CN105242678A - Rudder jitter suppression circuit and rudder system - Google Patents
Rudder jitter suppression circuit and rudder system Download PDFInfo
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- CN105242678A CN105242678A CN201510577363.6A CN201510577363A CN105242678A CN 105242678 A CN105242678 A CN 105242678A CN 201510577363 A CN201510577363 A CN 201510577363A CN 105242678 A CN105242678 A CN 105242678A
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Abstract
The invention provides a rudder jitter suppression circuit and a rudder system. The rudder system includes a feedback circuit as well as an adder, a signal amplifying and conditioning circuit, a jitter suppression circuit, a signal processing and power amplifying circuit and a servo rudder which are connected with one another sequentially; the input end of the feedback circuit is connected with the output end of the servo rudder; the first input end of the adder is used for receiving external rudder control signals; the second input end of the adder is connected with the output end of the feedback circuit; and the jitter suppression circuit includes an amplifier, a first one-way conduction element, a second one-way conduction element, a capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a sixth resistor. With the rudder jitter suppression circuit and the rudder system of the invention adopted, interference signals can be effectively filtered out, and at the same time, self-excited oscillation of a resistance-capacitance circuit at the input end of the circuit can be greatly suppressed, which can well suppress the jitter of a rudder in a large-inertia rudder system having high bandwidth requirements, and therefore, the stability of the system can be ensured.
Description
Technical field
The invention belongs to servos control field, more specifically, relate to a kind of steering gear swaying and suppress circuit and steering gear system.
Background technology
In recent years, along with flight attack weapon system attack precision and mobility require improve constantly, the accuracy of the rudder servo-drive system matched with it and the requirement of stability more and more higher.The performance requirement of current rudder system is just towards the future development of large inertia, high frequency band.
Current rudder servo-drive system still has and a lot of adopts mimic channel to control and harmonic speed reducer and DC MOTOR CONTROL, and its control method relatively simply and control theory relative maturity.But under the condition of high frequency band, large inertia, often there are some difficult points when meeting overall system requirement in the performance of steering wheel.In the rudder system of heavy load inertia, while meeting system high-frequency band performance, easily there is the problem of steering gear swaying.By the analysis to steering gear swaying mechanism, its main cause is roughly divided into three aspects: the moment of inertia of (1) rudder face is bigger than normal; (2) torsional rigidity of speed reduction unit is on the low side; (3) control algolithm needs to improve.But the moment of inertia of rudder face cannot change according to system requirements, the torsional rigidity of speed reduction unit cannot have lifting by a relatively large margin at short notice due to the reason of manufacturing process and level of processing, existing control algolithm generally adopts simple pid control algorithm, and general pid algorithm can not the stability margin of elevator system further, possibly effectively cannot suppress steering gear swaying in heavy load inertia rudder system, be thus a kind of feasible effective method by improvement control algolithm to suppress steering gear swaying.
The general steering gear swaying suppressing method adopted mainly adopts to increase system stiffness and adjust controling parameters and starts with to reduce the aspects such as rudder system bandwidth now.
Summary of the invention
For the defect of prior art, the object of the present invention is to provide a kind of steering gear swaying to suppress circuit, be intended to the problem that solution heavy load inertia steering wheel is shaken when step response is tested.
The invention provides a kind of steering gear swaying and suppress circuit, comprise amplifier, the first one-way conduction element, the second one-way conduction element, electric capacity, the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance and the 6th resistance; One end of described 5th resistance suppresses the input end of circuit as steering gear swaying, the other end of described 5th resistance is connected to the input negative terminal of amplifier; One end of described electric capacity is connected to the signal input part of described amplifier by described first resistance, the other end of described electric capacity is connected to the signal input part of amplifier by described second resistance; One end of described first one-way conduction element is connected with the other end of described electric capacity, and the other end of described first one-way conduction element is connected with one end of electric capacity; One end of described second one-way conduction element is connected with one end of electric capacity, and the other end of described second one-way conduction element is connected with the other end of electric capacity; One end of described 3rd resistance is connected with the other end of described electric capacity, and the other end of described 3rd resistance is connected to the output terminal of described amplifier by described 4th resistance; Described 3rd resistance is also connected with the feedback end of described amplifier with the link of the 4th resistance; The input negative terminal of described amplifier is by described 6th resistance eutral grounding, and the power supply negative terminal of described amplifier connects-15V power supply, the ground end ground connection of described amplifier, and the power positive end of described amplifier connects+15V power supply.
Further, the first one-way conduction element is the first diode D1, and the negative electrode of described first diode D1 is as one end of described first one-way conduction element, and the anode of described first diode D1 is as the other end of described first one-way conduction element; Described second one-way conduction element is the second diode D2; The negative electrode of described second diode D2 is as one end of described second one-way conduction element, and the anode of described second diode D2 is as the other end of described second one-way conduction element.
Further, during work, when there is self-excitation undesired signal in the signal inputing to steering gear swaying suppression circuit, preferential by electric capacity C1 and resistance R3, and self-excitation undesired signal can weaken or eliminate by described first one-way conduction element and described second one-way conduction element, thus the interference of the self-excitation in output signal is inhibited.
In the present invention, because steering gear swaying suppresses the existence of circuit input end Capacitance parallel connection diode, the delayed meeting of circuit weakens, also the self-sustained oscillation of circuit input end resistance-capacitance circuit well can be suppressed while effective filtering interference signals, high bandwidth require and large inertia rudder system in, this effect well inhibits the shake of steering wheel, thus the stability of the system of guarantee.
Present invention also offers a kind of steering gear system, comprise feedback circuit, and the totalizer connected successively, signal amplifying and conditioning circuit, jitter suppression circuit, signal transacting and power amplification circuit and Servo-controller; The input end of feedback circuit connects the output terminal of described Servo-controller, and the first input end of totalizer is for receiving outside servos control signal, and the second input end of totalizer is connected to the output terminal of described feedback circuit; It is characterized in that, described jitter suppression circuit is that above-mentioned steering gear swaying suppresses circuit.
By the above technical scheme that the present invention conceives, compared with prior art, owing to have employed a kind of active correction or lag circuit with overshoot damping function in the controls, steering gear swaying can be suppressed while guarantee steering wheel dynamic property.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the steering gear system that the embodiment of the present invention provides;
Fig. 2 is the circuit diagram of the steering gear swaying suppression circuit that the embodiment of the present invention provides;
Fig. 3 is electric rudder system at the forward and backward step respective waveforms figure of application jitter suppression circuit provided by the invention, wherein (a) do not increase steering gear swaying suppress circuit before step respective waveforms figure; B () adds the step respective waveforms figure after steering gear swaying provided by the invention suppression circuit.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Present invention achieves a kind of steering gear swaying and suppress circuit; Control at mimic channel and adopt harmonic speed reducer as in the rudder system of reducing gear, because the harmonic speed reducer rigidity of certain model is on the low side, after steering wheel and rudder face assemble, under high frequency sound, large inertia condition, the disturbance torque that air rudder face is formed in motion process is easy to cause rudder face to shake.Steering wheel needs to possess larger angular acceleration in the process accelerated and slow down, and when rudder face moment of inertia is certain, the disturbance torque that rudder face inertia produces becomes large thereupon.When rudder system response step signal, steering wheel through accelerating, at the uniform velocity, after moderating process deflects into desired locations, position error signal after control voltage and rudderpost feedback voltage subtract each other is zero, because speed reduction unit rigidity is on the low side, under the effect of rudder face inertia square, steering wheel output shaft can continue to deflect certain angle forward, causes the coaxial mounted angular transducer feedback voltage with output shaft to be greater than control voltage, thus regenerates position error signal.When this position error signal is greater than the determined position error signal of steering wheel trigger voltage, steering wheel can accelerate to rotate toward contrary direction, and by that analogy, steering wheel drives rudder sheet sweeping action within the specific limits, forms jitter phenomenon.
The present invention carries out circuit design by theoretical analysis, realize series active correction or lag link in systems in which, to increase the phase margin of system, improve the relative stability of system, ensure that rudder system also can realize system stability when rigidity allowance deficiency and performance is up to standard.
The present invention relates to a kind of based on mimic channel control and adopt harmonic speed reducer as reducing gear rudder control servo-drive system, belong to electromechanical control field.By a kind of, there is very strong practicality and the circuit design of versatility, reach the effect of self-excitation undesired signal and the low frequency small magnitude undesired signal existed in filtering control signal, to some extent solve the problem that when to control based on mimic channel and adopt harmonic speed reducer to be subject to self-excitation interference or similar undesired signal when steering wheel gear train rigidity is poor as the rudder system of reducing gear, steering wheel is easily shaken.
The invention provides a kind of steering gear swaying with very strong practicality and versatility and suppress circuit; This steering gear swaying suppresses circuit to be a kind of improved active correction or lag circuit, its input end is connected with rudder feedback error signal, output terminal and thick film computing circuit are connected to correction or lag circuit input end electric capacity two ends a pair reverse silicon diode in parallel, diode and electric capacity is utilized to form the small magnitude undesired signal of the characteristic filtering low frequency of bleed-off circuit, the signal of steering gear swaying that causes that system self-excitation is produced is able to filtering, thus suppresses steering gear swaying.
Compared with normal lagging circuit, a kind of steering gear swaying suppresses circuit can the self-sustained oscillation of effective inhibitory control system.Namely modeling and simulating is passed through, increase a kind of special lagging circuit in systems in which, by increasing low frequency small-signal filter function, the self-excitation signal that circuit system inside is produced is passing through this circuit by filtering, thus the shake suppressing steering wheel to cause because of system self-excitation signal, system stability is had a certain upgrade.
The present invention in the rudder system adopting mimic channel controls+harmonic speed reducer+DC MOTOR CONTROL, the signal of alliance ring output terminal after steering gear swaying suppression circuit as the signal of electric current loop input end.When the output signal change of position ring, circuit is suppressed by steering gear swaying, signal produces effect that is delayed and filtering and calibration, simultaneously because steering gear swaying suppresses the existence of circuit input end Capacitance parallel connection diode, the delayed meeting of circuit weakens, and also well can suppress the self-sustained oscillation of circuit input end resistance-capacitance circuit while effective filtering interference signals, high bandwidth require and large inertia rudder system in, this effect well inhibits the shake of steering wheel, thus the stability of the system of guarantee.
The present invention, by adding the simple circuit with very strong practicality and versatility in rudder system control circuit, just effectively can suppress the shake of steering wheel.
In order to further description the present invention.Below in conjunction with accompanying drawing, embodiments of the invention are described in further detail.
Fig. 1 shows the theory diagram of the steering gear system that the embodiment of the present invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention, details are as follows:
Steering gear system comprises totalizer 1, signal amplifying and conditioning circuit 2, jitter suppression circuit 3, signal transacting and power amplification circuit 4, Servo-controller 5 (mainly comprising motor and speed reducer structure) and feedback circuit 6; Signal amplifying and conditioning circuit 2 is mainly used in receiving rudder system control signal and carrying out filtering and conditioning, and the signal obtained is reached signal transacting and power amplification circuit 4, jitter suppression circuit 3 is followed for suppressing self-excitation undesired signal and useful signal; Signal transacting and power amplification circuit 4 mainly will to be nursed one's health and filtered signal carries out power amplification and drives the servomotor in Servo-controller 5 to carry out corresponding sports, Servo-controller 5 drives output shaft to move by reducing gear and motor movement, position signalling for responding to the movement position of steering wheel output shaft, and is fed back to signal amplifying and conditioning circuit 2 and forms closed-loop control system by feedback circuit 6.
Wherein, signal amplifying and conditioning circuit 2 is formed primarily of follow circuit and filtering circuit, and the control signal that its input end receives, after filtering circuit, realizes the transmission of signal by follow circuit.
In embodiments of the present invention, jitter suppression circuit 3 comprises amplification module 31, differentiating circuit 32 and leadage circuit 33; The Main Function of amplification module 31 signal received is carried out scale operation then as the component of output signal, main component input signal carried out as output signal after differential signal of differentiating circuit 32, the undesired signals such as the self-sustained oscillation component in input signal mainly process by leadage circuit 33, reach the effect weakening and eliminate.Amplification module 31 and differentiating circuit 32 parallel join in jitter suppression circuit, its input and output side connects respectively, and leadage circuit 33 is embedded in differentiating circuit 32.After input signal enters jitter suppression circuit, parallel through amplification module 31 and differentiating circuit 32, when there is self-excitation undesired signal in signal, this kind of signal can be preferential by differentiating circuit 32, now leadage circuit 33 can by this type of signal de-emphasis or elimination, thus makes the self-excitation interference etc. in output signal cause the interference of steering gear swaying to be inhibited even to eliminate.
Fig. 2 shows the physical circuit figure of the jitter suppression circuit that one embodiment of the invention provides, in fig. 2, ek0 is the input end signal point of circuit, C1 is the input end capacitor that steering gear swaying suppresses circuit, electric capacity C1 and R3 forms a differentiating circuit, D1, D2 is a pair backward dioded in parallel with it, be mainly C1 two ends electric charge and a quick bleed-off circuit is provided, N1 is operational amplifier, operational amplifier N comprises 8 ports, 1st port is A road signal output part, 2nd port is A road signal input negative terminal, 3rd port is A road signal input anode, 4th port is power supply negative terminal, 5th port is B road signal input anode, 6th port is B road signal input negative terminal, 7th port is B road signal output part, 8th port is power supply anode, computing for control signal realizes providing carrier, ek1 is the output terminal that steering gear swaying suppresses circuit.When circuit input end signal is small magnitude low frequency signal, due to the loop that signal is formed through C1 and D1, D2, the electric charge at C1 two ends can quickly move through diode and release, therefore the filter effect of differentiating circuit is made to strengthen, to reach the function weakening and consequently eliminate the conduction of system self-excitation signal.According to the components and parts annexation shown in Fig. 2, the electric capacity of usual circuit and resistance value are selected needed for concrete system, generally, should select the electric capacity of larger capacitance when needing the undesired signal amplitude of filtering larger, a pair backward dioded of input end parallel connection should have fast guiding function.
Particularly, this jitter suppression circuit comprises amplifier N1, the first one-way conduction element D1, the second one-way conduction element D2, electric capacity C1, the first resistance R1, the second resistance R2, the 3rd resistance R3, the 4th resistance R4, the 5th resistance R01 and the 6th resistance R02; Wherein, one end of the 5th resistance R01 suppresses the input end of circuit as steering gear swaying, the other end of the 5th resistance R01 is connected to the 2nd end (input negative terminal) of amplifier N1; One end of electric capacity C1 is connected to the signal input part of amplifier N1 by the first resistance R1, the other end of electric capacity C1 is connected to the signal input part of amplifier N1 by the second resistance R2; One end of first one-way conduction element D1 is connected with the other end of electric capacity C1, and the other end of the first one-way conduction element D1 is connected with one end of electric capacity C1; One end of second one-way conduction element D2 is connected with one end of electric capacity C1, and the other end of the second one-way conduction element D2 is connected with the other end of electric capacity C1; One end of 3rd resistance R3 is connected with the other end of electric capacity C1, and the other end of the 3rd resistance R3 is connected to the 7th end (output terminal) of amplifier N1 by the 4th resistance R4; 3rd resistance R3 is also connected with the 6th end (feedback end) of amplifier N1 with the link of the 4th resistance R4; 3rd end (input anode) of amplifier N1 is by the 6th resistance R02 ground connection, 1st end of amplifier N1 is unsettled not to be connect, 4th end (power supply negative terminal) of amplifier N1 connects-15V power supply, 5th end of amplifier N1 (hold) ground connection, the 8th end (power positive end) of amplifier N1 connects+15V power supply.
As one embodiment of the present of invention, the first one-way conduction element D1 and the second one-way conduction element D2 can be diode, and the negative electrode of diode D1 and the anode of diode D2 are connected to the other end of electric capacity C1; The anode of diode D1 and the negative electrode of diode D2 are connected to one end of electric capacity C1.
In order to the jitter suppression circuit that the further description embodiment of the present invention provides, existing 2 its courses of work of detailed description are by reference to the accompanying drawings as follows:
After the error signal e k0 containing low frequency small magnitude and self-excitation interference flows through R01 resistance, its undesired signal is after the differentiating circuit that R1, C1 are formed, the electric charge being gathered in C1 two ends can quickly move through diode and release, after filter, signal enters operational amplifier, pass through comprehensive magnification, error signal needed for generation, controls deflecting according to normal angled of steering wheel, thus suppresses the shake that steering wheel causes because of system self-excitation and undesired signal well.
In embodiments of the present invention, signal transacting and power amplification circuit 4 are primarily of compositions such as thick film circuit, optical coupling isolator, driving H bridge power amplifier and peripheral circuits, realize the isolation with control signal, and produce the adjustable pwm signal of dutycycle, drive motor rotates.Wherein, thick film circuit can adopt model to be the circuit realiration of HMK60A.
In embodiments of the present invention, Servo-controller 5 comprises motor, harmonic speed reducer and angular transducer etc.Electric machine rotation, drive output shaft and angular transducer to rotate through speed reduction unit, angular transducer sensitivity exports angle feedback signal simultaneously.
In embodiments of the present invention, feedback circuit 6 comprises operational amplifier, isolated amplifier etc., by the feedback signal of angular transducer sensitivity, feeds back to group amplifier, thus realizes system closed loop.
The steering gear system that the embodiment of the present invention provides when the moment of inertia of rudder face and the torsional rigidity of speed reduction unit certain, after adopting series active correction or lag circuit, in process of the test, jitter phenomenon obviously weakens, jitter amplitude and frequency obviously reduce and electric current without saltus step.Can find out and good inhibiting effect is played to steering gear swaying,
In order to the advantage of the steering gear system that the further description embodiment of the present invention provides, Fig. 3 gives certain electric rudder system at the forward and backward step respective waveforms figure of application jitter suppression circuit provided by the invention, wherein (a) do not increase steering gear swaying suppress circuit before step respective waveforms figure; B () adds the step respective waveforms figure after steering gear swaying provided by the invention suppression circuit; Steering gear swaying provided by the invention suppresses circuit effectively can suppress the shake of electric steering engine as seen from the figure.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a steering gear swaying suppresses circuit, it is characterized in that, comprise amplifier N1, the first one-way conduction element, the second one-way conduction element, electric capacity C1, the first resistance R1, the second resistance R2, the 3rd resistance R3, the 4th resistance R4, the 5th resistance R01 and the 6th resistance R02;
One end of described 5th resistance R01 suppresses the input end of circuit as steering gear swaying, the other end of described 5th resistance R01 is connected to the input negative terminal of amplifier N1;
One end of described electric capacity C1 is connected to the signal input part of described amplifier N1 by described first resistance R1, the other end of described electric capacity C1 is connected to the signal input part of amplifier N1 by described second resistance R2;
One end of described first one-way conduction element D1 is connected with the other end of described electric capacity C1, and the other end of described first one-way conduction element is connected with one end of electric capacity C1;
One end of described second one-way conduction element is connected with one end of electric capacity C1, and the other end of described second one-way conduction element is connected with the other end of electric capacity C1;
One end of described 3rd resistance R3 is connected with the other end of described electric capacity C1, and the other end of described 3rd resistance R3 is connected to the output terminal of described amplifier N1 by described 4th resistance R4;
Described 3rd resistance R3 is also connected with the feedback end of described amplifier N1 with the link of the 4th resistance R4;
The input anode of described amplifier N1 is by described 6th resistance R02 ground connection, and the power supply negative terminal of described amplifier N1 connects-15V power supply, the ground end ground connection of described amplifier N1, and the power positive end of described amplifier N1 connects+15V power supply.
2. steering gear swaying as claimed in claim 1 suppresses circuit, it is characterized in that, described first one-way conduction element is the first diode D1, the negative electrode of described first diode D1 is as one end of described first one-way conduction element, and the anode of described first diode D1 is as the other end of described first one-way conduction element;
Described second one-way conduction element is the second diode D2; The negative electrode of described second diode D2 is as one end of described second one-way conduction element, and the anode of described second diode D2 is as the other end of described second one-way conduction element.
3. the steering gear swaying stated as claim 1 or 2 suppresses circuit, it is characterized in that, during work, when there is self-excitation undesired signal in the signal inputing to steering gear swaying suppression circuit, preferential by electric capacity C1 and resistance R3, and self-excitation undesired signal can weaken or eliminate by described first one-way conduction element and described second one-way conduction element, thus the interference of the self-excitation in output signal is inhibited.
4. a steering gear system, comprise feedback circuit (6), and the totalizer connected successively (1), signal amplifying and conditioning circuit (2), jitter suppression circuit (3), signal transacting and power amplification circuit (4) and Servo-controller (5); The input end of described feedback circuit connects the output terminal of described Servo-controller (5), the first input end of described totalizer (1) is for receiving outside servos control signal, and the second input end of described totalizer (1) is connected to the output terminal of described feedback circuit (6); It is characterized in that, described jitter suppression circuit (3) is the steering gear swaying suppression circuit described in any one of claim 1-3.
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| CN201510577363.6A CN105242678B (en) | 2015-09-11 | 2015-09-11 | A kind of steering gear swaying suppression circuit and steering gear system |
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| CN201510577363.6A CN105242678B (en) | 2015-09-11 | 2015-09-11 | A kind of steering gear swaying suppression circuit and steering gear system |
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| CN106773905A (en) * | 2016-11-24 | 2017-05-31 | 中国船舶重工集团公司第七六研究所 | A kind of being disappeared based on power supply sequential trembles the switching value output circuit of control |
| CN106843092A (en) * | 2017-04-12 | 2017-06-13 | 北京建中数字科技有限公司 | Steering engine for unmanned plane jitter suppression method, suppressor and unmanned plane |
| CN107589737A (en) * | 2017-09-29 | 2018-01-16 | 兰州飞行控制有限责任公司 | A kind of steering wheel circuit that can control shake |
| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | The control response method, apparatus and steering engine of steering engine |
| CN109839964A (en) * | 2017-11-29 | 2019-06-04 | 深圳市优必选科技有限公司 | Steering engine control method and terminal device |
| CN111113427A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Steering engine state control method and device for robot, robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | The control response method, apparatus and steering engine of steering engine |
| CN109839964A (en) * | 2017-11-29 | 2019-06-04 | 深圳市优必选科技有限公司 | Steering engine control method and terminal device |
| CN109839964B (en) * | 2017-11-29 | 2022-05-10 | 深圳市优必选科技有限公司 | Steering engine control method and terminal equipment |
| CN111113427A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Steering engine state control method and device for robot, robot and storage medium |
| CN111113427B (en) * | 2019-12-31 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Steering engine state control method and device for robot, robot and storage medium |
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