CN109725564A - A kind of compensation multichannel independent control triple redundance servo-control system of fault diagnosis - Google Patents
A kind of compensation multichannel independent control triple redundance servo-control system of fault diagnosis Download PDFInfo
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Abstract
A kind of compensation multichannel independent control triple redundance servo-control system of fault diagnosis, is related to electrohydraulic servo system Accurate Position Control field；Including power conversion unit, processor unit, analog to digital conversion unit and power amplification unit；Wherein, power conversion unit includes the first power conversion module, second source conversion module and power protection and filter module；Processor unit includes bus communications controller, DSP module and CPLD module；The analog to digital conversion unit includes D/A conversion module and A/D conversion module；External servo module includes the first valve coil, the second valve coil, third valve coil and servo mechanism；The present invention, which is realized, can be normalized detection to various faults mode, while realize the independent control of redundancy valve coil instruction current.
Description
Technical field
The present invention relates to a kind of electrohydraulic servo system Accurate Position Control field, especially a kind of fault diagnosis is compensation more
Channel independent control triple redundance servo-control system.
Background technique
Hydraulic servo mechanism includes machine feedback formula and electric reaction type, in current technology:
In machine feedback servo-system, the displacement of servo mechanism is proportional to the electric current that servo valve coil upstream is crossed, servo
Structure realizes using analog controller and compensates the homodyne of servo valve that servo valve uses main coil and subordinate line coil structures, main coil
Electric current is instruction current, is provided by control system, and subordinate line loop current passes through control by servo-system for realizing the compensation such as temperature drift
Device is calculated；If controller fails, generally servo mechanism can be made to return to zero position, reliability is relatively high.
In electric feedback servo, control system only provides digital command signal, and servo-system is needed to watch using digital
Controller voluntarily closed-loop control and output order electric current are taken, the electric current on servo valve coil is proportional to control instruction and servo mechanism
The difference of displacement, i.e., when servo valve coil current is not 0, servo mechanism movement, when valve coil electric current is 0, at servo mechanism
In being stable on the position that instruction requires, servo valve coil is controlled simultaneously using the winding of 3 groups of coil redundancies, and it is identical to flow through electric current,
As long as there is 1 group of coil to work normally, that is, there is the work of current control servo valve, so that servo mechanism is reached the location of instruction, only phase
It can obviously lag；If controller fails, generally servo mechanism open loop can be made out of control.
With the development of technology with the requirement of control system, machine feedback formula servo-system need to use digital control, existing
Having technology, there are two types of achievable methods: scheme 1: directly digitizing former analog control mode, control algolithm is constant, servo
Mechanism status is constant；Scheme 2: using the digital controller of electric feedback system, control algolithm slightly modified, servo valve coil is needed
Main and auxiliary type is changed to triple redundance formula；
For prior art 1: the difference of simulation and number is that servo closed loop and instruction current are exported by control system
Servo-system has been moved on to, higher reliability requirement is proposed to servo-system, if controller or valve coil especially main line
Circle breaks down, and servo mechanism cannot meet instruction again and require, and reduces system reliability；
For prior art 2: since 3 valve coil electric currents are controlled by 1 instruction, even if using triple redundance line
Circle, if 1 coil breaks down, the total current for flowing through servo valve just has dropped 1/3, and the position of servo mechanism also can only achieve
The 2/3 of instruction requirement, and failure not can compensate for, and reduce system reliability.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, electrohydraulic servo system Accurate Position Control neck is provided
Domain, detection can be normalized to various faults mode by realizing, while realize the independent control of redundancy valve coil instruction current
System.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of compensation multichannel independent control triple redundance servo-control system of fault diagnosis, including power conversion unit,
Processor unit, analog to digital conversion unit and power amplification unit；Wherein, power conversion unit include the first power conversion module,
Second source conversion module and power protection and filter module；Processor unit include bus communications controller, DSP module and
CPLD module；The analog to digital conversion unit includes D/A conversion module and A/D conversion module；External servo module includes the first valve
Coil, the second valve coil, third valve coil and servo mechanism；
Power protection and filter module: the general supply that external control system provides is received, is filtered, filtering is generated
General supply afterwards, and respectively the first power conversion module and the power supply of second source conversion module；
First power conversion module: the power supply of power protection and filter module is received ,+5V power supply ,+15V power supply are converted into
With -15V power supply；+ 5V power supply is provided for processor unit；+ 15V power supply and -15V power supply are provided for analog to digital conversion unit；
Second source conversion module: receiving the power supply of power protection and filter module, is converted into+28V power supply, and is power
Amplification module offer+28V power supply；
Bus communications controller: the bus command that external control system transmits is received；Interrupt signal is generated, and exports interruption
Signal is to DSP module；Receive the address signal and read-write control signal that DSP module transmits；Receive the chip selection signal that CPLD is transmitted；
Receive measurement digital signal, the first valve current digital signal, the second valve current digital signal and third valve electricity that DSP module transmits
Streaming digital signal is sent to bus communications controller；And address signal, read-write control signal, chip selection signal, measurement number are believed
Number, the first valve current digital signal, the second valve current digital signal and third valve current digital signal export to outside control system
System；
DSP module: receiving the interrupt signal that transmits of bus communications controller, generate address signal, address gating signal and
Read-write control signal；And address signal and read-write control signal are sent to bus communications controller；By address signal and address
Gating signal is sent to CPLD module；Receive A/D conversion module transmit measurement digital signal, the first valve current digital signal,
Second valve current digital signal and third valve current digital signal, storage；Generate valve current digital command signal；And by valve electric current
Digital command signal is sent to D/A conversion module；It simultaneously will measurement digital signal, the first valve current digital signal, the second valve electricity
Streaming digital signal and third valve current digital signal are sent to bus communications controller；
CPLD module: receiving address signal and address gating signal that DSP module transmits, and parsing generates chip selection signal；And
Chip selection signal is sent to bus communications controller, A/D conversion module and D/A conversion module respectively；
A/D conversion module: the chip selection signal that CPLD module transmits is received；Receive the measuring signal that servo mechanism transmits；It connects
Receive the first valve current signal that the first valve coil transmits；Receive the second valve current signal that the second valve coil transmits；Receive third
The third valve current signal that valve coil transmits；To measuring signal, the first valve current signal, the second valve current signal and third valve electricity
It flows signal and carries out analog-to-digital conversion, generate measurement digital signal, the first valve current digital signal, the second valve current digital signal and the
Three valve current digital signals；And it will measurement digital signal, the first valve current digital signal, the second valve current digital signal and third
Valve current digital signal is sent to DSP module；
D/A conversion module: the chip selection signal that CPLD module transmits is received；The valve current digital that DSP module transmits is received to refer to
Enable signal；Analog-to-digital conversion is carried out, the first valve current analog voltage command signal, the second valve current analog voltage command signal are generated
With third valve current analog voltage command signal；And it is the first valve current analog voltage command signal, the second valve current analog is electric
Pressure command signal and third valve current analog voltage command signal are sent to power amplification unit；
Power amplification unit: the first valve current analog voltage command signal, the second valve electricity that D/A conversion module transmits are received
Flow field simulation voltage command signal and third valve current analog voltage command signal；It is converted into the first valve current signal, second respectively
Valve current signal and third valve current signal；And the first valve current signal is transmitted to the first valve coil；Second valve electric current is believed
Number it is transmitted to the second valve coil；Third valve current signal is transmitted to third valve coil.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the power supply
Protection and filter module receive the 28.5V general supply that external control system provides.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, bus communication control
The traffic rate of device processed is 1Mbps.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the DSP mould
The dominant frequency of block is 120MHz.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the DSP mould
The control period of block is 1ms.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the A/D turns
The sampling rate for changing the mold block is 256k.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the A/D turns
The sampling precision for changing the mold block is 16bit.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the D/A turns
The output voltage settling time for changing the mold block is 13ns, sampling precision 16bit.
In a kind of above-mentioned compensation multichannel independent control triple redundance servo-control system of fault diagnosis, the power is put
The conversion coefficient of big module is 20ma/v.
The invention has the following advantages over the prior art:
(1) present invention devises power conversion unit, processor unit, analog to digital conversion unit and power amplification unit, real
Show and intelligent recognition is carried out to the open circuit of servo valve coil, controller power amplifier end output abnormality failure；
(2) present invention, which is realized, carries out real-time compensation to output abnormality failure, by servo-system performance verification, above-mentioned
Under fault condition, position characteristic and frequency characteristic index will not decline, and be conducive to improve system reliability；
(3) present invention is directed to machine feedback formula servo mechanism control feature, in the biggish situation of valve coil internal resistance
Enough valve electric currents can be exported.
Detailed description of the invention
Fig. 1 is servo-control system schematic diagram of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The present invention provides a kind of compensation multichannel independent control triple redundance servo-control system of fault diagnosis, can be realized
Triple redundance control to machine feedback formula servo mechanism can export the open circuit of servo valve coil, controller power amplifier end
Abnormal failure carries out intelligent recognition, and can be defeated to the open circuit of the first valve coil, the open circuit of the first valve coil, 1 road power amplifier module
Abnormal failure carries out real-time compensation out, and by servo-system performance verification, under above-mentioned fault condition, position characteristic and frequency are special
Property index will not decline, be conducive to improve system reliability.
It is as shown in Figure 1 servo-control system schematic diagram, as seen from the figure, a kind of compensation multichannel of fault diagnosis is independently controlled
Triple redundance servo-control system processed, including power conversion unit, processor unit, analog to digital conversion unit and power amplification unit；
Wherein, power conversion unit includes the first power conversion module, second source conversion module and power protection and filter module；Place
Managing device unit includes bus communications controller, DSP module and CPLD module；The analog to digital conversion unit includes D/A conversion module
With A/D conversion module；External servo module includes the first valve coil, the second valve coil, third valve coil and servo mechanism；
Power protection and filter module: the general supply that external control system provides is received, is filtered, filtering is generated
General supply afterwards, and respectively the first power conversion module and the power supply of second source conversion module；
First power conversion module: the power supply of power protection and filter module is received ,+5V power supply ,+15V power supply are converted into
With -15V power supply；+ 5V power supply is provided for processor unit；+ 15V power supply and -15V power supply are provided for analog to digital conversion unit；
Second source conversion module: receiving the power supply of power protection and filter module, is converted into+28V power supply, and is power
Amplification module offer+28V power supply；
Bus communications controller: the bus command that external control system transmits is received；Interrupt signal is generated, and exports interruption
Signal is to DSP module；Receive the address signal and read-write control signal that DSP module transmits；Receive the chip selection signal that CPLD is transmitted；
Receive measurement digital signal, the first valve current digital signal, the second valve current digital signal and third valve electricity that DSP module transmits
Streaming digital signal is sent to bus communications controller；And address signal, read-write control signal, chip selection signal, measurement number are believed
Number, the first valve current digital signal, the second valve current digital signal and third valve current digital signal export to outside control system
System；
DSP module: receiving the interrupt signal that transmits of bus communications controller, generate address signal, address gating signal and
Read-write control signal；And address signal and read-write control signal are sent to bus communications controller；By address signal and address
Gating signal is sent to CPLD module；Receive A/D conversion module transmit measurement digital signal, the first valve current digital signal,
Second valve current digital signal and third valve current digital signal, storage；Generate valve current digital command signal；And by valve electric current
Digital command signal is sent to D/A conversion module；It simultaneously will measurement digital signal, the first valve current digital signal, the second valve electricity
Streaming digital signal and third valve current digital signal are sent to bus communications controller；
CPLD module: receiving address signal and address gating signal that DSP module transmits, and parsing generates chip selection signal；And
Chip selection signal is sent to bus communications controller, A/D conversion module and D/A conversion module respectively；
A/D conversion module: the chip selection signal that CPLD module transmits is received；Receive the measuring signal that servo mechanism transmits；It connects
Receive the first valve current signal that the first valve coil transmits；Receive the second valve current signal that the second valve coil transmits；Receive third
The third valve current signal that valve coil transmits；To measuring signal, the first valve current signal, the second valve current signal and third valve electricity
It flows signal and carries out analog-to-digital conversion, generate measurement digital signal, the first valve current digital signal, the second valve current digital signal and the
Three valve current digital signals；And it will measurement digital signal, the first valve current digital signal, the second valve current digital signal and third
Valve current digital signal is sent to DSP module；
D/A conversion module: the chip selection signal that CPLD module transmits is received；The valve current digital that DSP module transmits is received to refer to
Enable signal；Analog-to-digital conversion is carried out, the first valve current analog voltage command signal, the second valve current analog voltage command signal are generated
With third valve current analog voltage command signal；And it is the first valve current analog voltage command signal, the second valve current analog is electric
Pressure command signal and third valve current analog voltage command signal are sent to power amplification unit；
Power amplification unit: the first valve current analog voltage command signal, the second valve electricity that D/A conversion module transmits are received
Flow field simulation voltage command signal and third valve current analog voltage command signal；It is converted into the first valve current signal, second respectively
Valve current signal and third valve current signal；And the first valve current signal is transmitted to the first valve coil；Second valve electric current is believed
Number it is transmitted to the second valve coil；Third valve current signal is transmitted to third valve coil.
Wherein, power protection and filter module receive the 28.5V general supply that external control system provides.Bus communication control
The traffic rate of device is 1Mbps.The dominant frequency of DSP module is 120MHz.The control period of the DSP module is 1ms.The A/D
The sampling rate of conversion module is 256k.The sampling precision of the A/D conversion module is 16bit.The D/A conversion module it is defeated
The Voltage Establishment time is 13ns, sampling precision 16bit out.The conversion coefficient of the power amplifier module is 20ma/v.
In the present invention, power conversion unit, using high pressure servo valve driving circuit, it is ensured that appoint in triple redundance valve current circuit
Meaning can separately provide valve electric current required when servo mechanism maximum pendulum angle all the way；Compared with traditional servo controller, use
± 28V power supply provides power supply for power amplifier module, even if valve coil internal resistance is high, single power amplifier can also provide 70mA's
Driving current can also realize closed-loop control by a road coil even if other two-way valve coils are breaking；
Analog to digital conversion unit, analog acquisition and command voltage output are turned using A/D conversion module, the D/A of 16bit precision
Block is changed the mold, realizes more accurate measurement and control；Using three independent instruction current output circuits, each driving circuit
Using the independent channel a D/A control；
Governor circuit carries out the redundancy output of command voltage using a plurality of universal serial bus, it is ensured that will not fail and lead because of bus
Cause the failure of triple redundance scheme；
Consider the reliability of triple redundance scheme, triple redundance signal is distributed on different A/D acquisition chips, it is ensured that will not
Because 1 chip failure causes triple redundance scheme to fail.
Governor circuit uses the control method of voting judgement, equivalent compensation in DSP module, when once failure occurs,
Guarantee that three servo valve coils flow through total current and meet digital command requirement.
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 (9)
1. a kind of compensation multichannel independent control triple redundance servo-control system of fault diagnosis, it is characterised in that: including power supply
Converter unit, processor unit, analog to digital conversion unit and power amplification unit；Wherein, power conversion unit includes the first power supply
Conversion module, second source conversion module and power protection and filter module；Processor unit include bus communications controller,
DSP module and CPLD module；The analog to digital conversion unit includes D/A conversion module and A/D conversion module；External servo module packet
Include the first valve coil, the second valve coil, third valve coil and servo mechanism；
Power protection and filter module: the general supply that external control system provides is received, is filtered, is generated filtered
General supply, and respectively the first power conversion module and the power supply of second source conversion module；
First power conversion module: receiving the power supply of power protection and filter module, be converted into+5V power supply ,+15V power supply and-
15V power supply；+ 5V power supply is provided for processor unit；+ 15V power supply and -15V power supply are provided for analog to digital conversion unit；
Second source conversion module: receiving the power supply of power protection and filter module, is converted into+28V power supply, and is power amplification
Module offer+28V power supply；
Bus communications controller: the bus command that external control system transmits is received；Interrupt signal is generated, and exports interrupt signal
To DSP module；Receive the address signal and read-write control signal that DSP module transmits；Receive the chip selection signal that CPLD is transmitted；It receives
Measurement digital signal, the first valve current digital signal, the second valve current digital signal and the third valve electric current number that DSP module transmits
Word signal is sent to bus communications controller；And by address signal, read-write control signal, chip selection signal, measurement digital signal, the
One valve current digital signal, the second valve current digital signal and third valve current digital signal are exported to external control system；
DSP module: receiving the interrupt signal that bus communications controller transmits, and generates address signal, address gating signal and read-write
Control signal；And address signal and read-write control signal are sent to bus communications controller；By address signal and address strobe
Signal is sent to CPLD module；Receive measurement digital signal, the first valve current digital signal, second that A/D conversion module transmits
Valve current digital signal and third valve current digital signal, storage；Generate valve current digital command signal；And by valve current digital
Command signal is sent to D/A conversion module；Digital signal, the first valve current digital signal, the second valve electric current number will be measured simultaneously
Word signal and third valve current digital signal are sent to bus communications controller；
CPLD module: receiving address signal and address gating signal that DSP module transmits, and parsing generates chip selection signal；And respectively
Chip selection signal is sent to bus communications controller, A/D conversion module and D/A conversion module；
A/D conversion module: the chip selection signal that CPLD module transmits is received；Receive the measuring signal that servo mechanism transmits；Receive the
The first valve current signal that one valve coil transmits；Receive the second valve current signal that the second valve coil transmits；Receive third valve line
Enclose the third valve current signal transmitted；Measuring signal, the first valve current signal, the second valve current signal and third valve electric current are believed
Number analog-to-digital conversion is carried out, generates measurement digital signal, the first valve current digital signal, the second valve current digital signal and third valve
Current digital signal；And it will measurement digital signal, the first valve current digital signal, the second valve current digital signal and third valve electricity
Streaming digital signal is sent to DSP module；
D/A conversion module: the chip selection signal that CPLD module transmits is received；Receive the valve current digital instruction letter that DSP module transmits
Number；Analog-to-digital conversion is carried out, the first valve current analog voltage command signal, the second valve current analog voltage command signal and the are generated
Three valve current analog voltage command signals；And the first valve current analog voltage command signal, the second valve current analog voltage are referred to
Signal and third valve current analog voltage command signal is enabled to be sent to power amplification unit；
Power amplification unit: the first valve current analog voltage command signal, the second valve current-mode that D/A conversion module transmits are received
Quasi- voltage command signal and third valve current analog voltage command signal；It is converted into the first valve current signal, the second valve electricity respectively
Flow signal and third valve current signal；And the first valve current signal is transmitted to the first valve coil；Second valve current signal is passed
Transport to the second valve coil；Third valve current signal is transmitted to third valve coil.
2. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 1,
It is characterized by: the power protection and filter module receive the 28.5V general supply that external control system provides.
3. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 2,
It is characterized by: the traffic rate of bus communications controller is 1Mbps.
4. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 3,
It is characterized by: the dominant frequency of the DSP module is 120MHz.
5. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 4,
It is characterized by: the control period of the DSP module is 1ms.
6. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 5,
It is characterized by: the sampling rate of the A/D conversion module is 256k.
7. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 6,
It is characterized by: the sampling precision of the A/D conversion module is 16bit.
8. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 7,
It is characterized by: the output voltage settling time of the D/A conversion module is 13ns, sampling precision 16bit.
9. the compensation multichannel independent control triple redundance servo-control system of a kind of fault diagnosis according to claim 8,
It is characterized by: the conversion coefficient of the power amplifier module is 20ma/v.
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