CN109617456A - A kind of parameter bookbinding servo-system - Google Patents
A kind of parameter bookbinding servo-system Download PDFInfo
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- CN109617456A CN109617456A CN201811482377.XA CN201811482377A CN109617456A CN 109617456 A CN109617456 A CN 109617456A CN 201811482377 A CN201811482377 A CN 201811482377A CN 109617456 A CN109617456 A CN 109617456A
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
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- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Control Of Multiple Motors (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A kind of parameter bookbinding servo-system, is related to space flight thruster vector control electromechanical servo application field；Acquisition module, PWM output and isolation module and power amplifier module are set including power filtering module, the first power conversion module, second source conversion module, third power conversion module, 1553 bus interface modules, DSP control module, analog signal conditioner module, rotation displacement；The technical issues of present invention, which is realized, carries out the online stapling operation of parameter that " do not uncap " and (open shell) to SERVO CONTROL driver, and then solution never allows to carry out SERVO CONTROL driver the parameter bookbinding upgrading of the special occasions of " uncapping " (opening shell).
Description
Technical field
The present invention relates to a kind of space flight thruster vector control electromechanical servo application field, especially a kind of parameter binds servo
System.
Background technique
Electromechanical servo system using permanent magnet synchronous motor as main executive component generally requires frequently in debugging process
It modifies control parameter and software will lead to if modifying parameter by way of modifying source code with the optimum control for realizing system
Version is more, is not easy to carry out Version Control, and low efficiency influences development progress, does not allow in some special occasions to watching especially
Clothes control driver carries out " uncapping " (opening shell) operation, can not update software, also just cannot achieve the tune of control parameter
It is whole.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of parameter bookbinding servo-system is provided, is realized
The online stapling operation of parameter that " do not uncap " and (open shell) is carried out to SERVO CONTROL driver, and then solution never allows to servo
The parameter for controlling the special occasions that driver carries out " uncapping " (opening shell) binds the technical issues of upgrading.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of parameter binds servo-system, it is characterised in that: including power filtering module, the first power conversion module, the
Two power conversion modules, third power conversion module, 1553 bus interface modules, DSP control module, analog signal conditioner mould
Block, rotation displacement set acquisition module, PWM output and isolation module and power amplifier module；
Power filtering module: the power supply of external power supply power supply is received；It is filtered, generates filtered power supply, and
Filtered power supply is sent to the first power conversion module；
First power conversion module: the filtered power supply that power filtering module transmits is received, filtered power supply is turned
Change 5V power supply into；And respectively second source conversion module, third power conversion module and 1553 bus interface modules provide 5V
Power supply；
Second source conversion module: receive the first power conversion module provide 5V power supply, be converted into 1.8V power supply and
3.3V power supply；1.8V power supply and 3.3V power supply are provided for DSP control module；
Third power conversion module: the 5V power supply that the first power conversion module provides is received, 2.5V power supply is converted into；For
DSP control module provides 2.5V power supply；
1553 bus interface modules: the 5V power supply of the first power conversion module is received；Receive the control that external host computer transmits
Parameter processed carries out HEX conversion process to control parameter, generates recordable paper；And recordable paper is sent to DSP control module；
Receive AD acquisition signal, angle signal and speed signal that DSP control module transmits, storage；And AD is acquired into signal, angle letter
Number and speed signal be uploaded to external host computer；
DSP control module: the recordable paper that 1553 bus interface modules transmit is received, it is defeated that recordable paper is forwarded to PWM
Out and isolation module；The AD acquisition signal that analog signal conditioner module transmits is received, is stored；It receives rotation and becomes station acquisition mould
The sinusoidal signal that block transmits carries out high-speed synchronous serial communication conversion process to sinusoidal signal, generates angle signal and speed letter
Number；AD is acquired into signal, angle signal and speed signal and is sent to 1553 bus interface modules；
PWM output and isolation module: the recordable paper that DSP control module transmits is received, and recordable paper is forwarded to function
Rate amplification module；
Power amplifier module: the power supply of external dc power power-supply module is received；It receives PWM output and isolation module transmits
Recordable paper, carry out the big processing of power drive hair, generate driving signal, and driving signal is sent to external servo actuation
Device；
External servo actuator: it works after receiving the driving signal that power amplifier module transmits；Generate simulation potentiometer letter
Number, simulation potentiometer signal is sent to analog signal conditioner module；It generates RD rotation and becomes sinusoidal digital signal, RD is revolved and becomes sinusoidal
Digital signal is sent to rotation displacement and sets acquisition module；
Analog signal conditioner module: the simulation potentiometer signal that external servo actuator transmits is received, operation amplifier is carried out
Processing generates AD and acquires signal；And AD acquisition signal is sent to DSP control module；
Acquisition module is set in rotation displacement: being received the RD rotation that external servo actuator transmits and is become sinusoidal digital signal, carries out optocoupler
Isolation processing generates sinusoidal signal；And sinusoidal signal is sent to DSP control module.
Servo-system is bound in a kind of above-mentioned parameter, the external power supply power supply provides 310V for power filtering module
Power supply.
Bind servo-system in a kind of above-mentioned parameter, the data storage in the DSP control module using 256K ×
16 SRAM memory.
Servo-system is bound in a kind of above-mentioned parameter, 1553 bus interface module uses transformer coupled connection side
Formula is connect with cable system on external bullet.
Servo-system is bound in a kind of above-mentioned parameter, the PWM output and isolation module are using high speed photo coupling realization pair
Driving signal carries out strong and weak isolation.
Servo-system is bound in a kind of above-mentioned parameter, the analog signal conditioner module includes 2 linear movement pick-ups
SGD-40。
Servo-system is bound in a kind of above-mentioned parameter, the rotation displacement, which is set, is provided with rotary transformer in acquisition module
Smartsyn TS2620N21E11。
When a kind of above-mentioned parameter binds servo-system, and the power filtering module works normally, constant value electric current is 9A,
Pulse peak current is 40A, and the pulse peak current cumulative time is 5s；Cumulative operation time 750s；Single pulse electric current continues
Event is 100ms, interval time 100ms.
The invention has the following advantages over the prior art:
(1) present invention can apply multiple models, multiple products by 1553B bus more parameter, can be for product
Property difference change software parameter, meet model batch produce in the practical problem that encounters；Greatly improve the adaptability of software product；
(2) parameter binding system change primary parameter of the present invention takes around 20 minutes, compared to traditional technology change one
Subparameter takes around 16 hours, reduces software design, the workload of production；
(3) present invention realizes that the parameter for " do not uncap " and (open shell) to SERVO CONTROL drive system binds behaviour online
Make, and then solution never allows to carry out SERVO CONTROL driver the parameter bookbinding upgrading of the special occasions of " uncapping " (opening shell)
The technical issues of.
Detailed description of the invention
Fig. 1 is that parameter of the present invention binds servo-system schematic diagram.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
A kind of parameter of the present invention binds servo-system, realizes and " does not uncap " to the progress of SERVO CONTROL driver and (open shell)
The online stapling operation of parameter, and then solution never allows to carry out SERVO CONTROL driver the particular field of " uncapping " (open shell)
The parameter of conjunction binds the technical issues of upgrading.
Servo-system schematic diagram is bound for parameter as shown in Figure 1, as seen from the figure, a kind of parameter bookbinding servo-system, including
Power filtering module, the first power conversion module, second source conversion module, third power conversion module, 1553 bus interface
Module, DSP control module, analog signal conditioner module, acquisition module, PWM output and isolation module are set in rotation displacement and power is put
Big module；Wherein, external power supply power supply provides 310V power supply for power filtering module.Data in the DSP control module are deposited
Reservoir uses the SRAM memory of 256K × 16.1553 bus interface module is using transformer coupled connection type and outside
Cable system connects on bullet.The PWM output and isolation module are realized using high speed photo coupling carries out strong and weak isolation to driving signal.Institute
Stating analog signal conditioner module includes 2 linear movement pick-up SGD-40.The rotation displacement, which is set, is provided with rotation in acquisition module
Transformer Smartsyn TS2620N21E11.When the power filtering module works normally, constant value electric current is 9A, peak value of pulse
Electric current is 40A, and the pulse peak current cumulative time is 5s；Cumulative operation time 750s；Single pulse electric current continues event
100ms, interval time 100ms.
The course of work of parameter bookbinding servo-system are as follows:
Power filtering module: the power supply of external power supply power supply is received；It is filtered, generates filtered power supply, and
Filtered power supply is sent to the first power conversion module；
First power conversion module: the filtered power supply that power filtering module transmits is received, filtered power supply is turned
Change 5V power supply into；And respectively second source conversion module, third power conversion module and 1553 bus interface modules provide 5V
Power supply；
Second source conversion module: receive the first power conversion module provide 5V power supply, be converted into 1.8V power supply and
3.3V power supply；1.8V power supply and 3.3V power supply are provided for DSP control module；
Third power conversion module: the 5V power supply that the first power conversion module provides is received, 2.5V power supply is converted into；For
DSP control module provides 2.5V power supply；
1553 bus interface modules: the 5V power supply of the first power conversion module is received；Receive the control that external host computer transmits
Parameter processed carries out HEX conversion process to control parameter, generates recordable paper；And recordable paper is sent to DSP control module；
Receive AD acquisition signal, angle signal and speed signal that DSP control module transmits, storage；And AD is acquired into signal, angle letter
Number and speed signal be uploaded to external host computer；1553 bus boards of the mating CPCI interface of the bus of 1553 bus interface modules
1553 bus interface (meeting GJB 289/A-97) of CPCIC3-1553-2D-T, standard are adopted.
DSP control module: the recordable paper that 1553 bus interface modules transmit is received, it is defeated that recordable paper is forwarded to PWM
Out and isolation module；The AD acquisition signal that analog signal conditioner module transmits is received, is stored；It receives rotation and becomes station acquisition mould
The sinusoidal signal that block transmits carries out high-speed synchronous serial communication conversion process to sinusoidal signal, generates angle signal and speed letter
Number；AD is acquired into signal, angle signal and speed signal and is sent to 1553 bus interface modules；Control module selects Ti company
High performance motor controls special chip as processing chip, and logic control chip selects Lattice company CPLD.
PWM output and isolation module: the recordable paper that DSP control module transmits is received, and recordable paper is forwarded to function
Rate amplification module；
Power amplifier module: the power supply of external dc power power-supply module is received；The drive of external dc power power-supply module
Dynamic power supply carries out soft start using relay, and control power supply and driving power are independently powered.Receive PWM output and isolation
The recordable paper that module transmits carries out the big processing of power drive hair, generates driving signal, and driving signal is sent to outside and is watched
Take actuator；Using Mitsubishi's IPM module and cross-straight-intersection voltage-type major loop topological structure, provided for AC servomotor
Power drive.
External servo actuator: it works after receiving the driving signal that power amplifier module transmits；Generate simulation potentiometer letter
Number, simulation potentiometer signal is sent to analog signal conditioner module；It generates RD rotation and becomes sinusoidal digital signal, RD is revolved and becomes sinusoidal
Digital signal is sent to rotation displacement and sets acquisition module；
Analog signal conditioner module: the simulation potentiometer signal that external servo actuator transmits is received, operation amplifier is carried out
Processing generates AD and acquires signal；And AD acquisition signal is sent to DSP control module；
Acquisition module is set in rotation displacement: being received the RD rotation that external servo actuator transmits and is become sinusoidal digital signal, carries out optocoupler
Isolation processing generates sinusoidal signal；And sinusoidal signal is sent to DSP control module.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (8)
1. a kind of parameter binds servo-system, it is characterised in that: including power filtering module, the first power conversion module, second
Power conversion module, third power conversion module, 1553 bus interface modules, DSP control module, analog signal conditioner module,
Acquisition module, PWM output and isolation module and power amplifier module are set in rotation displacement；
Power filtering module: the power supply of external power supply power supply is received；It is filtered, generates filtered power supply, and will filter
Power supply after wave is sent to the first power conversion module；
First power conversion module: the filtered power supply that power filtering module transmits is received, filtered power supply is converted into
5V power supply；And respectively second source conversion module, third power conversion module and 1553 bus interface modules provide 5V power supply；
Second source conversion module: receiving the 5V power supply that the first power conversion module provides, and is converted into 1.8V power supply and 3.3V electricity
Source；1.8V power supply and 3.3V power supply are provided for DSP control module；
Third power conversion module: the 5V power supply that the first power conversion module provides is received, 2.5V power supply is converted into；For DSP control
Molding block provides 2.5V power supply；
1553 bus interface modules: the 5V power supply of the first power conversion module is received；Receive the control ginseng that external host computer transmits
Number carries out HEX conversion process to control parameter, generates recordable paper；And recordable paper is sent to DSP control module；It receives
AD acquisition signal, angle signal and the speed signal that DSP control module transmits, storage；And by AD acquire signal, angle signal and
Speed signal is uploaded to external host computer；
DSP control module: receiving the recordable paper that transmits of 1553 bus interface modules, by recordable paper be forwarded to PWM output and
Isolation module；The AD acquisition signal that analog signal conditioner module transmits is received, is stored；It receives rotation displacement and sets acquisition module biography
The sinusoidal signal come carries out high-speed synchronous serial communication conversion process to sinusoidal signal, generates angle signal and speed signal；It will
AD acquisition signal, angle signal and speed signal are sent to 1553 bus interface modules；
PWM output and isolation module: the recordable paper that DSP control module transmits is received, and recordable paper is forwarded to power and is put
Big module；
Power amplifier module: the power supply of external dc power power-supply module is received；Receive the burning that PWM is exported and isolation module transmits
File is recorded, the big processing of power drive hair is carried out, generates driving signal, and driving signal is sent to external servo actuator；
External servo actuator: it works after receiving the driving signal that power amplifier module transmits；Simulation potentiometer signal is generated, it will
Simulation potentiometer signal is sent to analog signal conditioner module；It generates RD rotation and becomes sinusoidal digital signal, RD is revolved and becomes sinusoidal number
Signal is sent to rotation displacement and sets acquisition module；
Analog signal conditioner module: receiving the simulation potentiometer signal that external servo actuator transmits, carry out operation amplifier processing,
It generates AD and acquires signal；And AD acquisition signal is sent to DSP control module；
Acquisition module is set in rotation displacement: being received the RD rotation that external servo actuator transmits and is become sinusoidal digital signal, carries out light-coupled isolation
Processing generates sinusoidal signal；And sinusoidal signal is sent to DSP control module.
2. a kind of parameter according to claim 1 binds servo-system, it is characterised in that: the external power supply power supply is
Power filtering module provides 310V power supply.
3. a kind of parameter according to claim 2 binds servo-system, it is characterised in that: in the DSP control module
Data storage uses the SRAM memory of 256K × 16.
4. a kind of parameter according to claim 3 binds servo-system, it is characterised in that: 1553 bus interface module
It is connect using transformer coupled connection type with cable system on external bullet.
5. a kind of parameter according to claim 4 binds servo-system, it is characterised in that: the PWM output and isolation mode
Block is realized using high speed photo coupling carries out strong and weak isolation to driving signal.
6. a kind of parameter according to claim 5 binds servo-system, it is characterised in that: the analog signal conditioner module
Including 2 linear movement pick-up SGD-40.
7. a kind of parameter according to claim 6 binds servo-system, it is characterised in that: acquisition module is set in the rotation displacement
In be provided with rotary transformer Smartsyn TS2620N21E11.
8. a kind of parameter according to claim 7 binds servo-system, it is characterised in that: the power filtering module is normal
When work, constant value electric current is 9A, and pulse peak current 40A, the pulse peak current cumulative time is 5s；Cumulative operation time
750s；It is 100ms, interval time 100ms that single pulse electric current, which continues event,.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811482377.XA CN109617456A (en) | 2018-12-05 | 2018-12-05 | A kind of parameter bookbinding servo-system |
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| CN201811482377.XA CN109617456A (en) | 2018-12-05 | 2018-12-05 | A kind of parameter bookbinding servo-system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654227A (en) * | 2020-07-06 | 2020-09-11 | 江苏深蓝航天有限公司 | Electric drive control propellant supply system of variable-thrust liquid engine |
| CN112264355A (en) * | 2020-08-27 | 2021-01-26 | 北京实验工厂有限责任公司 | Positive and negative washing unit of adjustable servovalve of multistation |
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| CN104617829A (en) * | 2015-02-27 | 2015-05-13 | 北京精密机电控制设备研究所 | Position control device and position control method of electromechanical servo system |
| CN106330010A (en) * | 2016-10-21 | 2017-01-11 | 北京精密机电控制设备研究所 | Integrated multi-channel output servo control driver |
| CN107786132A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of high speed, high-precision servo control system for high power density motor |
| CN108170104A (en) * | 2016-12-07 | 2018-06-15 | 杨新高 | A kind of high intelligent agricultural machinery equipment and system |
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2018
- 2018-12-05 CN CN201811482377.XA patent/CN109617456A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104617829A (en) * | 2015-02-27 | 2015-05-13 | 北京精密机电控制设备研究所 | Position control device and position control method of electromechanical servo system |
| CN107786132A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of high speed, high-precision servo control system for high power density motor |
| CN106330010A (en) * | 2016-10-21 | 2017-01-11 | 北京精密机电控制设备研究所 | Integrated multi-channel output servo control driver |
| CN108170104A (en) * | 2016-12-07 | 2018-06-15 | 杨新高 | A kind of high intelligent agricultural machinery equipment and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654227A (en) * | 2020-07-06 | 2020-09-11 | 江苏深蓝航天有限公司 | Electric drive control propellant supply system of variable-thrust liquid engine |
| CN112264355A (en) * | 2020-08-27 | 2021-01-26 | 北京实验工厂有限责任公司 | Positive and negative washing unit of adjustable servovalve of multistation |
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