CN109375008B - Method for detecting working state of electromagnetic lock - Google Patents
Method for detecting working state of electromagnetic lock Download PDFInfo
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- CN109375008B CN109375008B CN201811170322.5A CN201811170322A CN109375008B CN 109375008 B CN109375008 B CN 109375008B CN 201811170322 A CN201811170322 A CN 201811170322A CN 109375008 B CN109375008 B CN 109375008B
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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
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Abstract
The invention relates to a method for detecting the working state of an electromagnetic lock, which comprises hardware detection and software parameter identification, wherein the parameters are the rotor position theta of a motor and the torque current I of the motorqAnd the hardware detection is an electromagnetic lock coil working current detection circuit based on Hall detection or an isolated electromagnetic lock coil working voltage detection circuit based on voltage optical isolation acquisition.
Description
Technical Field
The invention relates to a method for detecting the working state of an electromagnetic lock, wherein the electromagnetic lock is applied to the fields of missile weapons, aviation, electric automobiles and industrial robots, and the target of the working state detection is reliable opening or reliable locking.
Background
In the missile weapon with the air rudder, in order to ensure that the control surface of the air rudder cannot deflect in the flying stage or the transportation stage, an electromagnetic lock is usually added at one end of a motor shaft of a servo actuator, and the motor shaft is locked through the electromagnetic lock, so that the aim of locking the output of the actuator is fulfilled. The commonly used electromagnetic lock is divided into a friction plate type or a bolt type. The friction plate type electromagnetic lock can still continuously work under the condition that the electromagnetic lock cannot be normally opened, but the performance of the friction plate type electromagnetic lock is reduced, so that the friction plate type electromagnetic lock is more applied to missile weapons with higher reliability requirements.
Because the friction disc stroke of the friction disc type electromagnetic lock is small and is usually less than 1mm, compared with the bolt type electromagnetic lock, the friction disc type electromagnetic lock is difficult to directly acquire the working state of the electromagnetic lock through a position sensor, namely, the friction disc type electromagnetic lock cannot be reliably opened or reliably locked through a stop sensor.
Disclosure of Invention
Technical problem to be solved
Based on the defects in the prior art, the invention provides a method for detecting the working state of an electromagnetic lock, which effectively detects the working state of the electromagnetic lock by adopting a method combining hardware detection and software parameter identification. The hardware detection is to detect the parameters of the electric part of the control circuit or the power supply circuit of the electromagnetic lock, and the software parameter identification is to detect whether the locking torque of the mechanical part of the electromagnetic lock reaches a target value.
(II) technical scheme
The method for detecting the working state of the electromagnetic lock comprises hardware detection and software parameter identification, wherein the parameters are the rotor position theta of the motor and the torque current I of the motorqThe software parameter identification comprises the following steps:
step 1: receiving a locking torque detection instruction of the electromagnetic lock;
step 2: after a delay of t1 seconds, the integral quantity of the velocity loop is set to zero at the moment current IqAdding torque current disturbance quantity to closed loop input end
And lasts for t2 seconds; wherein t1 and t2 are both integers and t2 is greater than t 1;
and step 3: detecting the rotor position theta and the torque current I of the servo motor in real time within t2 timeqJudging the working state of the electromagnetic lock;
and 4, step 4: feeding back the working state information of the electromagnetic lock, recovering the integral quantity of the speed loop, and removing the disturbance quantity of the torque current
One way is as follows: the hardware detection is an electromagnetic lock coil working current detection circuit based on Hall detection, and comprises a coil current detection circuit in an electromagnetic lock and a coil current signal conditioning circuit in the electromagnetic lock.
In another mode: the hardware detection is an isolated electromagnetic lock coil working voltage detection circuit based on voltage optical isolation collection, and the circuit comprises a voltage isolation collection circuit, an instrument amplifier circuit and an isolation power supply circuit.
(III) advantageous effects
The invention discloses a method for detecting the working state of an electromagnetic lock, which effectively detects the working state of the electromagnetic lock by adopting a method of combining hardware detection and software parameter identification. The hardware detection is to detect the parameters of the electric part of a control circuit or a power supply circuit of the electromagnetic lock, and the software parameter identification is to detect whether the rotor position of the motor and the locking torque of the mechanical part of the electromagnetic lock reach a target value.
1. By disturbance
Instead of directly modifying the given value I of the torque currentqrefThe method has the following advantages: ensure the disturbance amount
When the software cannot be normally removed due to the reasons of software operation errors and the like, the closed-loop operation of a servo system is not influenced; because the disturbance quantity action time is shorter, generally ms level, can guarantee in case the electromagnetic lock locking inefficacy takes place in the testing process, the air rudder control surface of quilt survey only has the micro-swing, generally is less than 0.1, can not take place great swing, avoids taking place unexpected collision with other structures of projectile body and year bullet equipment.
2. The hardware detection circuit is miniaturized, high in precision and closed loop.
3. The working state of the electromagnetic lock can be detected under the condition that a complex and heavy locking torque testing tool is not used, the method is a nondestructive testing method, the structure of the control surface does not need to be damaged, and the original position of the control surface does not need to be changed.
Drawings
FIG. 1 is a schematic diagram of a coil current detection circuit in an electromagnetic lock according to the present invention.
FIG. 2 is a schematic diagram of a coil current signal conditioning circuit in the electromagnetic lock of the present invention.
Fig. 3 is a schematic diagram of a voltage isolated acquisition circuit of the present invention.
Fig. 4 is a schematic diagram of an instrumentation amplifier circuit according to the present invention.
Fig. 5 is a schematic diagram of an isolated power supply circuit of the present invention.
FIG. 6 is a timing diagram illustrating a locking torque detection method of an electromagnetic lock according to the present invention.
FIG. 7 is a diagram showing the measured value of the torque current when the locking torque of the electromagnetic lock of the present invention is normalqA timing diagram.
FIG. 8 is a diagram showing an actual value of the torque current I when the locking torque of the electromagnetic lock of the present invention is abnormalqA timing diagram.
Fig. 9 is a timing chart of the actual measured value θ of the rotor position of the motor when the locking torque of the electromagnetic lock of the present invention is normal.
Fig. 10 is a timing chart of the actual measured value θ of the rotor position of the motor when the locking torque of the electromagnetic lock of the present invention is abnormal.
Detailed Description
The invention discloses a method for detecting the working state of an electromagnetic lock, which comprises hardware detection and software parameter identification, wherein the parameters are the rotor position theta of a motor and the torque current I of the motorqThe software parameter identification comprises the following steps:
step 1: receiving a locking torque detection instruction of the electromagnetic lock;
step 2: after a delay of t1 seconds, the integral quantity of the velocity loop is set to zero at the moment current IqAdding torque current disturbance quantity to closed loop input end
And lasts for t2 seconds; wherein t1 and t2 are both integers and t2 is greater than t 1;
and step 3: detecting the rotor position theta and the torque current I of the servo motor in real time within t2 timeqJudging the working state of the electromagnetic lock;
and 4, step 4: feeding back the working state information of the electromagnetic lock, recovering the integral quantity of the speed loop, and removing the disturbance quantity of the torque current
The judgment comprises the following steps: when the rotor position theta of the servo motor does not exceed a fixed critical value in the time t2, and the torque current IqMaintained at moment current disturbance
Judging that the locking torque of the electromagnetic lock is normal; when the rotor position theta of the servo motor exceeds a fixed critical value within the time t2, and the torque current IqLower than the disturbance amount of moment current
Judging that the locking torque of the electromagnetic lock is abnormal; the fixed critical value is a motor rotor position angle value of the motor rotor in an opening or closing critical state of the electromagnetic lock.
Example 1: hardware detection is electromagnetic lock coil operating current detection circuitry based on hall detection, coil current detection circuitry in the electromagnetic lock and coil current signal conditioning circuit in the electromagnetic lock are specific:
referring to fig. 1, a coil current detection circuit in an electromagnetic lock includes: electromagnetic lock power module, electromagnetic lock coil, current sensor, wherein, the input of electromagnetic lock coil is connected to the output of electromagnetic lock power module, and the output of electromagnetic lock coil is connected to current sensor, and the output of electromagnetic lock power module also is connected to current sensor, and current sensor outputs electromagnetic lock current detection value. The current sensor is a GO 10-SME type current sensor of LEM company, when the electromagnetic lock is normally opened, current flows through the current sensor, the current value is equal to the current value of the coil of the electromagnetic lock, and the current value of the coil of the electromagnetic lock can be converted into a voltage signal capable of being detected through the current sensor. The coil current detection circuit converts a current signal into a voltage signal isolated from the current signal by utilizing a Hall principle, the corresponding relation is that 1A corresponds to 80mV, the detection range is-25A to 25A, and the detection precision does not exceed 1%.
Referring to fig. 2, a coil current signal conditioning circuit in the electromagnetic lock converts a 0-5V voltage signal output by a current sensor into a 0-3V voltage signal, and inputs the converted 0-3V voltage signal into an a/D acquisition port of a DSP control chip with an acquisition range of 0-3V. The coil current signal conditioning circuit comprises two rail-to-rail dual operational amplifiers which are sequentially connected in series, wherein the first operational amplifier forms a voltage follower to play a role of buffering, and the second operational amplifier forms a voltage division circuit to convert a 0-5V voltage signal into a 0-3V voltage signal. The rail-to-rail dual operational amplifier is AD 8692.
Example 2: the hardware detection is an isolated electromagnetic lock coil working voltage detection circuit based on voltage optical isolation collection, and the circuit comprises a voltage isolation collection circuit, an instrument amplifier circuit and an isolation power supply circuit. Specifically, the method comprises the following steps:
referring to fig. 3, the voltage isolation acquisition circuit isolates the electromagnetic lock power supply loop as the primary side from the electromagnetic lock power supply voltage acquisition loop as the secondary side, and the ratio of the primary side input voltage to the secondary side output voltage is 1. The voltage isolation acquisition circuit comprises an optical isolation amplifier, wherein the optical isolation amplifier comprises a sigma-delta AD converter, an optical coupler and a sigma-delta DA converter, converts a primary side input analog signal into a digital signal and transmits the digital signal to a secondary side through the optical coupler to realize signal isolation, and then converts the digital signal of the secondary side into an analog signal to be output. The optical isolation amplifier is ACPL-C87A-500E model of AVAGO company.
Referring to fig. 4, the instrumentation amplifier circuit converts the differential signal output by the optical isolation amplifier into a single-ended signal, and inputs the single-ended signal into an a/D acquisition port of the DSP control chip, which has an acquisition range of 0-3V. The amplification of the instrumentation amplifier is 1.5, and the instrumentation amplifier is AD623 from AD corporation.
Referring to fig. 5, the isolated power supply circuit provides mutually isolated power supplies for the primary side and the secondary side, the power input end adopts a 5V power supply of a control loop, and the power output end is grounded with the primary side and the power supply of the electromagnetic lock. The isolation power supply is a 5V-to-5V, DC/DC power supply module MEE3S0505SC of Murata company.
In the software parameter identification, the process of selecting identification parameters is as follows:
motor torque TeIs shown in equation 1:
Te＝TL+Tf， (1)
wherein: t isLLocking the torque for the electromagnetic lock; t isfIs actuator friction torque, which is mainly composed of friction torque of actuator transmission mechanism and positioning torque of motor, and for the same actuator, TfIs a fixed value.
The electromagnetic torque and the motor torque current are shown in formula 2:
Te＝CT×Iq， (2)
wherein: cTFor the moment coefficient of the motor, C for the same motorTIs a fixed value; i isqThe motor torque current measured value is obtained by calculating the actual measured phase current of the motor and the actual measured rotor angle of the motor through coordinate transformation;
from equation 1 and equation 2, equation 3 is derived:
CT×Iq-Tf＝TL， (3)
wherein, TfAnd CTIs a fixed value.
In the detection process, a torque current disturbance quantity is added at the current closed-loop input end of the motor
And detects whether the motor rotor rotates to judge the locking torque T of the electromagnetic lockLWhether the torque current reaches the design index or not, and disturbing the torque current after the detection is finished
Taken off, as shown in equation 4:
wherein: i isqrefThe torque current given value is the motor torque current given value I under the condition of motor current closed loop normal operationqrefWith measured value of moment current IqApproximately equal;
the torque current disturbance quantity applied in the detection process is detected;
the method is approximately equivalent to the required value of the locking torque of the electromagnetic lock.
According to equation 4, if the locking torque of the electromagnetic lock is small or the electromagnetic lock cannot lock the motor shaft due to a failure, the electromagnetic lock is locked
The motor rotor can rotate in the same direction as the electromagnetic force due to the driving of the electromagnetic force, and the locking torque of the electromagnetic lock is changed from static friction force to dynamic friction force, so that the friction force is further reduced, and the torque current I obtained by calculation in a corresponding current closed loopqAnd thus the rotor position theta of the motor and the torque current I of the motor are identifiedqThe locking torque of the electromagnetic lock can be detected whether to be normal or not. I.e. identifying parameters as rotor position theta of the motor and torque current I of the motorq。
Referring to fig. 6-10, the parameter identification is implemented as follows:
taking a certain type of airplane as an example, the friction torque T of an actuator of the airplanef1Nm, motor moment coefficient CTIs 0.26, motor torque Te3.5Nm, the locking torque T of the electromagnetic lock in the normal working stateLNot less than 2.5Nm, the motor rotor position θ has a fixed threshold value of 1 °, which is the value of the motor rotor position angle that the motor rotor has in the critical state of opening or closing the electromagnetic lock.
The parameter identification process during the detection of the working state of the electromagnetic lock is as follows: after receiving the detection instruction of the locking torque of the electromagnetic lock, the integral quantity of the speed ring is set to zero, and the time is delayed for 1s and then the moment current I is obtainedqAdding a torque current disturbance quantity with a current value of 13.5A to the input end of the closed loop
And continuously detecting the position theta and the torque current I of the rotor of the servo motor in real time within 2sqAnd judging the working state of the electromagnetic lock: referring to fig. 7 and 9, when the servomotor motor rotor position θ does not exceed 1 ° for the above-mentioned 2s time, and the torque current IqAnd when the locking torque is kept at 13.5A, judging that the locking torque of the electromagnetic lock is normal. Referring to fig. 8 and 10, when the servomotor motor rotor position θ exceeds 1 ° within the above-mentioned 2s time, and the momentCurrent IqAnd when the locking torque is lower than 13.5A, judging that the locking torque of the electromagnetic lock is abnormal.
After the 2s time is over, the torque current is disturbed by the amount
And removing, and recovering the integral quantity of the speed loop, and simultaneously feeding back the locking torque state of the electromagnetic lock.
Claims (8)
1. A method for detecting the working state of an electromagnetic lock is characterized by comprising the following steps: the method comprises hardware detection and software parameter identification, wherein the parameters are the rotor position theta of the motor and the torque current I of the motorqThe software parameter identification comprises the following steps:
step 1: receiving a locking torque detection instruction of the electromagnetic lock;
step 2: after a delay of t1 seconds, the integral quantity of the velocity loop is set to zero at the moment current IqAdding torque current disturbance quantity to closed loop input end
And lasts for t2 seconds; wherein t1 and t2 are both integers and t2 is greater than t 1;
and step 3: detecting the rotor position theta and the torque current I of the servo motor in real time within t2 timeqJudging the working state of the electromagnetic lock;
and 4, step 4: feeding back the working state information of the electromagnetic lock, recovering the integral quantity of the speed loop, and removing the disturbance quantity of the torque current
The judgment comprises the following steps: when the rotor position theta of the servo motor does not exceed a fixed critical value in the time t2, and the torque current IqMaintained at moment current disturbance
Judging that the locking torque of the electromagnetic lock is normal; when the position theta of the motor rotor of the servo motor exceeds the fixed value within the time t2A fixed threshold value, and a torque current IqLower than the disturbance amount of moment current
Judging that the locking torque of the electromagnetic lock is abnormal; the fixed critical value is a motor rotor position angle value of the motor rotor in an opening or closing critical state of the electromagnetic lock;
the hardware detection is an electromagnetic lock coil working current detection circuit based on Hall detection, and comprises a coil current detection circuit in an electromagnetic lock and a coil current signal conditioning circuit in the electromagnetic lock;
a coil current detection circuit in an electromagnetic lock includes: the electromagnetic lock comprises an electromagnetic lock power supply module, an electromagnetic lock coil and a current sensor, wherein the output end of the electromagnetic lock power supply module is connected with the input end of the electromagnetic lock coil, the output end of the electromagnetic lock coil is connected to the current sensor, the output end of the electromagnetic lock power supply module is also connected to the current sensor, and the current sensor outputs an electromagnetic lock current detection value; when the electromagnetic lock is normally opened, current flows through the current sensor, the current value is equal to the current value of the coil of the electromagnetic lock, and the current value of the coil of the electromagnetic lock can be converted into a voltage signal capable of outputting detection through the current sensor;
or the hardware detection is an isolated electromagnetic lock coil working voltage detection circuit based on voltage optical isolation acquisition, and the circuit comprises a voltage isolation acquisition circuit, an instrument amplifier circuit and an isolated power supply circuit;
the voltage isolation acquisition circuit isolates an electromagnetic lock power supply loop serving as a primary side from an electromagnetic lock power supply voltage acquisition loop serving as a secondary side; the voltage isolation acquisition circuit comprises an optical isolation amplifier, wherein the optical isolation amplifier comprises a sigma-delta AD converter, an optical coupler and a sigma-delta DA converter, converts a primary side input analog signal into a digital signal and transmits the digital signal to a secondary side through the optical coupler to realize signal isolation, and then converts the digital signal of the secondary side into an analog signal to be output.
2. The method for detecting the working state of the electromagnetic lock as claimed in claim 1, wherein: the current sensor is a GO 10-SME type current sensor of LEM company.
3. The method for detecting the working state of the electromagnetic lock as claimed in claim 2, wherein: the coil current signal conditioning circuit in the electromagnetic lock converts a 0-5V voltage signal output by a current sensor into a 0-3V voltage signal and inputs the converted 0-3V voltage signal into an A/D acquisition port of a DSP control chip with an acquisition range of 0-3V; the coil current signal conditioning circuit comprises two rail-to-rail dual operational amplifiers which are sequentially connected in series, wherein the first operational amplifier forms a voltage follower to play a role of buffering, and the second operational amplifier forms a voltage division circuit to convert a 0-5V voltage signal into a 0-3V voltage signal.
4. The method for detecting the working state of the electromagnetic lock as claimed in claim 3, wherein: the rail-to-rail dual operational amplifier is AD 8692.
5. The method for detecting the working state of the electromagnetic lock as claimed in claim 4, wherein: the optical isolation amplifier is an ACPL-C87A-500E optical isolation amplifier of AVAGO company.
6. The method for detecting the working state of the electromagnetic lock as claimed in claim 5, wherein: the instrument amplifier circuit converts the differential signal output by the optical isolation amplifier into a single-ended signal and inputs the single-ended signal into an A/D acquisition port of the DSP control chip, wherein the acquisition range of the A/D acquisition port is 0-3V.
7. The method for detecting the working state of the electromagnetic lock as claimed in claim 6, wherein: the instrumentation amplifier is an AD623 type instrumentation amplifier of AD company, and the amplification factor of the instrumentation amplifier is 1.5.
8. The method for detecting the working state of the electromagnetic lock according to claim 7, wherein: the isolation power supply circuit provides power supplies isolated from each other for the primary side and the secondary side, a 5V power supply of a control loop is adopted at a power supply input end, and a power supply output end is grounded with the primary side and the power supply of the electromagnetic lock.
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| CN110160764B (en) * | 2019-05-31 | 2021-05-18 | 北京睿家科技有限公司 | Electromagnetic lock fault detection method, device and system |
| CN110244168B (en) * | 2019-07-16 | 2021-05-25 | 青岛海信商用显示股份有限公司 | Electric control lock fault detection system and detection method |
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| CN102009597B (en) * | 2010-11-03 | 2012-11-14 | 北京航空航天大学 | Magnetically suspended control moment gyro gimbal and locking control system |
| CN103780185A (en) * | 2012-10-19 | 2014-05-07 | 浙江盾安人工环境股份有限公司 | Compressor torque control method and torque control device |
| CN103546691B (en) * | 2013-10-31 | 2017-08-15 | 浙江宇视科技有限公司 | A kind of ball-shaped camera latching force method for self regulating and device |
| CN104314379B (en) * | 2014-08-26 | 2017-02-01 | 北京精密机电控制设备研究所 | Unlocking control circuit for locking mechanism |
| US9912267B1 (en) * | 2015-05-26 | 2018-03-06 | Marvell International Ltd. | Rotor lock detection |
| CN105093029A (en) * | 2015-08-27 | 2015-11-25 | 赵忠义 | Intensive electromagnetic lock state detection system |
| CN105786036B (en) * | 2016-04-05 | 2018-08-31 | 北京控制工程研究所 | A kind of control-moment gyro frame control system and method inhibiting rotor unbalance dynamic disturbance |
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| CN207317980U (en) * | 2017-08-25 | 2018-05-04 | 随州锦翔机电有限公司 | A kind of detection device for being used to quickly test stepper motor statical moment |
| CN207526256U (en) * | 2017-10-31 | 2018-06-22 | 北京精密机电控制设备研究所 | A kind of electromagnetism lock control device |
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