CN109375008A - A kind of electromagnetic lock working state detecting method - Google Patents
A kind of electromagnetic lock working state detecting method Download PDFInfo
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- CN109375008A CN109375008A CN201811170322.5A CN201811170322A CN109375008A CN 109375008 A CN109375008 A CN 109375008A CN 201811170322 A CN201811170322 A CN 201811170322A CN 109375008 A CN109375008 A CN 109375008A
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- electromagnetic lock
- current
- detecting method
- working state
- state detecting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
Abstract
The present invention relates to a kind of electromagnetic lock working state detecting method, including hardware detection and software parameter identification, the parameter is the rotor position of motor and the torque current I of motorq, the hardware detection is the electromagnetic lock coil working current detection circuit detected based on Hall or the isolated electromagnetic lock coil working voltage detecting circuit to be acquired based on voltage optical isolation.
Description
Technical field
The present invention relates to a kind of electromagnetic lock working state detecting method, the electromagnetic lock is applied to missile armament, aviation is led
Domain, electric car field, industrial robot field, the target of the working condition detection are reliable opening or positive lock.
Background technique
In the missile armament for having airvane, to guarantee airvane, its rudder face will not in hanging winged stage or haulage stage
It deflects, electromagnetic lock usually is added in servo actuator motor shaft one end, by electromagnetic lock locking motor shaft, reach locking and make
The purpose of dynamic device output.Common electromagnetic lock is divided into friction disk type or two kinds of bolt-type.Wherein, friction disk type electromagnetic lock is in electromagnetism
In the case that lock can not be opened normally, servo actuator remains to continue working, but its reduced performance, therefore, in reliability requirement
Friction disk type electromagnetic lock using more in higher missile armament.
Since friction disk type electromagnetic lock dynamic friction disk stroke is smaller, it is usually less than 1mm, accordingly, with respect to bolt-type electricity
Magnetic padlock, friction disk type electromagnetic lock are difficult to directly acquire the working condition of electromagnetic lock by position sensor, that is, sense until passing through
Whether reliably device can not judge the friction disk type electromagnetic lock opening or positive lock.
Summary of the invention
(1) technical problems to be solved
Based on above-mentioned deficiency in the prior art, the present invention proposes a kind of electromagnetic lock working state detecting method, the side
Method effectively detects the working condition of electromagnetic lock using the method that hardware detection and software parameter identification combine.Wherein, described hard
Part detection is detected to the control circuit of electromagnetic lock or the electric part parameter of power supply circuit, and the software parameter identification is
Whether detection electromagnetic lock mechanical part locking torque reaches target value.
(2) technical solution
A kind of electromagnetic lock working state detecting method, including hardware detection and software parameter identification, the parameter are motor
Rotor position and motor torque current Iq, software parameter identification the following steps are included:
Step 1: receiving electromagnetic lock locking torque detection instruction；
Step 2: after delay t1 seconds, by speed ring integration amount zero setting, in torque current IqTorque electricity is added in closed loop input terminal
Flow disturbance amountAnd continue t2 seconds；Wherein, t1 and t2 is integer and t2 is greater than t1；
Step 3: within the t2 time, real-time detection servo motor motor rotor position θ and torque current Iq, and judge electromagnetism
Lock working condition；
Step 4: speed ring integration amount is restored, removes torque current disturbance quantity by feedback electromagnetic lock work state information
A kind of mode: the hardware detection is the electromagnetic lock coil working current detection circuit detected based on Hall, including
Coil current detection circuit and electromagnetic lock coil current signal conditioning circuit in electromagnetic lock.
Another way: the hardware detection is the isolated electromagnetic lock coil working voltage acquired based on voltage optical isolation
Detection circuit, including voltage isolation picking circuit, instrument amplifier circuit, isolation power supply circuit.
(3) beneficial effect
A kind of electromagnetic lock working state detecting method of the invention is combined using hardware detection and software parameter identification
Method effectively detects the working condition of electromagnetic lock.Wherein, the hardware detection is the control circuit or power supply circuit to electromagnetic lock
Electric part parameter detected, software parameter identification is the rotor-position and electromagnetic lock mechanical part lock for detecting motor
Determine whether torque reaches target value.
1, using disturbance quantityAnd indirect modification torque current given value IqrefThere is following advantage: guaranteeing disturbance quantityBy
When the reasons such as software run-time error can not normally be removed, the operation with closed ring of servo-system is not influenced；Since disturbance quantity acts on
Time is shorter, and generally ms grades, it is ensured that once electromagnetic lock lockout failure occurs in detection process, tested airvane rudder face only can
There are small sway, generally less than 0.1 °, larger swing will not occur, the other structures for playing equipment with body and load is avoided to anticipate
Outer collision.
2, hardware detecting circuit miniaturization, high-precision, closed loop.
3, it can be detected the working condition of electromagnetic lock without using complicated bulky locking torque test fixture,
This method is non-destructive testing, needs not worry about the structure of damage rudder face, also haves no need to change original position of rudder face.
Detailed description of the invention
Electromagnetic lock coil current detection circuit schematic diagram Fig. 1 of the invention.
Electromagnetic lock coil current signal conditioning circuit schematic diagram Fig. 2 of the invention.
Voltage isolation picking circuit diagram in Fig. 3 present invention.
Instrument amplifier circuit schematic diagram in Fig. 4 present invention.
Isolation power supply circuit schematic diagram in Fig. 5 present invention.
Electromagnetic lock Fig. 6 of the invention locks torque measuring method timing diagram.
Torque current measured value I when electromagnetic lock locking torque Fig. 7 of the invention is normalqTiming diagram.
Torque current measured value I when electromagnetic lock Fig. 8 of the invention locks torque exceptionqTiming diagram.
Motor rotor position measured value θ timing diagram when electromagnetic lock locking torque Fig. 9 of the invention is normal.
Motor rotor position measured value θ timing diagram when electromagnetic lock Figure 10 of the invention locks torque exception.
Specific embodiment
A kind of electromagnetic lock working state detecting method of the invention, including hardware detection and software parameter identification, the ginseng
Number is the rotor position of motor and the torque current I of motorq, software parameter identification the following steps are included:
Step 1: receiving electromagnetic lock locking torque detection instruction；
Step 2: after delay t1 seconds, by speed ring integration amount zero setting, in torque current IqTorque electricity is added in closed loop input terminal
Flow disturbance amountAnd continue t2 seconds；Wherein, t1 and t2 is integer and t2 is greater than t1；
Step 3: within the t2 time, real-time detection servo motor motor rotor position θ and torque current Iq, and judge electromagnetism
Lock working condition；
Step 4: speed ring integration amount is restored, removes torque current disturbance quantity by feedback electromagnetic lock work state information
The judgement include: be no more than fixed critical value within the above-mentioned t2 time as servo motor motor rotor position θ, and
And torque current IqIt is maintained at torque current disturbance quantityWhen, determine that electromagnetic lock locking torque is normal；When servo motor motor turns
Sub- position θ is more than to fix critical value, and torque current I within the above-mentioned t2 timeqLower than torque current disturbance quantityWhen, determine
It is abnormal that electromagnetic lock locks torque；Wherein, the fixed critical value opens or closes critical state institute in electromagnetic lock for rotor
The motor rotor position angle value having.
Embodiment 1: the hardware detection is the electromagnetic lock coil working current detection circuit detected based on Hall, including electricity
Coil current detection circuit and electromagnetic lock coil current signal conditioning circuit in magnetic padlock, specific:
Referring to Fig. 1, the coil current detection circuit in electromagnetic lock includes: electromagnetic lock power supply module, electromagnetic lock coil, electric current
Sensor, wherein the input terminal of the output end connection electromagnetic lock coil of electromagnetic lock power supply module, the output end of electromagnetic lock coil connect
It is connected to current sensor, the output end of electromagnetic lock power supply module is also connected to current sensor, and current sensor exports electromagnetic lock
Current detection value.Wherein, the current sensor is the GO 10-SME type current sensor of LEM company, when electromagnetic lock is normally beaten
When opening, that is, there is electric current to flow through the current sensor, the current value is equal with electromagnetic lock coil current value, can pass by the electric current
The current value of electromagnetic lock coil is converted to the voltage signal of exportable detection by sensor.The coil current detection circuit is using suddenly
Current signal is converted to voltage signal mutually isolated therewith by your principle, and corresponding relationship is that 1A corresponds to 80mV, detection range-
25A to 25A, detection accuracy are no more than 1%.
Referring to fig. 2, electromagnetic lock coil current signal conditioning circuit, by the voltage signal of the 0-5V of current sensor output
The voltage signal of 0-3V is converted to, and the voltage signal of the 0-3V after converting is input to acquisition range and is controlled into the DSP of 0-3V
In the A/D acquisition port of chip.The coil current signal conditioning circuit includes that two rail-to-rail double operations being sequentially connected in series are put
Big device, the first operational amplifier form a voltage follower, play the role of caching, and second operational amplifier forms a partial pressure
Circuit, effect are the voltage signals that the voltage signal of 0-5V is converted to 0-3V.The rail-to-rail dual operational amplifier is
AD8692。
Embodiment 2: the hardware detection is the isolated electromagnetic lock coil working voltage inspection acquired based on voltage optical isolation
Slowdown monitoring circuit, including voltage isolation picking circuit, instrument amplifier circuit, isolation power supply circuit.It is specific:
Referring to Fig. 3, voltage isolation picking circuit will be as the electromagnetic lock current supply circuit of primary side and the electromagnetic lock as secondary side
Supply voltage acquisition circuit is kept apart, and the ratio of primary side input voltage and secondary side output voltage is 1.The voltage isolation picking electricity
Road includes optical isolation amplifier, includes sigma-delta AD converter, optocoupler and sigma- in the optical isolation amplifier
Primary side input analog signal is converted to digital signal and is passed to by optocoupler by delta D/A converter, the optical isolation amplifier
The isolation of signal is realized on secondary side, and the digital signal on secondary side is converted to analog signal output again later.The optical isolation amplifier
For the ACPL-C87A-500E type of AVAGO company.
Referring to fig. 4, the differential signal that optical isolation amplifier exports is converted to single-ended signal by instrument amplifier circuit, defeated
Enter into the A/D acquisition port of the acquisition range 0-3V of DSP control chip.The amplification factor of instrument amplifier is 1.5, and instrument is put
Big device is the AD623 of AD company.
Referring to Fig. 5, power supply circuit is isolated, mutually isolated power supply is provided for primary and secondary side, power input is adopted
With the 5V power supply of control loop, power output end and primary side and electromagnetic lock power supply are altogether.The isolated power supply is Murata
The 5V of company turns 5V, DC/DC power module MEE3S0505SC.
In the software parameter identification, the process for choosing identified parameters is as follows:
Motor torque TeEquation it is as shown in formula 1:
Te=TL+Tf, (1)
Wherein: TLTorque is locked for electromagnetic lock；TfFor actuator moment of friction, main rubbing by actuator transmission mechanism
The location torque composition for wiping torque and motor, for identical actuator, TfFor a fixed value.
Electromagnetic torque and motor torque electric current are as shown in formula 2:
Te=CT×Iq, (2)
Wherein: CTFor the torque coefficient of motor, for same motor, CTFor a fixed value；IqFor motor torque practical measurement of current
Value, is calculated by the actual measurement phase current of motor and the actual measurement rotor angle of motor by coordinate transform；
By formula 1 and formula 2, formula 3 is obtained:
CT×Iq-Tf=TL, (3)
Wherein, TfAnd CTFor fixed value.
In detection process, by the way that torque current disturbance quantity is added in current of electric closed loop input terminalAnd detect rotor
Whether rotation come judge electromagnetic lock lock torque TLWhether design objective is reached, by torque current disturbance quantity after detection
Remove, as shown in formula 4:
Wherein: IqrefFor motor torque given value of current value, torque given value of current under current of electric closed loop normal operation
Value IqrefWith torque current measured value IqIt is approximately equal；For the torque current disturbance quantity applied in detection process；Closely
Seemingly it is equivalent to electromagnetic lock locking torque required value.
According to formula 4, if electromagnetic lock locks, torque is smaller or electromagnetic lock is since failure leads to not locking motor shaft,Rotor due to the driving of electromagnetic force will generate with the equidirectional rotation of electromagnetic force,
The torque of electromagnetic lock locking simultaneously becomes kinetic force of friction from stiction, and frictional force further becomes smaller, and calculates in corresponding current closed loop
Obtained torque current IqAlso it can therefore reduce, pass through the rotor position of identifying motor and the torque current I of motor at this timeq?
Whether normal detect electromagnetic lock locking torque.I.e. identified parameters are the rotor position of motor and the torque current I of motorq。
Referring to Fig. 6-10, the parameter identification specific implementation process is as follows:
By taking certain model is airborne as an example, actuator moment of friction TfFor 1Nm, motor torque coefficient CTIt is 0.26, motor force
Square TeFor 3.5Nm, the locking torque T of electromagnetic lock under normal operating conditionsLHave not less than 2.5Nm, motor rotor position θ and fixes
1 ° of critical value, which opens or closes motor rotor position possessed by critical state in electromagnetic lock for rotor
Angle value.
Parameter identification process when to electromagnetic lock working condition detection: electromagnetic lock locking torque detection instruction is received
Afterwards, it by speed ring integration amount zero setting, is delayed after 1s in torque current IqThe torque electricity that current value is 13.5A is added in closed loop input terminal
Flow disturbance amountAnd continue 2s, and within the 2s time, real-time detection servo motor motor rotor position θ and torque current Iq, and sentence
Power off magnetic padlock working condition: referring to Fig. 7 and Fig. 9, when servo motor motor rotor position θ is no more than 1 ° within the above-mentioned 2s time,
And torque current IqWhen being maintained at 13.5A, determine that electromagnetic lock locking torque is normal.Referring to Fig. 8 and Figure 10, when servo motor electricity
Machine rotor position θ within the above-mentioned 2s time more than 1 °, and torque current IqWhen lower than 13.5A, determine that electromagnetic lock locks torque
It is abnormal.
After the above-mentioned 2s time, by torque current disturbance quantityRemove, and speed ring integration amount is restored, while is anti-
It feeds magnetic padlock and locks torque state.
Claims (14)
1. a kind of electromagnetic lock working state detecting method, it is characterised in that: recognized including hardware detection and software parameter, the ginseng
Number is the rotor position of motor and the torque current I of motorq, software parameter identification the following steps are included:
Step 1: receiving electromagnetic lock locking torque detection instruction；
Step 2: after delay t1 seconds, by speed ring integration amount zero setting, in torque current IqTorque current disturbance is added in closed loop input terminal
AmountAnd continue t2 seconds；Wherein, t1 and t2 is integer and t2 is greater than t1；
Step 3: within the t2 time, real-time detection servo motor motor rotor position θ and torque current Iq, and judge electromagnetic lock work
Make state；
Step 4: speed ring integration amount is restored, removes torque current disturbance quantity by feedback electromagnetic lock work state information
2. a kind of electromagnetic lock working state detecting method as described in claim 1, it is characterised in that: the judgement includes: to work as
Servo motor motor rotor position θ is no more than fixed critical value, and torque current I within the above-mentioned t2 timeqIt is maintained at torque
Current disturbing amountWhen, determine that electromagnetic lock locking torque is normal；When servo motor motor rotor position θ surpasses within the above-mentioned t2 time
Cross fixed critical value, and torque current IqLower than torque current disturbance quantityWhen, determine that electromagnetic lock locking torque is abnormal；Its
In, the fixed critical value opens or closes motor rotor position angle possessed by critical state in electromagnetic lock for rotor
Value.
3. a kind of electromagnetic lock working state detecting method as claimed in claim 2, it is characterised in that: the hardware detection is base
In the electromagnetic lock coil working current detection circuit of Hall detection, including the coil current detection circuit and electromagnetic lock in electromagnetic lock
Coil current signal conditioning circuit.
4. a kind of electromagnetic lock working state detecting method as claimed in claim 3, it is characterised in that: the coil electricity in electromagnetic lock
Current detection circuit includes: electromagnetic lock power supply module, electromagnetic lock coil, current sensor, wherein the output of electromagnetic lock power supply module
The input terminal of end connection electromagnetic lock coil, the output end of electromagnetic lock coil are connected to current sensor, electromagnetic lock power supply module
Output end is also connected to current sensor, and current sensor exports electromagnetic lock current detection value；When electromagnetic lock is normally opened, i.e.,
There is electric current to flow through the current sensor, the current value is equal with electromagnetic lock coil current value, can incite somebody to action by the current sensor
The current value of electromagnetic lock coil is converted to the voltage signal of exportable detection.
5. a kind of electromagnetic lock working state detecting method as claimed in claim 4, it is characterised in that: the current sensor is
The GO 10-SME type current sensor of LEM company.
6. a kind of electromagnetic lock working state detecting method as claimed in claim 3, it is characterised in that: electromagnetic lock middle line loop current
The voltage signal of the 0-5V of current sensor output is converted to the voltage signal of 0-3V by signal conditioning circuit, and will be after conversion
0-3V voltage signal be input to acquisition range be 0-3V DSP control chip A/D acquire port in；The coil current
Signal conditioning circuit includes two rail-to-rail dual operational amplifiers being sequentially connected in series, the first operational amplifier formed a voltage with
With device, play the role of caching, second operational amplifier forms a bleeder circuit, and effect is to be converted to the voltage signal of 0-5V
The voltage signal of 0-3V.
7. a kind of electromagnetic lock working state detecting method as claimed in claim 6, it is characterised in that: rail-to-rail double operations
Amplifier is AD8692.
8. a kind of electromagnetic lock working state detecting method as claimed in claim 2, it is characterised in that: the hardware detection is base
In the isolated electromagnetic lock coil working voltage detecting circuit of voltage optical isolation acquisition, including voltage isolation picking circuit, instrument
Amplifier circuit, isolation power supply circuit.
9. a kind of electromagnetic lock working state detecting method as claimed in claim 8, it is characterised in that: the voltage isolation picking
Circuit keeps apart the electromagnetic lock current supply circuit as primary side with the electromagnetic lock supply voltage acquisition circuit as secondary side；It is described
Voltage isolation picking circuit includes optical isolation amplifier, in the optical isolation amplifier include sigma-delta AD converter,
Primary side input analog signal is converted to digital signal simultaneously by optocoupler and sigma-delta D/A converter, the optical isolation amplifier
Secondary side is passed to by optocoupler, realizes the isolation of signal, the digital signal on secondary side is converted into analog signal output again later.
10. a kind of electromagnetic lock working state detecting method as claimed in claim 9, it is characterised in that: the optical isolation amplification
Device is the ACPL-C87A-500E type optical isolation amplifier of AVAGO company.
11. a kind of electromagnetic lock working state detecting method as claimed in claim 8, it is characterised in that: the instrument amplifier
The differential signal that optical isolation amplifier exports is converted to single-ended signal by circuit, is input to the acquisition range 0- of DSP control chip
In the A/D acquisition port of 3V.
12. a kind of electromagnetic lock working state detecting method as claimed in claim 11, it is characterised in that: the instrument amplifier
For the AD623 type instrument amplifier of AD company, amplification factor is 1.5.
13. a kind of electromagnetic lock working state detecting method as claimed in claim 8, it is characterised in that: the isolation power supply electricity
Road, mutually isolated power supply is provided for primary and secondary side, and power input uses the 5V power supply of control loop, power supply output
End and primary side and electromagnetic lock power supply are altogether.
14. a kind of electromagnetic lock working state detecting method as claimed in claim 13, it is characterised in that: the isolated power supply is
The 5V of Murata company turns 5V, DC/DC power module MEE3S0505SC.
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| CN201811170322.5A CN109375008B (en) | 2018-10-09 | 2018-10-09 | Method for detecting working state of electromagnetic lock |
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| CN201811170322.5A CN109375008B (en) | 2018-10-09 | 2018-10-09 | Method for detecting working state of electromagnetic lock |
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