CN112865408B - Dual-redundancy electromechanical actuator - Google Patents

Dual-redundancy electromechanical actuator Download PDF

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CN112865408B
CN112865408B CN202110031751.XA CN202110031751A CN112865408B CN 112865408 B CN112865408 B CN 112865408B CN 202110031751 A CN202110031751 A CN 202110031751A CN 112865408 B CN112865408 B CN 112865408B
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helical gear
phase
fault
dual
motor
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CN112865408A (en
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严亮
王进
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Beihang University
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Beihang University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • F16H25/2252—Planetary rollers between nut and screw
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • 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
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • 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
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/114—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric clutches in combination with brakes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The invention discloses a dual-redundancy electromechanical actuator, which consists of a base (3), a left support plate (4A), a right support plate (4B), a cover body (5), a six-phase fault-tolerant motor (1), a planetary roller screw component (2), a left end transmission component and a right end transmission component; wherein the left end transmission assembly and the right end transmission assembly have the same structure. The transmission assembly comprises a helical gear, a rotating shaft, an idler wheel and an electromagnetic brake. The invention realizes the linear output of a planetary roller screw component (2) by matching a six-phase fault-tolerant motor (1) with a helical gear. The left end transmission assembly and the right end transmission assembly which are respectively arranged at the two ends of the motor shaft (1A) enable the left end and the right end to be in independent transmission modes, so that the size and the weight of the electromechanical actuator are reduced.

Description

Dual-redundancy electromechanical actuator
Technical Field
The present invention relates to an electromechanical actuator, and more particularly to a dual-redundancy electromechanical actuator for aerospace vehicles.
Background
With the development of aerospace craft technology, the full-power of aerospace craft gradually becomes the future development direction. The electromechanical actuator generates the attitude adjusting torque in the form of a thrust vector of the spray pipe or an air rudder, which is an important ring for ensuring the stable flight of the aerospace craft, and the reliability of the electromechanical actuator is more and more emphasized.
"dual-redundancy steering engine without load balancing control and its nonlinear compensation control" disclosed in 2008 volume 41, 5 th' micromotor ", author Jiangxiang, Zhujihong. This document describes the application of a dual redundancy electric actuator to the structure of an aircraft. The researched two-redundancy electric actuator is provided with two identical and relatively independent channels, and each channel consists of a control system, a redundancy management and fault diagnosis system, a driving unit, a brushless motor, a brake, differential motion synthesis and the like. And the two channels carry out information interaction through two redundancy communication buses. When the aircraft normally works, the flight control computer determines that one channel is a main control unit and the other channel is a secondary control unit, the main control unit coordinates the two channels to work simultaneously, and the outputs of the two channels are synthesized to drive the control surface to rotate. When a fatal fault occurs in a channel, if the main control unit fails, the redundancy management and fault diagnosis system sends a braking instruction to isolate the channel, and meanwhile, the flight control computer cancels the qualification of the main control unit and independently maintains the whole system to work through a secondary control unit channel; if the auxiliary control unit fails, only the redundancy management and fault diagnosis system sends out a braking instruction to isolate the channel, and the main control unit channel independently maintains the whole system to work. In addition, the researched dual-redundancy electric actuator is also designed with local redundancy, so that the actuator still has certain redundancy when one channel is locally failed.
The traditional electromechanical actuator applied to the aerospace craft is driven by two brushless direct current motors, and the two motors have larger weight and installation volume. When one motor fails, the other motor cannot provide rated output power, and the electromechanical actuator can only operate in a derating mode. Although the reliability of the system can be improved in this way, the flight distance is shortened, and the flight cost is increased. The mode essentially only makes redundancy design for the motor, and once the transmission mechanism has mechanical jamming failure, the whole actuator is out of work.
Disclosure of Invention
In order to solve the problem of transmission mechanism jamming failure caused by gear transmission failure of an electromechanical actuator in the existing aerospace craft, the invention designs a dual-redundancy electromechanical actuator. The dual-redundancy electromechanical actuator realizes linear output of the planetary roller screw component by matching a six-phase fault-tolerant motor with the helical gear; when a mechanical jamming fault occurs in the left-end transmission assembly and a winding fault occurs in the six-phase fault-tolerant motor, fault switching is realized through mutual matching of the electromagnetic clutch and the electromagnetic brake, and independent driving of two transmission channels is achieved. Under the double-redundancy double-transmission mode, the size and the weight of the electromechanical actuator are reduced.
The dual-redundancy electromechanical actuator designed by the invention can be applied to dual-redundancy electromechanical actuators of aerospace aircrafts; the method is characterized in that: the dual-redundancy electromechanical actuator comprises a base (3), a left support plate (4A), a right support plate (4B), a cover body (5), a six-phase fault-tolerant motor (1), a planetary roller screw component (2), a left end transmission component and a right end transmission component; the left end transmission assembly and the right end transmission assembly have the same structure;
the lower part of the cover body (5) is fixed on the base (3) through a left supporting plate (4A) and a right supporting plate (4B) which are arranged in parallel; a six-phase fault-tolerant motor (1), a planetary roller screw assembly (2), a left end transmission assembly and a right end transmission assembly are arranged in the cover body (5);
the left end transmission assembly comprises an AA helical gear (11), an AB helical gear (12), an AC helical gear (13), an AD helical gear (14), a left end idler wheel (15), a left end electromagnetic brake (15A), an AA rotating shaft (16) and an AB rotating shaft (17); the AA helical gear (11) is connected to a left-section cylinder (1A2) at the left end of a motor shaft (1A) of the six-phase fault-tolerant motor (1);
the AB helical gear (12) and the AC helical gear (13) are arranged in parallel and are arranged on the AA rotating shaft (16);
the left end idler wheel (15) and the left end electromagnetic brake (15A) are arranged on the AB rotating shaft (17);
the AD helical gear (14) is arranged on a sleeve (2A) of the planetary roller screw assembly (2);
the external teeth of the AA helical gear (11) are meshed with the external teeth of the AB helical gear (12);
the outer teeth of the left-end idle gear (15) are respectively meshed with the outer teeth of the AC helical gear (13) and the outer teeth of the AD helical gear (14);
the right end transmission component comprises a BA helical gear (21), a BB helical gear (22), a BC helical gear (23), a BD helical gear (24), a right end idler gear (25), a right end electromagnetic brake (25A), a BA rotating shaft (26) and a BB rotating shaft (27);
the BB helical gear (22) and the BC helical gear (23) are arranged in parallel and are arranged on a BA rotating shaft (26);
a right idle wheel (25) and a right electromagnetic brake (25A) are arranged on the BB rotating shaft (27);
the BD helical gear (24) is arranged on a planetary roller screw (2B) of the planetary roller screw assembly (2);
the external teeth of the BA helical gear (21) are meshed with the external teeth of the BB helical gear (22);
the external teeth of the right idle gear (25) are respectively meshed with the external teeth of the BC helical gear (23) and the external teeth of the BD helical gear (24);
the six-phase fault-tolerant motor (1) is composed of a motor shaft (1A), a stator core (1B), a rotor permanent magnet (1C), a rotor core (1D), a winding coil (1E), a motor shell (1F), a left electromagnetic clutch (1K), a right electromagnetic clutch (1N), a left rotary transformer (1L), a right rotary transformer (1P), a left bearing (1M) and a right bearing (1Q); the stator iron core (1B) and the winding coil (1E) form a stator assembly; the rotor iron core (1D) and the rotor permanent magnet (1C) form a rotor assembly;
the left end of the motor shaft (1A) is a left section of cylinder (1A2), the right end of the motor shaft (1A) is a right section of cylinder (1A3), and a cross-shaped shoulder (1A1) is arranged in the middle of the motor shaft (1A); a left electromagnetic clutch (1K), a left rotary transformer (1L), a left bearing (1M) and an AA left helical gear (11) are sequentially sleeved on a left section cylinder (1A2) of the motor shaft (1A) from outside to inside; a right electromagnetic clutch (1N), a right rotary transformer (1P), a right bearing (1Q) and a BA left helical gear (21) are sequentially sleeved on a right section cylinder (1A3) of the motor shaft (1A) from outside to inside;
the stator core (1B) is provided with coil slots (1B2) for placing wound coil windings (1E), a coil framework (1B3) is arranged between adjacent coil slots (1B2), and AA through holes (1B1) are arranged in the middle of the coil framework; a motor shell (1F) is sleeved outside the stator core (1B), and a spacer bush (1J), a rotor permanent magnet (1C) and a rotor core (1D) are sequentially arranged between the AA through hole (1B1) of the stator core (1B) and the motor shaft (1A);
a left end cover (1G) is installed at the left end of the motor shell (1F), a left bearing (1M) is arranged at the joint of the left end cover (1G) and a left section of cylinder (1A2) of the motor shaft (1A), and the outer ring of the left bearing (1M) is fixedly installed in an AA center through hole (1G1) of the left end cover (1G);
a right end cover (1H) is installed at the right end of the motor shell (1F), a right bearing (1Q) is arranged at the joint of the right end cover (1H) and a right section of cylinder (1A3) of the motor shaft (1A), and the outer ring of the right bearing (1Q) is fixedly installed in an AB center through hole (1H1) of the right end cover (1H);
the planetary roller screw component (2) is composed of a sleeve (2A), a planetary roller screw (2B), a screw nut (2C), a sensor mounting seat (2D), a threaded roller (2G), a roller left end cover (2H) and a roller right end cover (2J); the threaded roller (2G), the roller left end cover (2H) and the roller right end cover (2J) are combined to be used as a screw rod bearing block of the planetary roller screw rod (2B); the planetary roller screw (2B) moves in a plurality of threaded rollers (2G) arranged circumferentially;
the sleeve (2A) is provided with a BA through hole (2A1), a guide groove (2A2) and a guide spacing block (2A 3); a guide groove (2A2) is arranged between the adjacent guide spacing blocks (2A 3); a guide rail (2C1) which is used for placing the lead screw nut (2C) in the guide groove (2A 2); the guide spacing block (2A3) is arranged in a guide groove (2C3) of the screw nut (2C); the BA through hole (2A1) is used for the lead screw nut (2C) to pass through;
the lead screw nut (2C) is provided with a guide rail (2C1), a BB through hole (2C2) and a guide groove (2C 3); a guide groove (2C3) is arranged between the adjacent guide rails (2C 1); a guide spacing block (2A3) used for placing the sleeve (2A) is arranged in the guide groove (2C 3); the guide rail (2C1) is arranged in the guide groove (2A2) of the sleeve (2A); a sensor mounting seat (2D), a planetary roller screw (2B) and a screw bearing block are arranged in the BB through hole (2C 2); the sleeve (2A) is connected with the screw nut (2C) through a spline pair;
the sensor mounting seat (2D) is mounted at the left end of the screw nut (2C); the sensor mounting seat (2D) is provided with a positioning hole for mounting the linear displacement sensor A (2E) and the linear displacement sensor B (2F); a linear displacement sensor A (2E) and a linear displacement sensor B (2F) are arranged on the sensor mounting seat (2D);
the two ends of the threaded roller (2G) are respectively provided with a roller left end cover (2H) and a roller right end cover (2J); a plurality of threaded rollers (2G) passing between the roller left end cap (2H) and the roller right end cap (2J) are circumferentially arranged.
The dual-redundancy electromechanical actuator has the advantages that:
(1) the traditional dual-redundancy electromechanical actuator is generally provided with 2 common three-phase motors, 2 speed reducers and 2 lead screws. The dual-redundancy electromechanical actuator only uses 1 six-phase fault-tolerant motor (1) and 1 planetary roller screw (2B), and realizes dual-redundancy design of a driving mechanism (the six-phase fault-tolerant motor (1)) and a transmission mechanism (the planetary roller screw (2B)). Two mechanical transmission channels at two ends of the motor shaft (1A) are mutually independent and do not interfere with each other, and a foundation is laid for fault-tolerant control of the actuator. The dual-redundancy electromechanical actuator improves the power density of a system, improves the flight distance and saves the flight cost.
(2) Adopts a 'hot backup' motor driving mode. The motor is a six-phase fault-tolerant motor (1), is wound by a single-layer winding and has physical isolation, magnetic isolation, thermal isolation and electrical isolation capabilities. And redundancy design is carried out on the winding fault which is most prone to failure of the motor, and when the motor winding is in open circuit and short circuit faults, the residual winding has the capacity of normally outputting rated power. The multiphase fault-tolerant motor is adopted to replace two conventional common motors, so that the weight and the installation volume of the motor can be reduced on the basis of ensuring the reliability of the motor.
(3) The existing design mostly adopts a ball screw, and the invention adopts a planetary roller screw component (2). The planetary roller screw (2B) is different from a ball screw in structure, and is characterized in that the load transmission element of the planetary roller screw (2B) is a threaded roller (2G) which is typically in line contact; and the ball screw load transfer elements are balls, which are point contacts. The replacement of the conventional ball by the threaded roller (2G) will cause the load to be quickly released through numerous contact points, thereby giving the planetary roller screw (2B) a higher impact resistance. Meanwhile, the planetary roller screw is further designed on the basis of a common planetary roller screw, and the planetary roller screw (2B) has the capability of independent work of two channels by adopting a structure of a screw pair and a spline pair. The screw pair and the spline pair of the planetary roller screw (2B) can work independently and do not interfere with each other, so that the stability and the reliability of transmission are ensured.
(4) And a rotary transformer and a linear displacement sensor are used for double backup, so that the fault risk of the sensor is reduced. Electronic components are easy to lose efficacy in the high-altitude flight of the aircraft, and once the electronic components lose efficacy, the output precision of the actuator is influenced, and the flight safety of the aircraft is seriously influenced. The backup of the sensor does not occupy too much installation space, and the risk of failure of electrical components is avoided.
Drawings
FIG. 1 is an external block diagram of a dual redundancy electro-mechanical actuator designed according to this invention.
FIG. 2 is an external structural view of the double redundancy electro-mechanical actuator of the present invention without the cover.
Fig. 2A is another perspective view structural view of the double redundancy electro-mechanical actuator of the present invention without the cover.
Fig. 2B is a cross-sectional view of fig. 2.
Fig. 3 is an external structural view of a six-phase fault-tolerant motor in the dual-redundancy electro-mechanical actuator of the present invention.
Fig. 3A is a sectional view a-a of fig. 3.
Fig. 3B is a sectional view B-B of fig. 3.
FIG. 3C is an exploded view of a six-phase fault tolerant motor in a dual redundancy electro-mechanical actuator of the present invention.
FIG. 3D is a six-phase distribution diagram of a six-phase fault-tolerant motor in a dual-redundancy electro-mechanical actuator of the present invention.
FIG. 4 is an external block diagram of a planetary roller screw assembly in the dual redundancy electro-mechanical actuator of the present invention.
FIG. 4A is an exploded view of the planetary roller screw assembly in the dual redundancy electro-mechanical actuator of the present invention.
Figure BDA0002892613060000051
Figure BDA0002892613060000061
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, 2A and 2B, the invention relates to a dual-redundancy electromechanical actuator applicable to aerospace vehicles, which comprises a base 3, a left support plate 4A, a right support plate 4B, a cover body 5, a six-phase fault-tolerant motor 1, a planetary roller screw assembly 2, a left end transmission assembly and a right end transmission assembly. Wherein the left end transmission assembly and the right end transmission assembly have the same structure.
In fig. 1, the lower part of the cover 5 is fixed on the base 3 via a left support plate 4A and a right support plate 4B which are disposed in parallel. The dual-redundancy electromechanical actuator designed by the invention can be fixed on an aerospace vehicle through the base 3. Six-phase fault-tolerant motor 1, planetary roller screw assembly 2, left end transmission assembly and right end transmission assembly are arranged in the cover body 5.
The left end transmission component comprises an AA helical gear 11, an AB helical gear 12, an AC helical gear 13, an AD helical gear 14, a left end idler gear 15, a left end electromagnetic brake 15A, AA rotating shaft 16 and an AB rotating shaft 17. The AA helical gear 11 is connected to a left section cylinder 1A2 at the left end of a motor shaft 1A of the six-phase fault-tolerant motor 1.
The AB helical gear 12 and the AC helical gear 13 are arranged in parallel and are installed on an AA rotating shaft 16.
The left idler pulley 15 and the left electromagnetic brake 15A are installed on the AB rotating shaft 17.
The AD helical gear 14 is mounted on the sleeve 2A of the planetary roller screw assembly 2.
The external teeth of the AA helical gear 11 mesh with the external teeth of the AB helical gear 12.
The outer teeth of the left-end idle gear 15 are engaged with the outer teeth of the AC helical gear 13 and the outer teeth of the AD helical gear 14, respectively.
The right end transmission component comprises a BA helical gear 21, a BB helical gear 22, a BC helical gear 23, a BD helical gear 24, a right end idler gear 25, a right end electromagnetic brake 25A, BA rotating shaft 26 and a BB rotating shaft 27.
The BB helical gear 22 and the BC helical gear 23 are arranged in parallel and are installed on a BA spindle 26.
The right idler gear 25 and the right electromagnetic brake 25A are mounted on the BB spindle 27.
The BD helical gear 24 is mounted on the planetary roller screw 2B of the planetary roller screw assembly 2.
The external teeth of the BA helical gear 21 mesh with the external teeth of the BB helical gear 22.
The external teeth of the right idle gear 25 mesh with the external teeth of the BC helical gear 23 and the external teeth of the BD helical gear 24, respectively.
Electromagnetic brake
In the present invention, electromagnetic brakes are installed on the left-end idler gear 15 and the right-end idler gear 25, respectively, thereby increasing the transmission distance while changing the direction of rotation of the driven gear. The input voltage of the electromagnetic brake is 24V, and the braking torque is 100 N.m.
In the invention, the left electromagnetic brake 15A on the left idler 15 and the right electromagnetic brake 25A on the right idler 25 are locked by an electrified brake and separated by a power-off.
Helical gear
In the invention, 4 gears of the helical cylindrical gear layout at the left end and the right end are in a two-stage transmission mode. The traditional aerospace actuator is generally in multi-stage transmission, and after the dual-redundancy electromechanical actuator designed by the invention is used for replacing, the two-stage transmission can meet the requirements of the aerospace actuator. The transmission precision is improved.
In the present invention, the left helical gear is taken as an example, and the right helical gear is the same as the left helical gear.
One-stage transmission
In the present invention, the AA helical gear 11 and the AB helical gear 12 constitute a one-stage transmission mode. Meanwhile, the BA helical gear 21 and the BB helical gear 22 constitute a primary transmission mode.
Two stage transmission
In the present invention, the AC helical gear 13, the left-end idler gear 15, and the AD helical gear 14 constitute a two-stage transmission mode. Meanwhile, the BC helical gear 23, the right-end idler gear 25 and the BD helical gear 24 constitute a two-stage transmission mode.
The helical gear of the invention has the following parameters:
TABLE 1 drive ratio
Figure BDA0002892613060000081
iFirst stageRepresenting a primary gear ratio.
iSecond stageRepresenting a secondary gear ratio.
Z11The number of teeth of the AA helical gear 11 is indicated.
Z12The number of teeth of the AB helical gear 12 is shown.
Z13The number of teeth of the AC helical gear 13 is indicated.
Z14The number of teeth of the AD helical gear 14 is shown.
TABLE 2 size of helical gear in primary transmission
AA helical gear 11 AB helical gear 12
Z11＝34 Z12＝68
d11＝21mm d12＝42mm
b11＝26mm b12＝21mm
β11＝15.7° β12＝15.7°
d11The reference circle diameter of the AA helical gear 11 is shown.
d12The reference circle diameter of the AB helical gear 12 is shown.
b11The tooth width of the AA helical gear 11 is shown.
b12The tooth width of the AB helical gear 12 is shown.
β11The helix angle of the AA helical gear 11 is shown.
β12The helix angle of the AB helical gear 12 is shown.
TABLE 3 size of helical spur gear in two-stage drive
AC helical gear 13 Left idler 15 AD helical gear 14
Z13＝36 Z15＝72 Z14＝144
d13＝25mm d14＝50mm d15＝100mm
b13＝35mm b14＝30mm b15＝25mm
β13＝13.3° β14＝13.3° β15＝13.3°
Z13The number of teeth of the AC helical gear 13 is indicated.
Z14The number of teeth of the AD helical gear 14 is shown.
Z15Indicating the number of teeth on the left idler 15.
d13Indicating the pitch circle diameter of the AC helical gear 13.
d14The reference circle diameter of the AD helical gear 14 is shown.
d15Indicating the pitch circle diameter of the left end idler 15.
b13The tooth width of the AC helical gear 13 is shown.
b14The tooth width of the AD helical gear 14 is shown.
b15Indicating the tooth width of the left-end idler 15.
β13The helix angle of the AC helical gear 13 is shown.
β14The helix angle of the AD helical gear 14 is shown.
β15Indicating the helix angle of the left end idler 15.
Six-phase fault-tolerant motor 1
Referring to fig. 2, 2A, 2B, 3A, 3B, and 3C, the six-phase fault-tolerant motor 1 is composed of a motor shaft 1A, a stator core 1B, a rotor permanent magnet 1C, a rotor core 1D, a winding coil 1E, a motor case 1F, a left electromagnetic clutch 1K, a right electromagnetic clutch 1N, a left resolver 1L, a right resolver 1P, a left bearing 1M, and a right bearing 1Q. The stator core 1B and the winding coil 1E constitute a stator assembly. The rotor core 1D and the rotor permanent magnet 1C constitute a rotor assembly.
The left end of the motor shaft 1A is a left section of cylinder 1A2, the right end of the motor shaft 1A is a right section of cylinder 1A3, and a cross-shaped shoulder 1A1 is arranged in the middle of the motor shaft 1A. A left electromagnetic clutch 1K, a left rotary transformer 1L, a left bearing 1M and an AA left helical cylindrical gear 11 are sequentially sleeved on a left section cylinder 1A2 of the motor shaft 1A from outside to inside; a right electromagnetic clutch 1N, a right rotary transformer 1P, a right bearing 1Q and a BA left helical gear 21 are sequentially sleeved on the right section cylinder 1A3 of the motor shaft 1A from outside to inside.
The stator core 1B is provided with coil slots 1B2 for placing the wound coil winding 1E, a coil frame 1B3 is arranged between adjacent coil slots 1B2, and an AA through hole 1B1 is arranged in the middle. The motor casing 1F is sleeved outside the stator core 1B, and the spacer 1J, the rotor permanent magnet 1C and the rotor core 1D are sequentially installed between the AA through hole 1B1 of the stator core 1B and the motor shaft 1A, as shown in fig. 3A and 3B.
The left end of the motor casing 1F is provided with a left end cover 1G, the joint of the left end cover 1G and the left section cylinder 1A2 of the motor shaft 1A is a left bearing 1M, and the outer ring of the left bearing 1M is fixedly arranged in an AA center through hole 1G1 of the left end cover 1G.
The right end of the motor casing 1F is provided with a right end cover 1H, the joint of the right end cover 1H and the right section cylinder 1A3 of the motor shaft 1A is a right bearing 1Q, and the outer ring of the right bearing 1Q is fixedly arranged in an AB center through hole 1H1 of the right end cover 1H.
Electromagnetic clutch
In the invention, the left electromagnetic clutch 1K and the right electromagnetic clutch 1N are closed by electrifying and separated by deenergizing. The input voltage of the electromagnetic clutch is 24V, the dynamic friction torque is 25N m, and the static friction torque is 27N m.
Rotary transformer
In the invention, the left rotary transformer 1L and the right rotary transformer 1P are used for measuring the rotating speed and the angular displacement of the motor, thereby realizing the closed-loop control of the motor. The excitation voltage of the rotary transformer is less than 10V, and the excitation frequency is 400 Hz.
The rated rotating speed of the six-phase fault-tolerant motor 1 is 12000r/min, and the rated torque is 25 N.m. The left bearing 1M and the right bearing 1Q are deep groove ball bearings.
The winding coil 1E is obtained by winding a copper wire, and the structure shown in figure 3C is convenient for drawing and is not the actual structural shape of the winding coil 1E. In fig. 3D, the first wire group wound by copper wires is installed in the notches No. 1 and No. 12 of the stator core 1B, forming the phase a winding of the six-phase fault-tolerant motor 1. And a second wire group wound by copper wires is arranged in a No. 11 notch and a No. 10 notch of the stator core 1B to form a B-phase winding of the six-phase fault-tolerant motor 1. And a third wire group wound by copper wires is arranged in a No. 9 notch and a No. 8 notch of the stator core 1B to form a C-phase winding of the six-phase fault-tolerant motor 1. And a fourth wire group wound by copper wires is arranged in a No. 7 notch and a No. 6 notch of the stator core 1B to form a D-phase winding of the six-phase fault-tolerant motor 1. And a fifth wire group wound by copper wires is arranged in a No. 5 notch and a No. 4 notch of the stator core 1B to form an E-phase winding of the six-phase fault-tolerant motor 1. And a sixth wire group wound by copper wires is arranged in a No. 3 notch and a No. 2 notch of the stator core 1B to form an F-phase winding of the six-phase fault-tolerant motor 1.
In the present invention, the six-phase winding phases of the six-phase fault-tolerant motor 1 are referred to as a phase a, a phase B, a phase C, a phase D, a phase E, and a phase F, respectively.
In the normal working state, the six-phase winding phase works normally.
In a fault state, if the A phase is broken or has a short-circuit fault, the rest five-phase windings (the B phase, the C phase, the D phase, the E phase and the F phase) can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
In a fault state, if the A phase and the B phase are in open circuit or short circuit fault, the rest four-phase windings (the C phase, the D phase, the E phase and the F phase) can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
In a fault state, if the A phase, the B phase and the C phase are in open circuit or short circuit fault, the rest three-phase windings (the D phase, the E phase and the F phase) can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
Planetary roller screw assembly 2
Referring to fig. 2, 2A, 2B, 4A, the planetary roller screw assembly 2 is composed of a sleeve 2A, a planetary roller screw 2B, a screw nut 2C, a sensor mount 2D, a threaded roller 2G, a roller left end cap 2H, and a roller right end cap 2J. The threaded roller 2G, the roller left end cover 2H and the roller right end cover 2J are combined to be used as a screw bearing block of the planetary roller screw 2B. The planetary roller screw 2B moves in a plurality of threaded rollers 2G arranged circumferentially.
Referring to fig. 4A, the bush 2A is provided with a BA through hole 2A1, a guide groove 2A2, and a guide spacer 2A 3. Between adjacent guide spacers 2A3 is a guide groove 2a 2. The guide groove 2A2 is used for placing a guide rail 2C1 of the lead screw nut 2C. The guide spacer 2a3 is placed in the guide groove 2C3 of the lead screw nut 2C. The BA through hole 2A1 is used for the lead screw nut 2C to pass through.
Referring to fig. 4A, the lead screw nut 2C is provided with a guide rail 2C1, a BB through hole 2C2, and a guide groove 2C 3. Between adjacent guide rails 2C1 is a guide groove 2C 3. The guide groove 2C3 is used for placing the guide spacing block 2A3 of the sleeve 2A. The guide rail 2C1 is placed in the guide groove 2A2 of the sleeve 2A. The BB through hole 2C2 is internally provided with a sensor mounting seat 2D, a planetary roller screw 2B and a screw bearing block. In the invention, the sleeve 2A and the lead screw nut 2C are connected by a spline pair.
Referring to fig. 4A, a sensor mount 2D is mounted on the left end of the lead screw nut 2C. The sensor mounting base 2D is provided with positioning holes for mounting the A linear displacement sensor 2E and the B linear displacement sensor 2F. The sensor mounting base 2D is provided with an A linear displacement sensor 2E and a B linear displacement sensor 2F.
Two ends of the threaded roller 2G are a roller left end cover 2H and a roller right end cover 2J respectively. A plurality of threaded rollers 2G passing between the roller left end cap 2H and the roller right end cap 2J are arranged circumferentially.
In the invention, the rolling elements between the screw nut 2C and the planetary roller screw 2B are a plurality of thread rollers 2G arranged in a circumferential array, and the linear contact of the planetary roller screw 2B is higher in efficiency and stronger in bearing capacity compared with the point contact of the traditional ball screw. The lead of the planetary roller screw 2B is 5mm, the screw moment is 1mm, the rated dynamic load is 80.6KN, and the rated static load is 113.6 KN.
In the invention, the linear displacement sensors (2E and 2F) are used for measuring the output displacement of the screw nut 2C, so that the closed-loop control of the electromechanical actuator system is realized. The input voltage of the linear displacement sensor is 9-28V, the output voltage is 0-5V, the precision is +/-0.1%, and the measuring range is 0-30 mm.
The working principle of the dual-redundancy electromechanical actuator is as follows:
the dual-redundancy electromechanical actuator designed by the invention has two working states: normal operating condition and fault condition.
For convenience of description, the operation principle will be described by taking the transmission relationship of the left end transmission assembly as an example.
(1) Normal working state
101, connecting an AA helical gear 11 to a left section of a cylinder 1A2 of a motor shaft 1A of a six-phase fault-tolerant motor 1;
102, connecting the BA helical gear 21 to a right section of a cylinder 1A3 of a motor shaft 1A of the six-phase fault-tolerant motor 1;
a movement step 103, electrifying the left electromagnetic clutch 1K for attracting, and powering off and separating the left electromagnetic brake 15A;
a moving step 104, rotating an AA helical gear 11 on a left section of cylinder 1A2 of a motor shaft 1A of the six-phase fault-tolerant motor 1;
in the normal working state, the six-phase winding phase works normally;
the AB helical gear 12, the AC helical gear 13, the left end idler gear 15 and the AD helical gear 14 are sequentially driven under the rotation of the AA helical gear 11; the primary speed reduction transmission of the AA helical gear 11 and the AB helical gear 12 is realized; the AC helical gear 13 and the AD helical gear 14 are in two-stage speed reduction transmission; in the two-stage speed reduction transmission, the steering of the AD helical gear 14 is changed by using the idle gear 15 at the left end, so that the two-stage speed reduction transmission distance is increased;
a moving step 105, rotating the AD helical gear 14 to drive the sleeve 2A to follow;
a moving step 106, connecting the sleeve 2A and the lead screw nut 2C by adopting a spline pair, so that the lead screw nut 2C is driven to rotate by the rotation of the sleeve 2A, and the lead screw nut 2C outputs linear displacement at the same time;
and a motion step 107, in which the right end of the six-phase fault-tolerant motor 1 moves at the same time, the right electromagnetic clutch 1N is disconnected and separated, the right electromagnetic brake 25A is powered on and brakes, and the planetary roller screw 2B is locked.
(2) Fault state
In the invention, the fault states are divided into winding faults, helical gear faults and sensor faults.
1) Motor winding fault
In the present invention, the six-phase winding phases of the six-phase fault-tolerant motor 1 are referred to as a phase a, a phase B, a phase C, a phase D, a phase E, and a phase F, respectively.
In the single-phase winding fault state, if the A phase is in an open circuit or short circuit fault state, the rest five-phase windings (the B phase, the C phase, the D phase, the E phase and the F phase) can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
In the double-phase winding fault state, if the A phase and the B phase are in open circuit or short circuit fault, the rest four-phase windings (the C phase, the D phase, the E phase and the F phase) can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
In the fault state of the three-phase winding, if the A phase, the B phase and the C phase are in open circuit or short circuit fault, the rest three-phase winding (the D phase, the E phase and the F phase) can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
In the invention, if the four-phase winding fault, the five-phase winding fault and the six-phase winding fault occur in the motor winding fault, the six-phase fault-tolerant motor 1 cannot operate.
2) Helical gearing cylindrical gear failure
If the left end transmission assembly is judged to have a mechanical fault, the left electromagnetic clutch 1K is powered off and separated, the left electromagnetic brake 15A is powered on and brakes, and the sleeve 2A is locked. Meanwhile, the right electromagnetic clutch 1N is powered on and closed, the right electromagnetic brake 25A is powered off and separated, the six-phase fault-tolerant motor 1 drives the right end transmission assembly to rotate, the BD helical gear 24 drives the planetary roller screw 2B to rotate, the planetary roller screw 2B and the screw nut 2C are connected through a screw pair, and the planetary roller screw 2B rotates to drive the screw nut 2C to output linear displacement.
3) Sensor failure
Two ends of a motor shaft 1A of the six-phase fault-tolerant motor 1 are respectively provided with 2 rotary transformers, and when a left rotary transformer 1L fails, a right rotary transformer 1P is rapidly switched. In addition, 2 linear displacement sensor are installed to sensor mount pad 2D, and when A linear displacement sensor 2E became invalid, switch over B linear displacement sensor 2F rapidly.
The invention relates to a dual-redundancy electromechanical actuator suitable for an aerospace vehicle, which aims to solve the technical problem of reducing the weight and the installation volume on the premise of dual-redundancy drive switching; when a mechanical jamming fault occurs in the left-end transmission assembly and a winding fault occurs in the six-phase fault-tolerant motor, fault switching is realized through mutual matching of the electromagnetic clutch and the electromagnetic brake, and independent driving of two transmission channels is achieved. Under the double-redundancy double-transmission mode, the technical effects of reducing the volume and the weight of the electromechanical actuator are achieved.

Claims (10)

1. A dual-redundancy electromechanical actuator can be applied to dual-redundancy electromechanical actuators of aerospace aircrafts; the method is characterized in that: the dual-redundancy electromechanical actuator comprises a base (3), a left support plate (4A), a right support plate (4B), a cover body (5), a six-phase fault-tolerant motor (1), a planetary roller screw component (2), a left end transmission component and a right end transmission component; the left end transmission assembly and the right end transmission assembly have the same structure;
the lower part of the cover body (5) is fixed on the base (3) through a left supporting plate (4A) and a right supporting plate (4B) which are arranged in parallel; a six-phase fault-tolerant motor (1), a planetary roller screw assembly (2), a left end transmission assembly and a right end transmission assembly are arranged in the cover body (5);
the left end transmission assembly comprises an AA helical gear (11), an AB helical gear (12), an AC helical gear (13), an AD helical gear (14), a left end idler wheel (15), a left end electromagnetic brake (15A), an AA rotating shaft (16) and an AB rotating shaft (17); the AA helical gear (11) is connected to a left-section cylinder (1A2) at the left end of a motor shaft (1A) of the six-phase fault-tolerant motor (1);
the AB helical gear (12) and the AC helical gear (13) are arranged in parallel and are arranged on the AA rotating shaft (16);
the left end idler wheel (15) and the left end electromagnetic brake (15A) are arranged on the AB rotating shaft (17);
the AD helical gear (14) is arranged on a sleeve (2A) of the planetary roller screw assembly (2);
the external teeth of the AA helical gear (11) are meshed with the external teeth of the AB helical gear (12);
the outer teeth of the left-end idle gear (15) are respectively meshed with the outer teeth of the AC helical gear (13) and the outer teeth of the AD helical gear (14);
the right end transmission component comprises a BA helical gear (21), a BB helical gear (22), a BC helical gear (23), a BD helical gear (24), a right end idler gear (25), a right end electromagnetic brake (25A), a BA rotating shaft (26) and a BB rotating shaft (27);
the BB helical gear (22) and the BC helical gear (23) are arranged in parallel and are arranged on a BA rotating shaft (26);
a right idle wheel (25) and a right electromagnetic brake (25A) are arranged on the BB rotating shaft (27);
the BD helical gear (24) is arranged on a planetary roller screw (2B) of the planetary roller screw assembly (2);
the external teeth of the BA helical gear (21) are meshed with the external teeth of the BB helical gear (22);
the external teeth of the right idle gear (25) are respectively meshed with the external teeth of the BC helical gear (23) and the external teeth of the BD helical gear (24);
the six-phase fault-tolerant motor (1) is composed of a motor shaft (1A), a stator core (1B), a rotor permanent magnet (1C), a rotor core (1D), a winding coil (1E), a motor shell (1F), a left electromagnetic clutch (1K), a right electromagnetic clutch (1N), a left rotary transformer (1L), a right rotary transformer (1P), a left bearing (1M) and a right bearing (1Q); the stator iron core (1B) and the winding coil (1E) form a stator assembly; the rotor iron core (1D) and the rotor permanent magnet (1C) form a rotor assembly;
the left end of the motor shaft (1A) is a left section of cylinder (1A2), the right end of the motor shaft (1A) is a right section of cylinder (1A3), and a cross-shaped shoulder (1A1) is arranged in the middle of the motor shaft (1A); a left electromagnetic clutch (1K), a left rotary transformer (1L), a left bearing (1M) and an AA left helical gear (11) are sequentially sleeved on a left section cylinder (1A2) of the motor shaft (1A) from outside to inside; a right electromagnetic clutch (1N), a right rotary transformer (1P), a right bearing (1Q) and a BA left helical gear (21) are sequentially sleeved on a right section cylinder (1A3) of the motor shaft (1A) from outside to inside;
the stator core (1B) is provided with coil slots (1B2) for placing wound coil windings (1E), a coil framework (1B3) is arranged between adjacent coil slots (1B2), and AA through holes (1B1) are arranged in the middle of the coil framework; a motor shell (1F) is sleeved outside the stator core (1B), and a spacer bush (1J), a rotor permanent magnet (1C) and a rotor core (1D) are sequentially arranged between the AA through hole (1B1) of the stator core (1B) and the motor shaft (1A);
a left end cover (1G) is installed at the left end of the motor shell (1F), a left bearing (1M) is arranged at the joint of the left end cover (1G) and a left section of cylinder (1A2) of the motor shaft (1A), and the outer ring of the left bearing (1M) is fixedly installed in an AA center through hole (1G1) of the left end cover (1G);
a right end cover (1H) is installed at the right end of the motor shell (1F), a right bearing (1Q) is arranged at the joint of the right end cover (1H) and a right section of cylinder (1A3) of the motor shaft (1A), and the outer ring of the right bearing (1Q) is fixedly installed in an AB center through hole (1H1) of the right end cover (1H);
the planetary roller screw component (2) is composed of a sleeve (2A), a planetary roller screw (2B), a screw nut (2C), a sensor mounting seat (2D), a threaded roller (2G), a roller left end cover (2H) and a roller right end cover (2J); the threaded roller (2G), the roller left end cover (2H) and the roller right end cover (2J) are combined to be used as a screw rod bearing block of the planetary roller screw rod (2B); the planetary roller screw (2B) moves in a plurality of threaded rollers (2G) arranged circumferentially;
the sleeve (2A) is provided with a BA through hole (2A1), a guide groove (2A2) and a guide spacing block (2A 3); a guide groove (2A2) is arranged between the adjacent guide spacing blocks (2A 3); a guide rail (2C1) which is used for placing the lead screw nut (2C) in the guide groove (2A 2); the guide spacing block (2A3) is arranged in a guide groove (2C3) of the screw nut (2C); the BA through hole (2A1) is used for the lead screw nut (2C) to pass through;
the lead screw nut (2C) is provided with a guide rail (2C1), a BB through hole (2C2) and a guide groove (2C 3); a guide groove (2C3) is arranged between the adjacent guide rails (2C 1); a guide spacing block (2A3) used for placing the sleeve (2A) is arranged in the guide groove (2C 3); the guide rail (2C1) is arranged in the guide groove (2A2) of the sleeve (2A); a sensor mounting seat (2D), a planetary roller screw (2B) and a screw bearing block are arranged in the BB through hole (2C 2); the sleeve (2A) is connected with the screw nut (2C) through a spline pair;
the sensor mounting seat (2D) is mounted at the left end of the screw nut (2C); the sensor mounting seat (2D) is provided with a positioning hole for mounting the linear displacement sensor A (2E) and the linear displacement sensor B (2F); a linear displacement sensor A (2E) and a linear displacement sensor B (2F) are arranged on the sensor mounting seat (2D);
the two ends of the threaded roller (2G) are respectively provided with a roller left end cover (2H) and a roller right end cover (2J); a plurality of threaded rollers (2G) passing between the roller left end cap (2H) and the roller right end cap (2J) are circumferentially arranged.
2. The dual redundancy electro-mechanical actuator of claim 1, wherein: the AA helical gear (11) and the AB helical gear (12) form a primary transmission mode; meanwhile, the BA helical gear (21) and the BB helical gear (22) form a primary transmission mode; a primary gear ratio of
Figure FDA0003248037730000031
The AC helical gear (13), the left end idler gear (15) and the AD helical gear (14) form a two-stage transmission mode; meanwhile, the BC helical gear (23), the right-end idle gear (25) and the BD helical gear (24) form a two-stage transmission mode; a secondary gear ratio of
Figure FDA0003248037730000032
Z11The number of teeth of an AA helical gear (11);
Z12the number of teeth of the AB helical gear (12) is shown;
Z13represents the number of teeth of the AC helical gear (13);
Z14the number of teeth of an AD helical gear (14) is shown.
3. The dual redundancy electro-mechanical actuator of claim 1, wherein: six phase winding phases of the six-phase fault-tolerant motor (1) respectively refer to an A phase, a B phase, a C phase, a D phase, an E phase and an F phase;
in the normal working state, the six-phase winding phase works normally;
in a fault state, if the A phase has an open circuit or short circuit fault, the rest five-phase winding can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged;
in a fault state, if the A phase and the B phase have an open circuit or short circuit fault, the residual four-phase winding can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged;
in a fault state, if the A phase, the B phase and the C phase are in open circuit or short circuit fault, the residual three-phase winding can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged.
4. The dual redundancy electro-mechanical actuator of claim 1, wherein: the lead of the planetary roller screw (2B) is 5mm, the screw moment is 1mm, the rated dynamic load is 80.6KN, and the rated static load is 113.6 KN.
5. The dual redundancy electro-mechanical actuator of claim 1, wherein: the rated rotating speed of the six-phase fault-tolerant motor (1) is 12000r/min, and the rated torque is 25 N.m.
6. The dual redundancy electro-mechanical actuator of claim 1, wherein: the input voltage of the electromagnetic brakes (15, 25) is 24V, and the braking torque is 100 N.m.
7. The dual redundancy electro-mechanical actuator of claim 1, wherein: the input voltage of the electromagnetic clutches (1K, 1N) is 24V, the dynamic friction torque is 25N m, and the static friction torque is 27N m.
8. The dual redundancy electro-mechanical actuator of claim 1, wherein: the excitation voltage of the rotary transformer (1L, 1P) is less than 10V, and the excitation frequency is 400 Hz.
9. The dual redundancy electro-mechanical actuator of claim 1, wherein: the input voltage of the linear displacement sensor is 9-28V, the output voltage is 0-5V, the precision is +/-0.1%, and the measuring range is 0-30 mm.
10. The dual redundancy electro-mechanical actuator of claim 1, wherein: the dual-redundancy electromechanical actuator has two working states: a normal working state and a fault state;
(1) normal working state
101, connecting an AA helical gear (11) to a left section of a cylinder (1A2) of a motor shaft (1A) of a six-phase fault-tolerant motor (1);
102, connecting a BA helical gear (21) to a right section of cylinder (1A3) of a motor shaft (1A) of the six-phase fault-tolerant motor (1);
103, electrifying the left electromagnetic clutch (1K) for attracting, and powering off and separating the left electromagnetic brake (15A);
a moving step 104, rotating an AA helical gear (11) on a left section of cylinder (1A2) of a motor shaft (1A) of the six-phase fault-tolerant motor (1);
in the normal working state, the six-phase winding phase works normally;
the AB helical gear (12), the AC helical gear (13), the left end idler wheel (15) and the AD helical gear (14) are sequentially driven under the rotation of the AA helical gear (11); the primary speed reduction transmission of the AA helical gear (11) and the AB helical gear (12) is realized; the AC helical gear (13) and the AD helical gear (14) are in two-stage speed reduction transmission; in the two-stage speed reduction transmission, the steering of the AD helical gear (14) is changed by utilizing the left-end idle gear (15), so that the two-stage speed reduction transmission distance is increased;
a moving step 105, rotating the AD helical gear (14) to drive the sleeve (2A) to follow;
106, connecting the sleeve (2A) and the lead screw nut (2C) by adopting a spline pair, so that the lead screw nut (2C) can be driven to rotate by the rotation of the sleeve (2A), and the lead screw nut (2C) outputs linear displacement at the same time;
a motion step 107, wherein the right end of the six-phase fault-tolerant motor (1) moves at the same time, the right electromagnetic clutch (1N) is powered off and separated, the right electromagnetic brake (25A) is powered on and brakes, and the planetary roller screw (2B) is locked;
(2) fault state
The fault states are divided into winding faults, helical gear faults and sensor faults;
1) motor winding fault
Six phase winding phases of the six-phase fault-tolerant motor (1) respectively refer to an A phase, a B phase, a C phase, a D phase, an E phase and an F phase;
in the single-phase winding fault state, if the A phase has an open circuit or short circuit fault, the rest five-phase winding can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged;
in a double-phase winding fault state, if the A phase and the B phase have open circuit or short circuit faults, the rest four-phase winding can normally output rated power, so that the output force of the dual-redundancy electromechanical actuator is ensured to be unchanged;
in the fault state of the three-phase winding, if the A phase, the B phase and the C phase have open circuit or short circuit faults, the rest three-phase winding can normally output rated power so as to ensure that the output force of the dual-redundancy electromechanical actuator is unchanged;
2) helical gearing cylindrical gear failure
If the left end transmission assembly is judged to have a mechanical fault, the left electromagnetic clutch (1K) is powered off and separated, the left electromagnetic brake (15A) is powered on and brakes, and the sleeve (2A) is locked; meanwhile, the right electromagnetic clutch (1N) is powered on and closed, the right electromagnetic brake (25A) is powered off and separated, the six-phase fault-tolerant motor (1) drives the right end transmission assembly to rotate, the BD helical gear (24) drives the planetary roller screw (2B) to rotate, the planetary roller screw (2B) and the screw nut (2C) are connected through a screw pair, and the planetary roller screw (2B) rotates to drive the screw nut (2C) to output linear displacement;
3) sensor failure
2 rotary transformers are respectively installed at two ends of a motor shaft (1A) of the six-phase fault-tolerant motor (1), and when a left rotary transformer (1L) fails, a right rotary transformer (1P) is rapidly switched; in addition, 2 linear displacement sensors are installed on the sensor installation seat (2D), and when the A linear displacement sensor (2E) fails, the B linear displacement sensor (2F) is rapidly switched.
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