction θ, panel (6) is to the actual angle θ that calculates according to the pendulum angle scope of the output rocking arm of setting
Amplitude limit judgement is carried out, if the actual angle θ for calculating gives up the solution beyond the pendulum angle scope of the output rocking arm of setting
The actual angle θ for calculating, keeps the current state of output rocking arm；
If, in the pendulum angle scope of the output rocking arm of setting, output rocking arm is according to solution for the actual angle θ that this calculates
The actual angle θ for calculating is swung.
Middle controlled quentity controlled variable U1, formula is as follows：
U1=U0+kp*e1+kd* (e1-e0) (3)
In formula, U1 is this middle controlled quentity controlled variable；
U0 is previous middle controlled quentity controlled variable, is equal to 0 in initialization；
Kp is proportionality coefficient；
Kd is differential coefficient；
E1 be this angular error, unit：Degree；
E0 be previous angular error, unit：Degree；
The span of the kp is 60～100.
The span of kd is 80～140；
The electric connector (12) is powered to panel (6) and driving plate (7), and panel (6) continuous acquisition n times are supplied
The voltage signal that electric current is induced, acquisition time cycle are 1ms～2ms, restore confession further according to the voltage signal for inducing
Electric current, the supply current is compared with the current limitation value of setting, normal work electricity of the current limitation value for electric steering engine
The maximum of flow valuve, if supply current is less than the current limitation value of setting, puts current limliting flag bit for 0；If supply current is big
In the current limitation value equal to setting, it is 1 to put current limliting flag bit, until current limitation value of the supply current less than setting,
Two grades of hardware current-limiting circuits are provided with the driving plate (7), the hardware current-limiting circuit Real-time Collection supply current
Voltage signal is converted into, the voltage signal is compared with the magnitude of voltage of setting, if the voltage signal is more than or equal to the electricity of setting
The supply voltage of brushless electric machine (8) is set to 0 by pressure value, driving plate (7).The magnitude of voltage for setting is as 4.0V.
The present invention having the beneficial effect that compared with prior art：
(1) it is of the invention by steering wheel body construction placed in the middle, panel, driving plate both sides symmetric configuration, the electronic rudder of effectively utilizes
The space of machine, beneficial to carrying out integral type Integration Design；Steering wheel carries out Integrated design with control driver, solves steering wheel, control
There is driver processed the weight brought during separate housing to increase and installation question, be conducive to carrying out lighting design, the electronic rudder
Machine weight is only 500g, and weight reduces 20% or so than separate housing；Rated output torque >=6Nm, maximum output torque can
Up to 10Nm, solve under homogeneous structure size, weight, the requirement of big output torque；
(2) present invention uses DC brushless motor as power source, replaces brush direct current motor, solves DC brush electricity
The low problem of machine commutator brush wear-out life, can meet the requirement for continuously working long hours, and improve the longevity of electric steering engine
Life and reliability；
(3) installation of the present invention according to brushless electric machine → planetary reduction gear → hollow type angular displacement sensor → output rocking arm
Sequential series layout, the gear drive error that the angular displacement sensor that solves the problems, such as to be arranged in parallel brings, improves feedback accuracy；
Angular displacement sensor is solved simultaneously after output rocking arm, causes to export rocking arm in planetary reduction gear and angle displacement transducer
In the middle of device, output rocking arm swings back and forth and brings the problem of difficult sealing.The effective save space of which, makes compact conformation, is improving
On the basis of angle feed-back precision, beneficial to Seal Design is carried out to electric steering engine overall structure, the sealing of electric steering engine is improved,
Realize the effect of water proof and dust proof；
(4) electric steering engine compact conformation of the invention, transmission gap are little, and with very high response speed, angular velocity is reachable
300 °/s, nearly 50% is improve than 150 °/s～200 ° of electric steering engine/s angular velocity indexs common at present, it is possible to achieve nobody
The quick regulation of machine attitude, reaches the real-time, purpose of high-precision control；
(5) present invention realizes staged current limliting, in the protection of two level current limiting mode by the control strategy of two level current limiting
Under, the driving force of control driver is improved, and protects the safety of electric steering engine and unmanned plane；
(6) control strategy of the present invention using angle limit filtration+instruction compensation, angle limit filtration filter external disturbance
Signal, will exceed correct angle command dummy order reject, to receive angle command carry out amplitude limit make electric steering engine permit
Perhaps the safety of motion, effective protection electric steering engine and unmanned plane in angular range；The control strategy of instruction compensation can be effective
The precision of collection square wave formula angle command is improved, the position control accuracy of electric steering engine is improved, to improve the attitude essence of unmanned plane
Degree, precision is up to 0.1 °.
(7) present invention achieves DC brushless motor, planetary reduction gear, hollow type angular displacement sensor series arrangement, knot
Structure is compact；Designed using sealing in structure, it is ensured that electric steering engine can adapt to various rugged environment conditions；In control plan
It is slightly upper from two level current limiting strategy, the control strategy of angle limit filtration+instruction compensation, improve the reliability of electric steering engine with
Control accuracy.
Description of the drawings
The unmanned plane integral electric steering wheel schematic appearance of Fig. 1 present invention；
The unmanned plane integral electric steering wheel composition schematic diagram of Fig. 2 present invention；
The unmanned plane seal structure for casing schematic diagram of Fig. 3 present invention；
The unmanned plane housing section schematic diagram of Fig. 4 present invention；
The square wave formula angle command form schematic diagram of Fig. 5 present invention；
The control flow chart of the angle limit filtration of Fig. 6 present invention+instruction compensation；
The theoretical supply voltage oscillogram of Fig. 7 present invention；
The two level current limiting control strategy flow chart of Fig. 8 present invention.
Specific embodiment
The present invention basic ideas be：The electric steering engine of the present invention includes steering wheel and control driver two large divisions, steering wheel
Integral type Integrated design is carried out with control driver.Steering wheel is by a DC brushless motor, planetary reduction gear, hollow type angular displacement
The compositions such as sensor, output rocking arm；Control driver is made up of panel, driving plate, and structure diagram is as shown in Figure 2.
Unmanned plane rudder face control field is particularly applicable in, using DC brushless motor as power source, by brush DC electricity
The scheme that machine, planetary reduction gear, hollow type angular displacement sensor are connected in series, makes steering wheel compact conformation, reduces its bulk,
And improve its working life and reliability；Steering wheel housing is designed using sealed construction, with stronger dustproof and waterproof ability, energy
Severe working environment is adapted to enough.Control strategy of the control driver using position+two level current limiting, restrictor ring are mainly used to limit
Under abnormal conditions, there is excessive electric current in system, protects the safety of electric steering engine and unmanned plane.Refer to for square wave formula position angle
Order, realizes angle command Real-time Collection by the way of capture is interrupted, and using the control plan of angle limit filtration+instruction compensation
The precision of acquisition angles instruction is slightly improved, the precision of unmanned plane during flying attitude can be greatly improved, precision is up to 0.1 °.
When electric steering engine works, panel 6 receives the instruction that unmanned aerial vehicle control system sends, and transports through internal control algorithm
After calculation, show that PWM duty cycle and direction signal are conveyed to driving plate 7, driving plate 7 controls DC brushless motor through logical operationss
8 motions, the output shaft of DC brushless motor 8 are connected with the sun gear 14 of planetary reduction gear 9, and Jing planetary reduction gears 9 carry out torque
Move with drive output rocking arm 2 after rate conversion, so as to drive the motion of the corresponding rudder face of unmanned plane, reach control UAV Attitude
Purpose.
Control driver using position+two level current limiting control strategy, restrictor ring be mainly used to limit abnormal conditions under be
There is excessive electric current in system, protects the safety of electric steering engine and unmanned plane.Instruct for square wave formula position angle, using in capture
Disconnected mode realizes the Real-time Collection of angle command, and the control strategy using angle limit filtration+instruction compensation improves collection
The precision of angle command, so as to ensure the control accuracy of electric steering engine, reaches the purpose of accurate UAV Attitude.
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 4 shows, electric steering engine mainly includes steering wheel and control driver, and steering wheel includes housing 1, output
Rocking arm 2, upper cover plate 3, back shroud 4, front shroud 5, DC brushless motor 8, planetary reduction gear 9, angular displacement sensor clip 10, in
Empty formula angular displacement sensor 11, electric connector 12；Control driver includes：Panel 6, driving plate 7.
As shown in Figure 2, DC brushless motor 8, planetary reduction gear 9, hollow type angular displacement sensor 11 are sequentially connected,
Tandem layout is formed, installed in the centre of steering wheel housing 1；Planetary reduction gear 9 is fixed on steering wheel housing 1, brush DC electricity
Machine 8 is arranged on planetary reduction gear 9；The rotor of hollow type angular displacement sensor 11 is fixed on the output shaft of planetary reduction gear 9,
The stator of hollow type angular displacement sensor 11 is fixed on steering wheel housing 1 by clip 10, screw 17, exports one end of rocking arm 2
It is also secured on the output shaft of planetary reduction gear 9.
The extension elongation of the output shaft of planetary reduction gear 9 reaches 38mm, in order to avoid the power being applied on output rocking arm 2 makes row
The output shaft of star decelerator 9 occurs bending and deformation, and affects the precision of output 2 pendulum angle of rocking arm, as shown in figure 3, using deep-groove ball
Bearing 19 is supported to the output shaft of planetary reduction gear 9.
As shown in Fig. 2 panel 6 and driving plate 7 are fixedly mounted on the both sides inside steering wheel housing 1；Electric connector 12 with
Panel 6 and driving plate 9 connect；DC brushless motor 8 is connected by wire with driving plate 7；Hollow type angular displacement sensor 11
It is connected with panel 6 by wire；Panel 6 and driving plate 7 are connected by wire.
By steering wheel body construction placed in the middle, panel 6,7 both sides symmetric configuration of driving plate, the sky of effectively utilizes electric steering engine
Between, beneficial to carrying out integral type Integration Design；Steering wheel carries out Integrated design with control driver, solves steering wheel, control and drives
Utensil has the weight brought during separate housing to increase and installation question, is conducive to carrying out lighting design, the electric steering engine weight
Only 500g, weight reduce 20% or so than separate housing；Rated output torque >=6Nm, maximum output torque up to 10Nm,
Solve under homogeneous structure size, weight, the requirement of big output torque, meet requirement of the unmanned plane to electric steering engine lighting
With the demand of high-torque, the overall performance of unmanned plane can be obviously improved.
Panel 6 receives the angle command of the square from the input of electric connector 12, angle command form such as Fig. 5 institutes
Show.The angle command controlled output rocking arm pendulum angle of the square, calculates square wave from the angle command of square and refers to
In the cycle of order, it is compared with the theoretical cycle of square angle command, the cycle for obtaining the angle command of square mends
Value A1 is repaid, concrete solution process is as follows：
As shown in figure 5, wherein t is the theoretical cycle of square angle command, with △ t as time interval, counted,
Two adjacent rising edges of labelling with △ t by time interval the total n for counting, square wave instruction cycle the t '=△ t*n for calculating.Press
Periodic Compensation value A of the angle command of square is calculated according to following formula1：
In formula, t1' refer to time of the arbitrarily angled instruction of the representative for calculating, concrete resolving mode see below it is middle resolve it is any
The process of angle command, unit：ms.
Formula (1) is illustrated：
The theoretical cycle t of square angle command is 20ms；△ t time intervals are 0.0002ms；Between with △ t as time
Every the total n for being counted be 99995；Square wave instruction cycle the t '=0.0003*59990ms=19.999ms for calculating；t1' refer to
The time for representing arbitrarily angled instruction for calculating is 1.8976ms；Calculate the Periodic Compensation of the angle command of square
Value A1：
Panel 6 receives the zero-bit angle command of the square from the input of electric connector 12, the zero-bit of the square
The zero-bit angle that angle command controlled output rocking arm swings, calculates from the zero-bit angle command of square and represents zero-bit angle
The time of instruction, it is compared with the theoretical time for representing zero-bit angle command, obtains the zero-bit angle command of square
Offset A2, concrete solution process are as follows：
When zero-bit angle command offset is demarcated, according to the instruction format in Fig. 5, zero-bit angle command θ is sent0, with
△ t are time interval, are counted, and count rising edge and followed by total n of the trailing edge with △ t as time interval0, calculate
Represent the time t of zero-bit angle command0'=△ t*n0.The time and representation theory zero-bit that represent zero-bit angle command will be calculated
The time t of angle command0Relatively, draw the offset A2=t of zero-bit angle command0-t0’.It is illustrated below：
The time t of representation theory zero-bit angle command0For 1.5ms；Time interval △ t is 0.0002ms；Meter rising edge with
Followed by total n of the trailing edge with △ t as time interval0For 7490；Calculate the time t for representing zero-bit angle command0'=
△t*n0=0.0002*7490ms=1.498ms；The offset A2=t of zero-bit angle command0-t0'=(1.5-1.498) ms=
0.002ms。
By the offset A2 of the zero-bit angle command of Periodic Compensation value A1 and square of the angle command of square
It is added, obtains total angle command offset A=A1+A2.By the square of total angle command offset A compensation to input
The angle value that calculates of angle command, complete to instruct angle compensation, detailed process is as follows：
When send square arbitrarily angled instruction when, with △ t as time interval, counted, meter rising edge with it is tight
Total n with trailing edge thereafter with △ t as time interval1.Calculate the time t for representing angle command1'=△ t*n1.By angle
Offset compensation obtained representing the time of actual arbitrarily angled instruction to the time of the representative angle command for calculating：t1=t1’+
A.It is illustrated below：
When the arbitrarily angled instruction for sending square is 40 °, time interval △ t is 0.0002ms；Meter rising edge with
Followed by total n of the trailing edge with △ t as time interval1For 9488, the time t for representing angle command is calculated1'=△ t*
n1=0.0002*9488ms=1.8976ms, is calculated t1=t1'+A=(1.8976+0.00209488) ms=
1.89969488ms。
Actual angle command θ is calculated according to equation below：
In formula, θ refers to actual angle command, unit degree；t1Refer to that angle command compensation represents arbitrarily angled finger to calculating
Time value after order, unit ms；t0Refer to the time of representation theory zero-bit angle command, unit ms；tmaxRefer to just to angle maximum
Corresponding theoretical time value, unit ms；tminRefer to the corresponding theoretical time value of negative sense angle value, between unit ms；θmaxRefer to just to most
Big angle angle value, unit degree；θminRefer to negative sense maximal angle value, unit degree.It is illustrated below：
Angle command compensation in formula (2) represents time value t after arbitrarily angled instruction to calculating1For
1.89969488ms；The time t of representation theory zero-bit angle command0For 1.5ms；The corresponding theoretical time of positive angle maximum
Value tmaxFor 2.0ms；Corresponding theoretical time value t of negative sense angle valueminFor 1.0ms；Positive maximal angle value θmaxFor+50 °；It is negative
To maximal angle value θminCalculated for -50 °：
Panel (6) carries out amplitude limit according to the pendulum angle scope of the output rocking arm of setting to the angle value after the compensation and sentences
It is disconnected, if the angle command value after the compensation gives up the angle after the compensation beyond the pendulum angle scope of the output rocking arm of setting
Degree command value, keeps the current state of output rocking arm；If the angle value after the compensation is in the angle of oscillation of the output rocking arm of setting
Degree scope, output rocking arm are swung according to the angle command value after compensation.
As shown in fig. 6, for the control strategy flow chart of angle limit filtration+instruction compensation, angle limit filtration will exceed
The dummy order of correct angle command is rejected, and is prevented electric steering engine from moving to pole restraining position, is damaged electric steering engine and unmanned plane；Angle
Degree instruction compensation account in terms of two, one be square wave instruction Periodic Compensation, with correct unmanned aerial vehicle control system with it is electronic
Clock reference between servos control driver is poor, and two is the band when the rising edge and trailing edge of square angle command is captured
The Acquisition Error compensation for coming, is corrected on the basis of zero-bit angle command, calculates zero compensation value and be corrected, comprehensively refer to
The Periodic Compensation and angle acquisition error compensation of order, is overlapped with the arbitrarily angled instruction for collecting, participant position closed loop control
System.Summary control strategy, can improve the acquisition precision of square wave formula angle command, and acquisition precision is 0.03 °, acquisition precision
Improve 10%～20%.
The output angle information at work of hollow type angular displacement sensor 11, feeds back to panel 6, and panel 6 will compensation
The output of actual angle command value and the feedback of hollow type angular displacement sensor 11 that the angle command of square afterwards is calculated
Angle information is compared, and obtains the angular error for producing, obtains middle controlled quentity controlled variable U according to the angular error1, formula is as follows：
U1=U0+kp*e1+kd* (e1-e0) (3)
In formula, U1 is this middle controlled quentity controlled variable；
U0 is previous middle controlled quentity controlled variable, is equal to 0 in initialization；
Kp is proportionality coefficient, and preferred span is 60～100, and further preferred scheme is 80；
Kd is differential coefficient, and preferred span is 80～140, and further preferred scheme is 120；
E1 be this angular error, unit：Degree；
E0 be previous angular error, unit：Degree；
U1, U0, e1, e0 initialization value is 0.In above formula, when kp chooses 80, kd selections 120, now electric steering engine is meeting
In the case of response speed, control overshoot, stable state accuracy reaches minimum.
By middle controlled quentity controlled variable U1PWM duty cycle is used for the PWM cycle value of setting, in the present system PWM cycle
Be worth for 327.6, the frequency of correspondence PWM is 15.24KHz, Jing Experimental Comparisons in the frequency, the high working efficiency of electric steering engine,
Operate steadily, noise it is little.
In 6 course of work of panel, current limliting flag bit is judged, if current limliting flag bit is 1, by PWM duty cycle
0 is set to, is exported to driving plate 7；If current limliting flag bit is 0, PWM duty cycle computed above is directly output to into driving plate 7,
Driving plate 7 according to PWM duty cycle, export DC brushless motor 8 supply voltage (theoretical supply voltage waveform as shown in fig. 7,
PWM duty cycle scope be 0～96%), drive DC brushless motor 8 rotate, the output shaft and planetary reduction gear of DC brushless motor 8
The sun gear of device 9 is fixedly connected, and by engaging with planetary reduction gear 9, DC brushless motor 8 is exported sun gear 14 by output shaft
Torque and speed, after the sun gear 14 of planetary reduction gear 9 passes to planetary reduction gear 9, according to subtracting for planetary reduction gear 9
Speed ratio, after carrying out torque and rate conversion, delivers to output rocking arm 2, drives output rocking arm 2 to swing, realizes position-force control；Limit
Front shroud 5 is fixedly connected by position screw 16 with housing 1, and plays a part of mechanical position limitation to exporting rocking arm 2.
As shown in figure 3, upper cover plate 3, back shroud 4, front shroud 5 and housing 1 constitute closed hollow cavity, and in joint
Design seal groove 13, is filled with sealing gasket, it is ensured that each several part cover plate is closely matched somebody with somebody with housing.In the output of planetary reduction gear 9
Sealing function is played by O-ring 15 between axle and housing 1, the flight environment of vehicle complicated to adapt to unmanned plane.
Electric connector 12 is powered to panel 6 and driving plate 7, and 6 continuous acquisition n times supply current of panel is induced
The voltage signal linear with electric current (cardinal principle be Hall element according to the cutting edge aligned voltage signal of magnetic field induction), adopt
Integrate the time cycle as 1ms～2ms, be recommended as 1ms, the 1ms time cycles include panel operation minimum time 0.7ms and by
The free time reserved according to design principle is about 0.3ms, is set to the cycle and can improve the frequency acquisition to supply current, protects
The real-time of card collection.
Panel 6 restores supply current according to the linear voltage for inducing, by the supply current and the electricity for setting
Ductility limit flow valuve compares, maximum of the current limitation value for the running current value of electric steering engine, if supply current is less than
The current limitation value of setting, puts current limliting flag bit for 0；If supply current puts current limliting more than or equal to the current limitation value of setting
Flag bit is 1, until current limitation value of the supply current less than setting.
Current limliting mark is set, and current limliting flag bit is that 0 expression does not change PWM duty cycle；Current limliting flag bit is represented PWM for 1
Dutycycle is set to 0.
Two grades of hardware current-limiting circuits are provided with driving plate 7, the hardware current-limiting circuit Real-time Collection is by a sampling resistor
The voltage signal that the current signal for representing supply current information is converted into, sampling resistor value scope 3.3K Ω～10K Ω, this
In system, resistance value is 5.1K Ω, it is ensured that the cut-off current is higher than one-level cut-off current, and being less than electric steering engine can allow
Maximum limit electric current；The voltage signal for collecting is compared with the magnitude of voltage of setting, the magnitude of voltage for setting is 4.0V (voltages
Value is close to 5V control piezoelectric voltages, and has certain surplus, it is ensured that the magnitude of voltage when 5V voltages have fluctuation, without interruption,
What the magnitude of voltage was arranged simultaneously is as high as possible, makes the supply current scope of measurement broaden, and certainty of measurement is high), if collection voltages
The supply voltage of DC brushless motor 8 is set to 0 by magnitude of voltage of the signal more than or equal to setting, driving plate 7.
As shown in figure 8, Current limited Control strategy includes two level current limiting, the protection to electric steering engine and unmanned plane is realized, one
Level current limliting strategy is mainly realized by control software that cut-off current is lower than two grades of cut-off currents, and current limliting response speed is that ms levels are limited compared with two grades
Flow velocity degree is slow, it is ensured that electric steering engine completes the driving force needed for normal work；Two grades of current limlitings are by hardware control circuit reality
Existing, response speed is us levels, it is ensured that during more than hardware cut-off current, rapidly switches off supply voltage output, protects electric steering engine
And the safety of unmanned plane.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (8)
1. a kind of unmanned plane integral electric steering wheel, it is characterised in that：Including：Steering wheel and control driver, steering wheel include rudder
Casing body (1), output rocking arm (2), upper cover plate (3), back shroud (4), front shroud (5), DC brushless motor (8), planetary reduction gear
Device (9), angular displacement sensor clip (10), hollow type angular displacement sensor (11), electric connector (12)；Control driver bag
Include：Panel (6), driving plate (7)；
DC brushless motor (8), planetary reduction gear (9), hollow type angular displacement sensor (11) are sequentially connected, tandem is formed
Layout, installed in the centre of steering wheel housing (1)；Planetary reduction gear (9) is fixed on steering wheel housing (1), DC brushless motor (8)
On planetary reduction gear (9)；The rotor of hollow type angular displacement sensor (11) is fixed on the output shaft of planetary reduction gear (9)
On, the stator of hollow type angular displacement sensor (11) is fixed on steering gear shell by angular displacement sensor clip (10), screw (17)
On body (1), the one end for exporting rocking arm (2) is also secured on the output shaft of planetary reduction gear (9)；
Panel and driving plate are fixedly mounted on the internal both sides of steering wheel housing (1)；Electric connector (12) and panel and driving
Plate connects；DC brushless motor (8) is connected by wire with driving plate (7)；Hollow type angular displacement sensor (11) is by wire
It is connected with panel (6)；Panel (6) and driving plate (7) are connected by wire；
Panel (6) receives the angle command of the square being input into from electric connector (12), the angle command of the square
Controlled output rocking arm pendulum angle, calculates the cycle of the angle command of square from the angle command of square, with side
The theoretical cycle of the angle command of waveshape is compared, and obtains Periodic Compensation value A1 of the angle command of square；
Panel (6) receives the zero-bit angle command of the square being input into from electric connector (12), the zero-bit of the square
The zero-bit angle that angle command controlled output rocking arm swings, calculates from the zero-bit angle command of square and represents zero-bit angle
The time of instruction, it is compared with the theoretical time for representing zero-bit angle command, obtains the zero-bit angle command of square
Offset A2；
Periodic Compensation value A1 of the angle command of square is added with the offset A2 of the zero-bit angle command of square,
Total angle command offset A is obtained, total angle command offset A compensation is represented the arbitrarily angled instruction of square
Time, complete to instruct angle compensation；The time of the arbitrarily angled instruction for representing square after by compensation is resolved as reality
Angle command θ；
Hollow type angular displacement sensor (11) output angle information at work, feeds back to panel (6), and panel (6) will be solved
The output angle information that the angle command θ and hollow type angular displacement sensor (11) of the reality for calculating feed back is compared, and obtains
The angular error of generation, obtains middle controlled quentity controlled variable U1 according to the angular error；
By the PWM duty cycle that is used for of the PWM cycle value of middle controlled quentity controlled variable U1 and setting, current limliting mark, current limliting mark are set
Position represents for 0 and does not change PWM duty cycle；Current limliting flag bit is that PWM duty cycle is set to 0 by 1 expression；
Current limliting flag bit is judged, if current limliting flag bit is 1, PWM duty cycle is set to into 0, is exported and is given driving plate (7)；If
Current limliting flag bit is 0, and the PWM duty cycle is directly output to driving plate (7), and, according to PWM duty cycle, output is straight for driving plate (7)
The supply voltage of stream brushless electric machine (8), drives DC brushless motor (8) to rotate, the output shaft and planet of DC brushless motor (8)
The sun gear (14) of decelerator (9) is fixedly connected, torque and speed that DC brushless motor (8) is exported by the output shaft of itself
Degree, after the sun gear (14) of planetary reduction gear (9) passes to planetary reduction gear (9), according to the deceleration of planetary reduction gear (9)
Than after carrying out torque and rate conversion, delivering to output rocking arm (2), driving output rocking arm (2) to swing, realize position-force control；
Front shroud (5) is fixedly connected by stop screw (16) with steering wheel housing (1), and the work of mechanical position limitation is played to exporting rocking arm (2)
With；
Upper cover plate (3), back shroud (4), front shroud (5) and steering wheel housing (1) constitute closed hollow cavity.
2. a kind of unmanned plane integral electric steering wheel according to claim 1, it is characterised in that：It is described with total angle
The actual angle instruction θ calculated after the time that instruction offset compensation represents the arbitrarily angled instruction of square, panel
(6) the actual angle instruction θ to calculating carries out amplitude limit judgement according to the pendulum angle scope of the output rocking arm of setting, if should
The actual angle instruction θ for calculating gives up the actual angle for calculating beyond the pendulum angle scope of the output rocking arm of setting
Instruction θ, keeps the current state of output rocking arm；
If, in the pendulum angle scope of the output rocking arm of setting, output rocking arm is according to solution for the actual angle instruction θ that this calculates
The actual angle instruction θ for calculating is swung.
3. a kind of unmanned plane integral electric steering wheel according to claim 1, it is characterised in that：The middle controlled quentity controlled variable
U1, formula are as follows：
U1=U0+kp*e1+kd* (e1-e0)
In formula, U1 is this middle controlled quentity controlled variable；
U0 is previous middle controlled quentity controlled variable, is equal to 0 in initialization；
Kp is proportionality coefficient；
Kd is differential coefficient；
E1 be this angular error, unit：Degree；
E0 be previous angular error, unit：Degree.
4. a kind of unmanned plane integral electric steering wheel according to claim 3, it is characterised in that：The value model of the kp
Enclose for 60～100.
5. a kind of unmanned plane integral electric steering wheel according to claim 3, it is characterised in that：The span of kd is
80～140.
6. a kind of unmanned plane integral electric steering wheel according to claim 1, it is characterised in that：The electric connector
(12) panel (6) and driving plate (7) are powered, the voltage letter that panel (6) continuous acquisition n times supply current is induced
Number, the acquisition time cycle be 1ms～2ms, restore supply current further according to the voltage signal for inducing, by the supply current with
The current limitation value of setting compares, maximum of the current limitation value for the running current value of electric steering engine, if power supply
Current limitation value of the electric current less than setting, puts current limliting flag bit for 0；If supply current is more than or equal to the current limitation of setting
Value, it is 1 to put current limliting flag bit, until current limitation value of the supply current less than setting.
7. a kind of unmanned plane integral electric steering wheel according to claim 1, it is characterised in that：The driving plate (7)
On be provided with two grades of hardware current-limiting circuits, two grades of hardware current-limiting circuit Real-time Collections by a sampling resistor will represent power supply electricity
The voltage signal that the current signal of stream information is converted into, the voltage signal is compared with the magnitude of voltage of setting, if the voltage is believed
Number more than or equal to setting magnitude of voltage, the supply voltage of DC brushless motor (8) is set to 0 by driving plate (7).
8. a kind of unmanned plane integral electric steering wheel according to claim 7, it is characterised in that：The magnitude of voltage for setting as
4.0V。
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| CN201510634060.3A CN105173063B (en) | 2015-09-29 | 2015-09-29 | A kind of unmanned plane integral electric steering wheel |
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| CN105173063B true CN105173063B (en) | 2017-04-05 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6683574B2 (en) * | 2016-08-31 | 2020-04-22 | グローブライド株式会社 | Unmanned aerial vehicle |
| CN109747813B (en) * | 2017-11-07 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Large-load unmanned aerial vehicle empennage driving system |
| CN108052039A (en) * | 2017-12-15 | 2018-05-18 | 佛山三维二次方科技有限公司 | Steering engine for unmanned plane control system |
| CN113212736B (en) * | 2021-04-26 | 2024-02-09 | 北京航天控制仪器研究所 | Thin type large-reduction-ratio miniature electric steering engine system |
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| JP2007331426A (en) * | 2006-06-12 | 2007-12-27 | Kenzo Nonami | Autonomous flight control device and small-size unmanned helicopter with device |
| EP2615026A1 (en) * | 2011-06-10 | 2013-07-17 | EADS Deutschland GmbH | Method and apparatus for minimizing dynamic structural loads of an aircraft |
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