CN109586538A - A kind of autonomous controllable high-precision height response electromechanical servo component - Google Patents
A kind of autonomous controllable high-precision height response electromechanical servo component Download PDFInfo
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- CN109586538A CN109586538A CN201811487908.4A CN201811487908A CN109586538A CN 109586538 A CN109586538 A CN 109586538A CN 201811487908 A CN201811487908 A CN 201811487908A CN 109586538 A CN109586538 A CN 109586538A
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- electromechanical servo
- main shaft
- rotor
- servo component
- wall
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/10—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using light effect devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Brushless Motors (AREA)
Abstract
In a kind of autonomous controllable high-precision height response electromechanical servo component of the invention, the current location after the rotation of brush-less permanent magnetic torque motor module is acquired by angular transducer；Brush-less permanent magnetic torque motor module includes motor stator, rotor, and angular transducer includes read head, code-disc, disk set；Motor stator is fixed in the middle part of the inner wall of pedestal, and rotor is fixed on spindle outer wall top；It is mutually fixed in the middle part of the top of read head and base outer wall；Code-disc bottom is mutually fixed with disk set top, and disk set inner wall is mutually fixed with main shaft bottom；Read head is as quiet grating, code-disc has the gap for forming Moire fringe, has photoelectric conversion device in read head as dynamic grating, two blocks of gratings, by the variation for being converted into corresponding electric signal of two blocks of gratings, Electric signal processing is obtained and digital information corresponding to turned position.The present invention can satisfy the demand that larger quality optics continue all kinds of aircraft of accurately pointing high-speed flight.
Description
Technical field
The present invention relates to rotary electromechanical servo system technical field, in particular to larger quality optics pacify servo
The positioning accuracy and quick response index of assembling platform require harsh and more demanding product localization rate of parts and components occasion simultaneously.
Background technique
In face of larger quality optics to high-precision, quick tracking, big torque, frequent start-stop, frequently positive and negative operation item
The demand of part, for rotary uniaxial electromechanical servo system (such as turntable) existing at present since its rotary inertia is big, there are machinery to change
It is relatively slow to device, revolving speed, precision index and rapidity index cannot meet demand simultaneously, and key components/part is (such as electricity
Machine, sensor etc.) using external high-end imported product, there is the risk that may be embargoed at any time.In consideration of it, navigating in China's aviation
In its field, to ensure that larger quality optics can continue all kinds of aircraft of accurately pointing high-speed flight, there is height
The rotary electromechanical servo system of the high response characteristic of precision is indispensable core electrical category product.
Summary of the invention
For overcome at present rotary uniaxial electromechanical servo system precision index and rapidity index cannot meet simultaneously compared with
The problem of scanning of big quality optics, positioning function demand, the present invention provides a kind of autonomous controllable high-precision height response
Electromechanical servo component has quick tracking, big torque, frequent start-stop, frequently positive and negative operation function, meets larger quality optical dress
Set the demand for continuing all kinds of aircraft of accurately pointing high-speed flight.
In order to achieve the above object, the technical solution of the present invention is to provide a kind of electromechanical servo components, wherein brush-less permanent magnetic
Current location after the rotation of torque motor module is acquired by angular transducer；The brush-less permanent magnetic torque motor module includes motor
Stator, rotor, the angular transducer include read head, code-disc, disk set；
The electromechanical servo component also includes pedestal, main shaft；The motor stator is fixed in the middle part of the inner wall of pedestal, described
Rotor is fixed on spindle outer wall top；It is mutually fixed in the middle part of the top of the read head and base outer wall；The code-disc bottom with
Disk set top is mutually fixed, and the disk set inner wall is mutually fixed with main shaft bottom；
The read head has the gap for forming Moire fringe, read head as dynamic grating, two blocks of gratings as quiet grating, code-disc
Inside there is photoelectric conversion device, the variation for being converted into corresponding electric signal of two blocks of gratings obtains Electric signal processing
To with digital information corresponding to turned position.
Optionally, the electromechanical servo component further includes table top cover board, angular contact ball bearing, deep groove ball bearing；Institute
The main shaft is installed at the center for stating upper end cover board, and there are the shaft shoulders at one for the main shaft upper end, with the deep groove ball bearing inner ring
Bottom is mutually fixed with inner wall, and the upper end cover board and the top of the deep groove ball bearing outer ring are mutually fixed, the angular contact ball axis
The outer ring held mutually is fixed with base inner wall lower part.
Optionally, the Moire fringe on the code-disc is collectively formed by a large amount of grooves of grating；Grating relatively moves one
Screen periods, the mobile a cycle of Moire fringe, change in electric a cycle is one-to-one relationship；The code-disc it is straight
Diameter is 170mm, and with a thickness of 3.5mm, by the way of splicing plus elastic compression, each angular displacement has unique output for installation.
Optionally, the motor stator includes the stator winding installed on stator core and stator core, stator core by
Stator punching is overrided to form；The rotor includes the rotor core being mounted on main shaft, and rotor core periphery is coated with forever
Magnet；The equally distributed through-hole of an inside and outside circle is respectively provided on the motor stator and rotor, for pacifying with pedestal and main shaft
Dress.
Optionally, the rotor uses 40 pole of surface-mount type, 48 slot magnetic steel structure；The stator winding uses three-phase Y type
Connection, fractional-slot concentratred winding.
Optionally, the main shaft is hollow light alloy structure.
Optionally, after control module receives the location of instruction that host computer is sent, brush-less permanent magnetic torque motor is calculated
The current location of module and the error amount of the location of instruction drive brush-less permanent magnetic torque motor after the power amplification of control module
Module rotation.
Optionally, the control module includes external servo controller, and the servo controller has with DSP, FPGA
For the master-slave mode microprocessor architecture design of core, have electric current, speed, a position Three-loop control function, and by RS422 serial ports with
Angular transducer connection realizes that turned position acquires in real time.
Optionally, the servo controller is equipped with drive circuit board, digital control board；Drive circuit board will be by amplification filter
Brush-less permanent magnetic torque motor phase current after wave is sent into the A/D sampling A/D chip of digital control board, while digital control board passes through
RS422 interface chip reads the angle information of angular transducer, and the current value and angle information after quantization are in FPGA timing control
Lower feeding DSP, DSP complete control algolithm, export six tunnel PWM wave signals to drive circuit board, pwm signal is after light-coupled isolation
It is sent into inverter circuit and three-phase bridge drive control device, is directed toward brush-less permanent magnetic torque motor for driving.
The advantages of the present invention over the prior art are that:
1) control precision is high, demarcates through optical means, and repetitive positioning accuracy, which reaches, can reach 2 ".
2) fast response time, experiment proves that, speed command frequency response closed-loop bandwidth can reach 350Hz (- 3dB).
3) key components/raw material/part is all made of localization Design (such as motor, sensor), and design process is certainly
Main controllable, there is no the risks embargoed.
4) it can control and drive Optical devices to be arbitrarily designated region in 360 ゜ ranges to be scanned, position.
5) present invention is suitable for aerospace environment standard requirements, including but not limited to high/low temperature, vibration, impact.Invention
Achievement may be used in all kinds of Optical devices for needing pointing demand, while lathe that can promote the use of industrial circle etc. produces
In product, corresponding index can be adjusted according to the specific interface requirement of user and requirement.
Detailed description of the invention
Fig. 1 is servopackage schematic diagram；
Fig. 2 is angular transducer photoelectricity transformation principle figure；
Fig. 3 is servopackage unit composition block diagram；
Fig. 4 is servopackage control block diagram.
Specific embodiment
A kind of autonomous controllable high-precision height as shown in Figure 1 responds electromechanical servo component, including pedestal 1, table top cover board
8, main shaft 10, angular contact ball bearing 4, deep groove ball bearing 9, motor stator 6, the rotor 7 of brush-less permanent magnetic torque motor module,
Read head 2, code-disc 3, the disk set 12 of angular transducer.
Wherein, motor stator 6 is made of the stator winding installed on stator core and stator core, and stator core is by stator
Punching is overrided to form, and rotor 7 is the rotor core being mounted on main shaft 10, and rotor core periphery is coated with permanent magnet.Institute
It states and is respectively provided with the equally distributed through-hole of an inside and outside circle on motor stator 6 and rotor 7, for being installed with pedestal 1 and main shaft 10.
Main shaft 10 is installed at the center of the upper end cover board 8, and the rotor 7 is fixed on 10 outer wall top of main shaft, described
10 upper end of main shaft is mutually fixed, upper end cover board 8 and institute there are the shaft shoulder at one with the bottom of 9 inner ring of deep groove ball bearing and inner wall
The top for stating 9 outer ring of deep groove ball bearing is mutually fixed, and the motor stator 6 is fixed in the middle part of the inner wall of pedestal 1, the angular contact ball
The outer ring of bearing 4 is mutually fixed with 1 inner wall lower of pedestal.
In order to improve the precision of electromechanical servo component, rotor 7 uses 40 pole of surface-mount type, 48 slot magnetic steel structure, and motor is fixed
Sub 6 windings are connected using three-phase Y type, and fractional-slot concentratred winding, parallel branch number 1 further reduced the torque fluctuation of motor；
Meanwhile using a pair of of angular contact ball bearing 4 of high-quality level and a deep groove ball bearing 9, main shaft 10 is further reduced
Axial wobble, to increase servopackage running stability.In order to improve the responding ability of electromechanical servo component, main shaft 10
Using hollow light alloy structure, centre reduces electromechanical servo component for being routed under the premise of guaranteeing structural strength
Rotary inertia.
Angular transducer of the present invention is a kind of absolute optical encoder.Outside the top of the read head 2 and pedestal 1
It is mutually fixed in the middle part of wall；3 bottom of code-disc is mutually fixed with 12 top of disk set, and it is mutually solid with 10 bottom of main shaft that the disk covers 12 inner walls
It is fixed, it is used as position sensor, for realizing the high accuracy positioning control of single shafting for servo drive circuit.Illustratively, code-disc is straight
Diameter is 170mm, and with a thickness of 3.5mm, by the way of splicing plus elastic compression, each angular displacement has unique output for installation.
As shown in Fig. 2, the light of the sendings such as LED light source 21, after dynamic grating 22, quiet grating 23, by photoelectric reader 24
Subsequent handled is reached after reception.The quiet grating corresponds to the read head 2 in angular transducer, and dynamic grating corresponds to code-disc 3, sound
Two blocks of gratings form Moire fringe with small―gap suture, have photoelectric conversion device in read head 2, can convert the relative rotation of two blocks of gratings
The digital information rotated after processing of circuit for the variation of electric signal, electric signal.Moire fringe is by grating on code-disc 3
A large amount of grooves are collectively formed, it reflects the mean place of two groups of grooves, have mean effort to scoring errors.Grating relative movement one
A screen periods, the mobile a cycle of Moire fringe, change in electric a cycle is one-to-one relationship.
After control module receives the location of instruction that host computer is sent, working as brush-less permanent magnetic torque motor module is calculated
The error amount of front position and the location of instruction, after the power amplification of control module, driving brush-less permanent magnetic torque motor module rotation.
Then, the current location of brush-less permanent magnetic torque motor module is acquired by angular transducer.
As shown in figure 3, control module includes external servo controller, the servo controller is using DSP+FPGA as core
The master-slave mode microprocessor architecture design of the heart, has electric current, speed, position Three-loop control function, it can be achieved that high accuracy positioning precision,
And it can realize that position acquires in real time with angular transducer by RS422 serial ports.Wherein, electric current, speed, position Three-loop control
The logical relation of function realizes that electric current, speed, position three are closed using background mode before C language in dsp as shown in institute Fig. 4
The logical relation of ring control function.
The servo controller is equipped with drive circuit board, digital control board.Drive circuit board is provided with three phase full bridge inversion
Device, three-phase current and voltage sampling unit；The control circuit of digital control board is equipped with FPGA, DSP, signal conditioning unit, A/D and adopts
+ 18~36V of sample chip, optocoupler, electric connector XP1 output obtains secondary power supply by electromagnetic interface filter.
The A/D that drive circuit board will be sent into digital control board by amplifying filtered brush-less permanent magnetic torque motor phase current
Sampling A/D chip, while digital control board reads the angle information of angular transducer, the electric current after quantization by RS422 interface chip
Value and angle information are sent into DSP under FPGA timing control, complete control algolithm, export six tunnel PWM wave signals to driving circuit
Plate, pwm signal are sent into inverter circuit and three-phase bridge drive control device after light-coupled isolation, brushless forever eventually for driving direction
Magnetic force torque motor.
In conclusion the present invention is for controlling and driving novel high-energy Optical devices to track to high-precision, quickly, turn greatly
Square, frequent start-stop, the scanning under frequent positive and negative service condition, positioning.The present invention has the performance and product of the high response of high-precision
The whole domestic autonomous controllable features of part, the key technical indexes such as repetitive positioning accuracy up to 2 ", close by speed command frequency response
Loop bandwidth reaches 350Hz (- 3dB), can control and drives Optical devices to be arbitrarily designated region in 360 ゜ ranges and be scanned, calmly
Position.The servopackage has also passed through the test of the adverse circumstances such as high/low temperature, vacuum and vibration, and the environment for being suitable for aerospace is answered
With.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of electromechanical servo component, which is characterized in that
In the electromechanical servo component, the current location after the rotation of brush-less permanent magnetic torque motor module is acquired by angular transducer；
The brush-less permanent magnetic torque motor module includes motor stator (6), rotor (7), and the angular transducer includes read head
(2), code-disc (3), disk set (12)；
The electromechanical servo component also includes pedestal (1), main shaft (10)；The motor stator (6) is fixed on the inner wall of pedestal (1)
Middle part, the rotor (7) are fixed on main shaft (10) outer wall top；In the middle part of the top of the read head (2) and pedestal (1) outer wall
It is mutually fixed；It is mutually fixed at the top of code-disc (3) bottom and disk set (12), disk set (12) inner wall is mutually solid with main shaft (10) bottom
It is fixed；
The read head (2) is used as quiet grating, and code-disc (3) has the gap for forming Moire fringe, read as dynamic grating, two blocks of gratings
There is photoelectric conversion device in head (2), by the variation for being converted into corresponding electric signal of two blocks of gratings, at electric signal
Reason obtains and digital information corresponding to turned position.
2. electromechanical servo component as described in claim 1, which is characterized in that
The electromechanical servo component further includes table top cover board (8), angular contact ball bearing (4), deep groove ball bearing (9)；It is described
The main shaft (10) is installed at the center of upper end cover board (8), and there are the shaft shoulders at one for main shaft (10) upper end, with the deep-groove ball axis
The bottom for holding (9) inner ring is mutually fixed with inner wall, and the upper end cover board (8) and the top of the deep groove ball bearing (9) outer ring are mutually solid
Fixed, outer ring and pedestal (1) inner wall lower of the angular contact ball bearing (4) are mutually fixed.
3. electromechanical servo component as described in claim 1, which is characterized in that
Moire fringe on the code-disc (3) is collectively formed by a large amount of grooves of grating；Grating relatively moves a screen periods,
Moire fringe moves a cycle, and change in electric a cycle is one-to-one relationship；
The diameter of the code-disc (3) is 170mm, and with a thickness of 3.5mm, installation is by the way of splicing plus elastic compression, each angle
Displacement has unique output.
4. electromechanical servo component as described in claim 1, which is characterized in that
The motor stator (6) includes the stator winding installed on stator core and stator core, and stator core is by stator punching
It is overrided to form；
The rotor (7) includes the rotor core being mounted on main shaft (10), and rotor core periphery is coated with permanent magnet；
It is respectively provided with the equally distributed through-hole of an inside and outside circle on the motor stator (6) and rotor (7), is used for and pedestal (1)
It is installed with main shaft (10).
5. electromechanical servo component as claimed in claim 4, which is characterized in that
The rotor (7) uses 40 pole of surface-mount type, 48 slot magnetic steel structure；
The stator winding is connected using three-phase Y type, fractional-slot concentratred winding.
6. electromechanical servo component as described in claim 1, which is characterized in that
The main shaft (10) is hollow light alloy structure.
7. electromechanical servo component as described in claim 1, which is characterized in that
After control module receives the location of instruction that host computer is sent, the present bit of brush-less permanent magnetic torque motor module is calculated
The error amount with the location of instruction is set, after the power amplification of control module, driving brush-less permanent magnetic torque motor module rotation.
8. electromechanical servo component as claimed in claim 7, which is characterized in that
The control module includes external servo controller, and the servo controller has using DSP, FPGA as the principal and subordinate of core
Microsever framework has electric current, speed, position Three-loop control function, and is connected by RS422 serial ports and angular transducer
It connects and realizes that turned position acquires in real time.
9. electromechanical servo component as claimed in claim 8, which is characterized in that
The servo controller is equipped with drive circuit board, digital control board；Drive circuit board will be filtered brushless by amplifying
Permanent magnet torque motor phase current is sent into the A/D sampling A/D chip of digital control board, while digital control board passes through RS422 interface chip
The angle information of angular transducer is read, current value and angle information after quantization are sent into DSP, DSP under FPGA timing control
Control algolithm is completed, exports six tunnel PWM wave signals to drive circuit board, pwm signal is sent into inverter circuit after light-coupled isolation
With three-phase bridge drive control device, brush-less permanent magnetic torque motor is directed toward for driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811487908.4A CN109586538A (en) | 2018-12-06 | 2018-12-06 | A kind of autonomous controllable high-precision height response electromechanical servo component |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811487908.4A CN109586538A (en) | 2018-12-06 | 2018-12-06 | A kind of autonomous controllable high-precision height response electromechanical servo component |
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| CN109586538A true CN109586538A (en) | 2019-04-05 |
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| CN201811487908.4A Pending CN109586538A (en) | 2018-12-06 | 2018-12-06 | A kind of autonomous controllable high-precision height response electromechanical servo component |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504285A (en) * | 2020-05-14 | 2020-08-07 | 北京控制工程研究所 | Theodolite type laser coarse pointing mechanism |
| CN112217335A (en) * | 2019-07-10 | 2021-01-12 | 九江精密测试技术研究所 | Compact type accurate driving shaft system with limiting function |
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Application publication date: 20190405 |