CN106411206B - A kind of master-slave mode electromechanical servo cooperative motion control system - Google Patents
A kind of master-slave mode electromechanical servo cooperative motion control system Download PDFInfo
- Publication number
- CN106411206B CN106411206B CN201610839682.4A CN201610839682A CN106411206B CN 106411206 B CN106411206 B CN 106411206B CN 201610839682 A CN201610839682 A CN 201610839682A CN 106411206 B CN106411206 B CN 106411206B
- Authority
- CN
- China
- Prior art keywords
- main
- analog signal
- servo
- signal
- stator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Multiple Motors (AREA)
Abstract
A kind of master-slave mode electromechanical servo cooperative motion control system is related to space flight thruster vector control electromechanical servo application field；The system set control system bus command,Main actuator displacement of the lines feedback,From signals such as actuator displacement of the lines feedbacks,According to jet pipe swing angle,The accelerated factor and the acceleration factor of two actuator of principal and subordinate corresponding collapsing length and principal and subordinate's movement locus are calculated in real time,Realize the real time kinematics trajectory planning of principal and subordinate's actuator,Main actuator command signal is exported in real time,Master-slave servo controls inversion control of the driver by the completion of motor space vector control algorithm to DC power supply on bullet,Servo motor drives electromechanical transmission mechanism to do work load,To complete the purpose of thruster vector control,Realize the characteristics of synchronous control is strictly realized in principal and subordinate's collaboration,And basic technology is more ripe,Easily realize,Realize that system altitude is integrated and cooperative motion controls,And then the technical issues of solving to cause the super pendulum of jet pipe in turn result in nozzle structure damage using two channel method for independently controlling.
Description
Technical field
The present invention relates to a kind of space flight thruster vector control electromechanical servo application field, especially a kind of master-slave mode electromechanics is watched
Dress system cooperative motion control system.
Background technology
The AEROSPACE APPLICATION of traditional electro-mechanical servo is generally focused on the necks such as instrumentation devices and the control of small air rudder at present
Domain, mainly using two channel method for independently controlling cause the super pendulum of jet pipe in turn result in the technical problem of nozzle structure damage according to
Old is the difficulty for currently needing to capture, and more than multikilowatt there is powerful electromechanical servo system high-power hydraulic system can not compare
Quasi- high-specific-power, light weight, small, the easy to assemble and advantages such as easy-maintaining, therefore the machine of the above high power levels of multikilowatt
Electric servo boost vector control system demand is more and more urgent, especially the master-slave mode electromechanical servo system of high integration already at
For following developing direction.The range requirement of current space weapon is more and more remoter, and maneuvering characteristics require higher and higher；For electromechanics
For servo, specific power and load requirement are increasing, and the requirement to the control performance of kinetic control system is higher and higher, existing
The dynamic performance index of technology is relatively low, can not meet the development trend and technical need of limitation.
Invention content
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of master-slave mode electromechanical servo system collaboration is provided
Kinetic control system realizes that system altitude is integrated and cooperative motion controls, and then solves to use two channel method for independently controlling
The technical issues of causing the super pendulum of jet pipe in turn result in nozzle structure damage.
The above-mentioned purpose of the present invention is achieved by following technical solution：
A kind of master-slave mode electromechanical servo cooperative motion control system, including servo power power supply, control system, main servo control
Driver processed, from SERVO CONTROL driver, main actuating mechanism and from executing agency；
Servo power power supply：Respectively main servo controls driver, provides power supply from SERVO CONTROL driver；
Control system：After the power is turned on, output control instruction to main servo controls driver；Receive main servo control driver hair
The telemetry sent, the telemetry include main stator voltage analog signal, main stator current analog signal, main rotor position
Information, from stator voltage analog signal, from stator current analog signal and from rotor position information；
Main servo controls driver：Receive the power supply that servo power power supply provides；The control that control system transmits is received to refer to
It enables, generates main actuating mechanism PWM drive signal, and main actuating mechanism PWM drive signal is sent to main actuating mechanism, simultaneously will
Control instruction is sent to from SERVO CONTROL driver；Receive main stator voltage analog signal, main stator that main actuating mechanism transmits
Current analog signal receives the main rotor position information that main actuating mechanism transmits；Receive transmitted from SERVO CONTROL driver from
Stator voltage analog signal, from stator current analog signal and from rotor position information, and by main stator voltage analog signal, master
Stator current analog signal and main rotor position information, from stator voltage analog signal, from stator current analog signal and from turn
Sub- location information is sent to control system；
From SERVO CONTROL driver：Receive the power supply that servo power power supply provides；Main servo control driver is received to transmit
Control instruction, and generate from executing agency's PWM drive signal, and will be sent to from executing agency's PWM drive signal from execution
Mechanism；It receives the slave stator voltage analog signal transmitted from executing agency, believe from stator current analog signal and from rotor-position
Breath, and will from stator voltage analog signal, main servo control is sent to from stator current analog signal and from rotor position information
Driver；
Main actuating mechanism：The main actuating mechanism PWM drive signal that main servo control driver transmits is received, and is held according to master
Row mechanism PWM drive signal carries out closed loop moving control, generate main stator voltage analog signal, main stator current analog signal and
Main rotor position information；And main stator voltage analog signal, main stator current analog signal and main rotor position information are sent
Extremely from SERVO CONTROL driver；
From executing agency：Receive transmitted from SERVO CONTROL driver from executing agency's PWM drive signal, and according to from holding
Row mechanism PWM drive signal carries out closed loop moving control, generate from stator voltage analog signal, from stator current analog signal and
From rotor position information；And it will be sent from stator voltage analog signal, from stator current analog signal and from rotor position information
Extremely from SERVO CONTROL driver.
In a kind of above-mentioned master-slave mode electromechanical servo cooperative motion control system, main servo control driver includes
Cooperative motion control module, main collection of simulant signal module, main rotor position signal acquisition module and main CAN interface；
Cooperative motion control module：Receive the control instruction that transmits of control system, by main CAN interface be sent to from
The slave CAN interface of SERVO CONTROL driver, while generating main actuating mechanism PWM drive signal, and by main actuating mechanism PWM
Drive signal is sent to main actuating mechanism；The main stator voltage analog signal that main collection of simulant signal module transmits is received with main to determine
Electron current analog signal；Receive the main rotor position information that main rotor position signal acquisition module transmits；It receives from SERVO CONTROL
Slave stator voltage analog signal that driver transmits, from stator current analog signal and from rotor position information；By main stator electricity
Press analog signal, main stator current analog signal, main rotor position information, from stator voltage analog signal, from stator current mould
Intend signal and is sent to control system from rotor position information；
Main collection of simulant signal module：Receive the main stator voltage analog signal and main stator electric current that main actuating mechanism transmits
Analog signal, and main stator voltage analog signal and main stator current analog signal are sent to cooperative motion control module；
Main rotor position signal acquisition module：Receive the main rotor position information that transmits of main actuating mechanism, and by main rotor
Location information is sent to cooperative motion control module.
It is described to include from SERVO CONTROL driver in a kind of above-mentioned master-slave mode electromechanical servo cooperative motion control system
Motion-control module, from collection of simulant signal module, rotor-position signal acquisition module and from CAN interface；
Motion-control module：The control instruction that driver transmits is controlled by receiving main servo from CAN interface, and raw
At from executing agency's PWM drive signal, and will be sent to from executing agency's PWM drive signal from executing agency；It receives from simulation
Slave stator voltage analog signal that signal acquisition module transmits, from stator current analog signal；Reception is adopted from rotor-position signal
The slave rotor position information that collection module transmits；Will from stator voltage analog signal, from stator current analog signal and from rotor position
Confidence breath controls driver by being sent to main servo from CAN interface；
From collection of simulant signal module：Receive the slave stator voltage analog signal that is transmitted from executing agency and from stator current
Analog signal, and motion-control module will be sent to from stator voltage analog signal and from stator current analog signal；
From rotor-position signal acquisition module：The slave rotor position information transmitted from executing agency is received, and will be from rotor
Location information is sent to motion-control module.
A kind of above-mentioned master-slave mode electromechanical servo cooperative motion control system, the main actuating mechanism and from execute machine
Structure includes electromechanical actuator；The electromechanical actuator includes ball-screw, feed screw nut, leading screw support, attachment screw, start
Device shell, operating bar, support ring, the first sliding bearing, drive end bearing bracket and the second sliding bearing；Wherein, actuator shell is electromechanics
The shell of actuator, ball-screw are axially located in the shaft core position of actuator shell；The outer wall of ball-screw one end passes through silk
Thick stick support is connect with actuator inner walls；The other end outer wall of ball-screw by the first sliding bearing with actuator shell
Other end inner wall connects；Drive end bearing bracket is fixedly mounted in the axially outer side of the first sliding bearing；Feed screw nut is sleeved on ball
The outer wall at the axial middle part of leading screw；Second sliding bearing is sleeved on the axial outer wall of feed screw nut, and the second sliding bearing passes through connection
Screw is fixedly connected with feed screw nut；Operating bar is sleeved on one end outer wall of ball-screw in an axial direction, and stretches out actuator shell；
One end that operating bar gos deep into actuator shell is fixedly connected with support ring.
In a kind of above-mentioned master-slave mode electromechanical servo cooperative motion control system, the leading screw support is by two angular contact balls
The back-to-back installation composition of bearing.
In a kind of above-mentioned master-slave mode electromechanical servo cooperative motion control system, first sliding bearing and actuator
Matching for shell is combined into Φ 38G7/e6；Second sliding bearing and matching for feed screw nut are combined into Φ 26E7/h6；The maximum of ball-screw
Load is 40.4~101kN.
In a kind of above-mentioned master-slave mode electromechanical servo cooperative motion control system, it is characterised in that：The main execution machine
Structure and from executing agency include permanent magnet synchronous motor, the permanent magnet synchronous electric acc power be 8-12kw.
The present invention has the following advantages that compared with prior art：
(1) present invention proposes a kind of master-slave mode electromechanical servo system innovation scheme, is only realized using a bus website
Two channel SERVO CONTROLs, compared with previous product, the advantages of using master and slave pattern is on the one hand to have high power mass ratio, empty
Between compact in design, conducive to being installed on bullet, while the independence of drive part may be implemented, is conducive to electromagnetic Compatibility Design；Simultaneously
Product cost is moderate, meets the requirement of certain model servo-drive system；
(2) present invention realizes master-slave mode cooperative motion control technology, system set control system bus command, the main work
Dynamic device displacement of the lines feedback calculates two starts of principal and subordinate in real time from signals such as actuator displacement of the lines feedbacks according to jet pipe swing angle
The corresponding collapsing length of device adjusts the accelerated factor and the acceleration factor of principal and subordinate's movement locus in real time, and then realizes that principal and subordinate makees
The real time kinematics trajectory planning of dynamic device, by instructing hinge coupling and Uncoupling Control Based to export main actuator instruction letter in real time
Number, and be sent in real time from SERVO CONTROL driver by dual-redundant CAN bus communication, master-slave servo control driver passes through electricity
Machine space vector control algorithm completes the inversion control to DC power supply on bullet, drives servo motor output mechanical power, servo
Motor drives electromechanical transmission mechanism to do work load, to complete the purpose of thruster vector control, and realizes the stringent synchronization of principal and subordinate
Cooperative motion controls, and then solves the skill for causing the super pendulum of jet pipe in turn result in nozzle structure damage using two channel independent controls
Art problem；
(3) present invention in electromechanical actuator electromechanical actuator include actuator shell, feed screw nut, the first sliding bearing,
Second sliding bearing, the General layout Plan of electromechanical actuator make great efforts to implement lighting, Miniaturization Design guiding theory, pass through
Optimize electromechanical actuator topology layout, structure design has the characteristics that compact-sized, transmission is succinct, assembling and setting is simple, carrying
High product performance, reliability, usability, craftsmanship etc. key design, reduce the manufacture difficulty of product, the production cycle and
Cost；
(4) electromechanical servo system actuator uses ball screw assembly, driving form, nut bidirectional rotation, motor in the present invention
Output shaft inserts in leading screw hollow shaft, drives screw synchronous rotation, ball-screw to make straight reciprocating motion by flat key.Nut
By the ball-screw spring bearing support used in pairs, it is mounted in the bearing block of actuator shell, wherein ball-screw supports
Bearing uses back-to-back installation form, inner ring using bearing lock nut by bearing pre-tightened, outer ring by circlip for hole into
Row axial restraint.When design, rub to the radial beat eccentricity of rotor bearing clearance, dynamic balancing and ball screw assembly, startup
Torque, dynamic pre-tighten the factors such as torque ripple, tail and carry out complex optimum, avoid the occurrence of ball screw assembly, stuck phenomenon；And it fills
Divide and utilize ball-screw high bearing capacity, carries out ball-screw overload capacity verification test, reach it in 3~5 times of overload conditions
Lower use, to realize the lightweight miniaturization of electromechanical servo drive mechanism.
Description of the drawings
Fig. 1 is that master-slave mode electromechanical servo system scheme of the present invention constitutes block diagram substantially；
Fig. 2 is electromechanical actuator structural schematic diagram of the present invention.
Specific implementation mode
The present invention is described in further detail in the following with reference to the drawings and specific embodiments：
Main servo control driver main working tasks are all kinds of instructions for receiving control system and sending out, and are receiving control
It is generated after system bus message and interrupts and enter interrupt service routine, execute the various operations that bus protocol requires；And by double
Redundant CAN bus communication inquires whether receive new CAN message in Interruption service routine, and real-time reception is from servo control
Driver processed and operating status from actuator, main servo control driver set control system bus command, main actuator line
Displacement Feedback calculates two actuator of principal and subordinate in real time from signals such as actuator displacement of the lines feedbacks according to required jet pipe swing angle
Corresponding collapsing length, the accelerated factor and the acceleration factor for adjusting principal and subordinate's movement locus in real time realize principal and subordinate's actuator in turn
Real time kinematics trajectory planning, and by instruct hinge coupling and Uncoupling Control Based export main actuator command signal in real time,
And be sent in real time from SERVO CONTROL driver by dual-redundant CAN bus communication, master-slave servo controls driver according in real time
Movement locus instruction realizes servo-drive system closed-loop control, sends servo-drive system status information to bus system and telemetry system.
Block diagram is constituted substantially for master-slave mode electromechanical servo system scheme as shown in Figure 1, as seen from the figure, a kind of master-slave mode machine
Electric servo cooperative motion control system, servo power power supply, control system, main servo control driver, are driven from SERVO CONTROL
Device, main actuating mechanism and from executing agency；
Servo power power supply：Respectively main servo controls driver, provides power supply from SERVO CONTROL driver；
Control system：After the power is turned on, output control instruction to main servo controls driver；Receive main servo control driver hair
The telemetry sent, the telemetry include main stator voltage analog signal, main stator current analog signal, main rotor position
Information, from stator voltage analog signal, from stator current analog signal and from rotor position information；
Main servo controls driver：Receive the power supply that servo power power supply provides；The control that control system transmits is received to refer to
It enables, generates main actuating mechanism PWM drive signal, and main actuating mechanism PWM drive signal is sent to main actuating mechanism, simultaneously will
Control instruction is sent to from SERVO CONTROL driver；Receive main stator voltage analog signal, main stator that main actuating mechanism transmits
Current analog signal receives the main rotor position information that main actuating mechanism transmits；Receive transmitted from SERVO CONTROL driver from
Stator voltage analog signal, from stator current analog signal and from rotor position information, and by main stator voltage analog signal, master
Stator current analog signal and main rotor position information, from stator voltage analog signal, from stator current analog signal and from turn
Sub- location information is sent to control system；
Wherein, main servo control driver includes cooperative motion control module, main collection of simulant signal module, main rotor position
Set signal acquisition module and main CAN interface；
Cooperative motion control module：Receive the control instruction that transmits of control system, by main CAN interface be sent to from
The slave CAN interface of SERVO CONTROL driver, while generating main actuating mechanism PWM drive signal, and by main actuating mechanism PWM
Drive signal is sent to main actuating mechanism；The main stator voltage analog signal that main collection of simulant signal module transmits is received with main to determine
Electron current analog signal；Receive the main rotor position information that main rotor position signal acquisition module transmits；It receives from SERVO CONTROL
Slave stator voltage analog signal that driver transmits, from stator current analog signal and from rotor position information；By main stator electricity
Press analog signal, main stator current analog signal, main rotor position information, from stator voltage analog signal, from stator current mould
Intend signal and is sent to control system from rotor position information；
Main collection of simulant signal module：Receive the main stator voltage analog signal and main stator electric current that main actuating mechanism transmits
Analog signal, and main stator voltage analog signal and main stator current analog signal are sent to cooperative motion control module；
Main rotor position signal acquisition module：Receive the main rotor position information that transmits of main actuating mechanism, and by main rotor
Location information is sent to cooperative motion control module.
From SERVO CONTROL driver：Receive the power supply that servo power power supply provides；Main servo control driver is received to transmit
Control instruction, and generate from executing agency's PWM drive signal, and will be sent to from executing agency's PWM drive signal from execution
Mechanism；It receives the slave stator voltage analog signal transmitted from executing agency, believe from stator current analog signal and from rotor-position
Breath, and will from stator voltage analog signal, main servo control is sent to from stator current analog signal and from rotor position information
Driver；
Include motion-control module, acquired from collection of simulant signal module, rotor-position signal from SERVO CONTROL driver
Module and from CAN interface；
Motion-control module：The control instruction that driver transmits is controlled by receiving main servo from CAN interface, and raw
At from executing agency's PWM drive signal, and will be sent to from executing agency's PWM drive signal from executing agency；It receives from simulation
Slave stator voltage analog signal that signal acquisition module transmits, from stator current analog signal；Reception is adopted from rotor-position signal
The slave rotor position information that collection module transmits；Will from stator voltage analog signal, from stator current analog signal and from rotor position
Confidence breath controls driver by being sent to main servo from CAN interface；
From collection of simulant signal module：Receive the slave stator voltage analog signal that is transmitted from executing agency and from stator current
Analog signal, and motion-control module will be sent to from stator voltage analog signal and from stator current analog signal；
From rotor-position signal acquisition module：The slave rotor position information transmitted from executing agency is received, and will be from rotor
Location information is sent to motion-control module.
Main actuating mechanism：The main actuating mechanism PWM drive signal that main servo control driver transmits is received, and is held according to master
Row mechanism PWM drive signal carries out closed loop moving control, generate main stator voltage analog signal, main stator current analog signal and
Main rotor position information；And main stator voltage analog signal, main stator current analog signal and main rotor position information are sent
Extremely from SERVO CONTROL driver；
From executing agency：Receive transmitted from SERVO CONTROL driver from executing agency's PWM drive signal, and according to from holding
Row mechanism PWM drive signal carries out closed loop moving control, generate from stator voltage analog signal, from stator current analog signal and
From rotor position information；And it will be sent from stator voltage analog signal, from stator current analog signal and from rotor position information
Extremely from SERVO CONTROL driver.
Main actuating mechanism and from executing agency include permanent magnet synchronous motor, the permanent magnet synchronous electric acc power be 8-
12kw。
Electromechanical actuator uses straight line integrated drive mechanism scheme, with compact-sized, transmission is succinct, drive gap
It is small, the features such as assembling and setting is simple.Electromechanical actuator is mainly by permanent magnet synchronous servo motor, rotary transformer, ball-screw, line
The compositions such as displacement sensor and front and back connecting lugs.
The components such as actuator, electrical source of power, servo motor, existing invention relate to or have off-the-shelf, can do
For the component or a part of the present invention.
It is illustrated in figure 2 electromechanical actuator structural schematic diagram, as seen from the figure, main actuating mechanism and from executing agency includes
Electromechanical actuator；The electromechanical actuator includes ball-screw 1, feed screw nut 2, leading screw support 3, attachment screw 4, actuator shell
Body 5, operating bar 6, support ring 7, the first sliding bearing 8, drive end bearing bracket 9 and the second sliding bearing 10；Wherein, actuator shell 5 is
The shell of electromechanical actuator, ball-screw 1 are axially located in the shaft core position of actuator shell 5；The outer wall of 1 one end of ball-screw
It is connect with 5 inner wall of actuator shell by leading screw support 3, the back-to-back installation composition leading screw support 3 of angular contact ball bearing, in side
Ball-screw 1 is supported, while operating bar 6 is linked together by span and feed screw nut 2 and supports feed screw nut 2, meanwhile, start
Bar 6 and the sliding bearing of drive end bearing bracket 9 constitute other Auxiliary support.Actuator innovative point is two supports with certain span
Ring 7 and the support outer diameter that actuator shell 5 is constituted are bigger than 5 internal diameter of actuator shell, practical two support rings 7 and cylinder
Shell 5 is in contact, and operating bar 6 is not contacted with actuator shell 5, can reduce friction area in this way, and span support also has energy
The characteristics of bearing radial load；The other end outer wall of ball-screw 1 by the first sliding bearing 8 with 5 other end of actuator shell
Inner wall connects；Drive end bearing bracket 9 is fixedly mounted in the axially outer side of the first sliding bearing 8；Feed screw nut 2 is sleeved on ball-screw
The outer wall at 1 axial middle part；Second sliding bearing 10 is sleeved on the axial outer wall of feed screw nut 2, and the second sliding bearing 10 passes through company
Screw 4 is connect to be fixedly connected with feed screw nut 2；Operating bar 6 is sleeved on one end outer wall of ball-screw 1 in an axial direction, and stretches out start
Device shell 5；One end that operating bar 6 gos deep into actuator shell 5 is fixedly connected with support ring 7.
Wherein, the first sliding bearing 8 is combined into Φ 38G7/e6 with matching for actuator shell 5；Second sliding bearing 10 and leading screw
Matching for nut 2 is combined into Φ 26E7/h6；The maximum load of ball-screw 1 is 40.4~101kN.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (4)
1. a kind of master-slave mode electromechanical servo cooperative motion control system, it is characterised in that：Including servo power power supply, control system
System, main servo control driver, from SERVO CONTROL driver, main actuating mechanism and from executing agency；
Servo power power supply：Respectively main servo controls driver, provides power supply from SERVO CONTROL driver；
Control system：After the power is turned on, output control instruction to main servo controls driver；Receive what main servo control driver was sent
Telemetry, the telemetry include main stator voltage analog signal, main stator current analog signal, main rotor position letter
Breath, from stator voltage analog signal, from stator current analog signal and from rotor position information；
Main servo controls driver：Receive the power supply that servo power power supply provides；The control instruction that control system transmits is received, it is raw
It is sent to main actuating mechanism at main actuating mechanism PWM drive signal, and by main actuating mechanism PWM drive signal, while will control
Instruction is sent to from SERVO CONTROL driver；Receive main stator voltage analog signal, main stator electric current that main actuating mechanism transmits
Analog signal receives the main rotor position information that main actuating mechanism transmits；Receive the slave stator transmitted from SERVO CONTROL driver
Voltage analog signal, from stator current analog signal and from rotor position information, and by main stator voltage analog signal, main stator
Current analog signal and main rotor position information, from stator voltage analog signal, from stator current analog signal and from rotor position
Confidence breath is sent to control system；
From SERVO CONTROL driver：Receive the power supply that servo power power supply provides；Receive the control that main servo control driver transmits
System instruction, and generate from executing agency's PWM drive signal, and will be sent to from executing agency's PWM drive signal from executing agency；
Receive the slave stator voltage analog signal transmitted from executing agency, from stator current analog signal and from rotor position information, and
Main servo control driving will be sent to from stator voltage analog signal, from stator current analog signal and from rotor position information
Device；
Main actuating mechanism：The main actuating mechanism PWM drive signal that main servo control driver transmits is received, and according to main execution machine
Structure PWM drive signal carries out closed loop moving control, generates main stator voltage analog signal, main stator current analog signal and master and turns
Sub- location information；And by main stator voltage analog signal, main stator current analog signal and main rotor position information be sent to from
SERVO CONTROL driver；
From executing agency：Receive transmitted from SERVO CONTROL driver from executing agency's PWM drive signal, and according to from execute machine
Structure PWM drive signal carry out closed loop moving control, generate from stator voltage analog signal, from stator current analog signal and from turn
Sub- location information；And will be sent to from stator voltage analog signal, from stator current analog signal and from rotor position information from
SERVO CONTROL driver；
The main servo control driver includes cooperative motion control module, main collection of simulant signal module, main rotor position
Signal acquisition module and main CAN interface；
Cooperative motion control module：The control instruction that control system transmits is received, is sent to from servo by main CAN interface
The slave CAN interface of driver is controlled, while generating main actuating mechanism PWM drive signal, and main actuating mechanism PWM is driven
Signal is sent to main actuating mechanism；Receive the main stator voltage analog signal and main stator electricity that main collection of simulant signal module transmits
Flow field simulation signal；Receive the main rotor position information that main rotor position signal acquisition module transmits；It receives and is driven from SERVO CONTROL
Slave stator voltage analog signal that device transmits, from stator current analog signal and from rotor position information；By main stator voltage-mode
Quasi- signal, main stator current analog signal, main rotor position information, from stator voltage analog signal, simulate and believe from stator current
Number and be sent to control system from rotor position information；
Main collection of simulant signal module：Receive the main stator voltage analog signal and main stator current analog that main actuating mechanism transmits
Signal, and main stator voltage analog signal and main stator current analog signal are sent to cooperative motion control module；
Main rotor position signal acquisition module：Receive the main rotor position information that transmits of main actuating mechanism, and by main rotor position
Information is sent to cooperative motion control module；
The slave SERVO CONTROL driver includes motion-control module, is adopted from collection of simulant signal module, rotor-position signal
Collect module and from CAN interface；
Motion-control module：Control the control instruction that transmits of driver by receiving main servo from CAN interface, and generate from
Executing agency's PWM drive signal, and will be sent to from executing agency's PWM drive signal from executing agency；It receives from analog signal
Slave stator voltage analog signal that acquisition module transmits, from stator current analog signal；It receives from rotor-position signal and acquires mould
The slave rotor position information that block transmits；It will believe from stator voltage analog signal, from stator current analog signal and from rotor-position
Breath controls driver by being sent to main servo from CAN interface；
From collection of simulant signal module：It receives the slave stator voltage analog signal transmitted from executing agency and is simulated from stator current
Signal, and motion-control module will be sent to from stator voltage analog signal and from stator current analog signal；
From rotor-position signal acquisition module：The slave rotor position information transmitted from executing agency is received, and will be from rotor-position
Information is sent to motion-control module；
The main actuating mechanism and include electromechanical actuator from executing agency；The electromechanical actuator includes ball-screw
(1), feed screw nut (2), leading screw support (3), attachment screw (4), actuator shell (5), operating bar (6), support ring (7), the
One sliding bearing (8), drive end bearing bracket (9) and the second sliding bearing (10)；Wherein, actuator shell (5) is the shell of electromechanical actuator
Body, ball-screw (1) are axially located in the shaft core position of actuator shell (5)；The outer wall of ball-screw (1) one end passes through leading screw
Support (3) is connect with actuator shell (5) inner wall；The other end outer wall of ball-screw (1) by the first sliding bearing (8) with
Actuator shell (5) other end inner wall connects；Drive end bearing bracket (9) is fixedly mounted in the axially outer side of the first sliding bearing (8)；
Feed screw nut (2) is sleeved on the outer wall at the axial middle part of ball-screw (1)；Second sliding bearing (10) is sleeved on feed screw nut (2)
Axial outer wall, the second sliding bearing (10) is fixedly connected by attachment screw (4) with feed screw nut (2)；Operating bar (6) is along axis
To being sleeved on one end outer wall of ball-screw (1), and stretch out actuator shell (5)；Operating bar (6) gos deep into actuator shell (5)
One end be fixedly connected with support ring (7).
2. a kind of master-slave mode electromechanical servo cooperative motion control system according to claim 1, it is characterised in that：The silk
Thick stick supports (3) to be made of the back-to-back installation of two angular contact ball bearings.
3. a kind of master-slave mode electromechanical servo cooperative motion control system according to claim 1, it is characterised in that：Described
First sliding bearing (8) is combined into Φ 38G7/e6 with matching for actuator shell (5)；Second sliding bearing (10) and feed screw nut (2)
With being combined into Φ 26E7/h6；The maximum load of ball-screw (1) is 40.4~101kN.
4. a kind of master-slave mode electromechanical servo cooperative motion control system according to claim 1, it is characterised in that：Described
Main actuating mechanism and from executing agency include permanent magnet synchronous motor, the permanent magnet synchronous electric acc power be 8-12kw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839682.4A CN106411206B (en) | 2016-09-21 | 2016-09-21 | A kind of master-slave mode electromechanical servo cooperative motion control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839682.4A CN106411206B (en) | 2016-09-21 | 2016-09-21 | A kind of master-slave mode electromechanical servo cooperative motion control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106411206A CN106411206A (en) | 2017-02-15 |
| CN106411206B true CN106411206B (en) | 2018-08-31 |
Family
ID=57998102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839682.4A Active CN106411206B (en) | 2016-09-21 | 2016-09-21 | A kind of master-slave mode electromechanical servo cooperative motion control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106411206B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926238B (en) * | 2017-02-16 | 2019-06-14 | 香港理工大学深圳研究院 | The cooperative control method and device of multi-redundant mechanical arm system based on impact degree |
| CN109774918B (en) * | 2019-03-19 | 2024-03-29 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle |
| CN110597308A (en) * | 2019-09-06 | 2019-12-20 | 北京精密机电控制设备研究所 | Servo device |
| CN110752791A (en) * | 2019-10-28 | 2020-02-04 | 北京动力机械研究所 | Position real-time synchronous control system and method for one-driving-three actuating device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203930440U (en) * | 2014-06-16 | 2014-11-05 | 福建睿能科技股份有限公司 | Machine control equipment and drive unit thereof |
| CN104554711A (en) * | 2014-09-12 | 2015-04-29 | 北京精密机电控制设备研究所 | Aerodynamic control servo system for controlling load tilt angle of aerial rudder of aircraft |
| CN204536862U (en) * | 2015-02-17 | 2015-08-05 | 北京精密机电控制设备研究所 | The electromechanical servo system of thruster vector control |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003323717A (en) * | 2002-05-02 | 2003-11-14 | Pioneer Electronic Corp | Information recording and reproducing device and method |
-
2016
- 2016-09-21 CN CN201610839682.4A patent/CN106411206B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203930440U (en) * | 2014-06-16 | 2014-11-05 | 福建睿能科技股份有限公司 | Machine control equipment and drive unit thereof |
| CN104554711A (en) * | 2014-09-12 | 2015-04-29 | 北京精密机电控制设备研究所 | Aerodynamic control servo system for controlling load tilt angle of aerial rudder of aircraft |
| CN204536862U (en) * | 2015-02-17 | 2015-08-05 | 北京精密机电控制设备研究所 | The electromechanical servo system of thruster vector control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106411206A (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106411206B (en) | A kind of master-slave mode electromechanical servo cooperative motion control system | |
| CN106787414B (en) | A kind of integrated electromechanical servo acting device of high power density | |
| CN105990951A (en) | Roller screw electromechanical actuator | |
| CN205383949U (en) | Linkage structure of airvane and jet vane | |
| RU2012132329A (en) | Convert | |
| CN107399431B (en) | Applied to the motor and reducer integrated device and its control method on electric drive helicopter tail rotor | |
| CN103879555A (en) | Electrically driven helicopter tail rotor transmission system | |
| CN103346638A (en) | Disc-type motor | |
| CN204536862U (en) | The electromechanical servo system of thruster vector control | |
| CN103346639A (en) | Novel permanent magnet motor | |
| CN103107673A (en) | Period reciprocating magnetic edgy current shaft coupling | |
| CN102883950B (en) | With the propelling motor of rotor | |
| CN201623614U (en) | Eddy current damper for airplane joystick control system | |
| CN104617724A (en) | Concentric same-direction double-shaft brushless motor | |
| CN107628257B (en) | Control system of motor reducer integrated structure of helicopter tail rotor | |
| CN104354870A (en) | Electronic direct-drive type stroke oar component for hybrid-power helicopter and helicopter | |
| CN104772759A (en) | Bionic muscle flexible actuator | |
| CN205423610U (en) | Centrifugal clutch and use its washing machine | |
| CN202622817U (en) | External structure for steering engine | |
| CN211810308U (en) | High-precision electromagnetic clutch type variable inertia reaction flywheel | |
| CN207280304U (en) | A kind of scout missile steering gear control system | |
| CN201395245Y (en) | Helicopter powered with electricity | |
| CN204433036U (en) | Without bulge aircraft aileron structure | |
| CN209795813U (en) | Electric actuator based on high-speed rotary aircraft | |
| CN202863758U (en) | Steering engine with angle information feedback function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |