CN113716051B - Electronic controller for aircraft electric driver seat - Google Patents

Electronic controller for aircraft electric driver seat Download PDF

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Publication number
CN113716051B
CN113716051B CN202111009147.3A CN202111009147A CN113716051B CN 113716051 B CN113716051 B CN 113716051B CN 202111009147 A CN202111009147 A CN 202111009147A CN 113716051 B CN113716051 B CN 113716051B
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China
Prior art keywords
circuit
seat
power supply
motor
driving
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CN113716051A (en
Inventor
李建平
陈林
冯友权
肖爱农
杨丽
艾文涛
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AVIC Aerospace Life Support Industries Ltd
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AVIC Aerospace Life Support Industries Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D11/00Passenger or crew accommodation; Flight-deck installations not otherwise provided for
    • B64D11/06Arrangements of seats, or adaptations or details specially adapted for aircraft seats
    • B64D11/0639Arrangements of seats, or adaptations or details specially adapted for aircraft seats with features for adjustment or converting of seats
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30Structural association with control circuits or drive circuits
    • H02K11/33Drive circuits, e.g. power electronics
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters

Abstract

The invention discloses an electronic controller for an aircraft electric driver seat, which comprises a control component, a motor driving part and a power supply component, wherein the power supply component is respectively connected with the control component and the motor driving part, and the control component is respectively connected with a horizontal electric mechanism and a vertical electric mechanism of a seat through the motor driving part. The automatic calibration control is adopted, the adjustment of a mechanical mode or an external input limit position is avoided, the maintenance workload is reduced, the purpose of maintaining equipment is reduced, the automatic calibration control device can be used in the aviation field, accords with aviation use standards, and is applied to a domestic aviation electric driver seat.

Description

Electronic controller for aircraft electric driver seat
Technical Field
The invention relates to the technical field of aviation seats, in particular to an electronic controller for an aircraft electric driver seat.
Background
The technical foundation of the domestic airborne system is weak, and the aircraft driver seat is also provided by foreign system suppliers. Certain breakthroughs are made in the aspect of domestic pure mechanical driver seats, but the design technology of the electric driver seat is still lacking. The seat electronic controller provided by the invention is an electric control part of an electric driver seat and can be applied to the field of aviation.
Disclosure of Invention
The invention aims to solve the technical problems, and provides the electronic controller for the aircraft electric driver seat, which aims at the defects in the prior art, adopts automatic calibration control, avoids the adjustment of a limit position by adopting a mechanical mode or external input, reduces maintenance workload, reduces maintenance equipment, can be used for the aviation field, accords with aviation use standards, and is applied to the domestic aircraft electric driver seat.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an electronic controller for an aircraft electric driver seat comprises a control assembly, a motor driving part and a power supply assembly, wherein the power supply assembly is respectively connected with the control assembly and the motor driving part, and the control assembly is respectively connected with a horizontal electric mechanism and a vertical electric mechanism of the seat through the motor driving part.
According to the technical scheme, the horizontal electric mechanism comprises a driving motor and a horizontal guide rail, the driving motor of the horizontal electric mechanism is connected with the seat through a transmission mechanism to drive the seat to move back and forth along the horizontal guide rail, the vertical electric mechanism comprises a driving motor and a vertical guide rail, the driving motor of the vertical electric mechanism is connected with the seat through the transmission mechanism to drive the seat to move back and forth along the vertical guide rail; the vertical guide rail is arranged on the horizontal guide rail, and the seat is arranged on the vertical guide rail.
According to the technical scheme, the number of the motor driving parts is 2, and the two motor driving parts are respectively connected with the horizontal electric mechanism and the vertical electric mechanism.
According to the technical scheme, the motor driving part comprises an isolation driving circuit, a power inverter circuit and MOS tube driving, a brake is further arranged on the driving motor, the input end of the isolation driving circuit is connected with the power supply assembly and the control assembly, the output end of the isolation driving circuit is connected with the input end of the power inverter circuit, the output end of the power inverter circuit is respectively connected with the driving motor and the control assembly, the MOS tube driving is respectively connected with the isolation driving circuit and the power inverter circuit, and the output end of the MOS tube driving is connected with the brake.
According to the technical scheme, the electric control assembly comprises a DSP digital signal processor, a buffer circuit, a nonlinear optical coupling isolator and a secondary power supply circuit, wherein the DSP digital signal processor is respectively connected with an isolation driving circuit and a power inverter circuit of the motor driving part through the buffer circuit and the nonlinear optical coupling isolator, and the DSP digital signal processor is connected with the power supply assembly through the secondary power supply circuit.
According to the technical scheme, a PWM pulse width modulator is connected between the buffer circuit and the DSP digital signal processor.
According to the technical scheme, the power supply assembly comprises a driving part primary power supply circuit, a control part primary power supply circuit, a filter circuit and a peak suppression circuit, wherein the output end of the peak suppression circuit is connected with the input end of the filter circuit, the output end of the filter circuit is respectively connected with the input end of the driving part primary power supply circuit and the input end of the control part primary power supply circuit and is connected with the motor driving part, and the output end of the driving part primary power supply circuit and the output end of the control part primary power supply circuit are respectively connected with the motor driving part and the control assembly.
According to the technical scheme, the power supply assembly further comprises a current monitoring circuit, the input end of the current monitoring circuit is connected with the filter circuit, and the output end of the current monitoring circuit is connected with the motor driving part; the input end of the peak suppressing circuit is connected with an anti-reverse connection circuit.
According to the technical scheme, a voltage monitoring circuit and an EEPROM storage circuit are connected in parallel between the secondary power supply circuit and the DSP digital signal processor.
According to the technical scheme, the DSP digital signal processor is also connected with a communication interface circuit.
The invention has the following beneficial effects:
the invention adopts automatic calibration control, avoids adopting mechanical mode or external input limit position adjustment, reduces maintenance workload, reduces the purpose of maintenance equipment, can be used in the aviation field, accords with aviation use standard, and is applied to domestic aviation electric driver seat.
Drawings
FIG. 1 is a schematic circuit diagram of an electronic controller for an aircraft operator's seat in an embodiment of the invention;
FIG. 2 is a schematic view of the architecture of an aircraft electric operator's seat electronic controller, in accordance with an embodiment of the present invention;
in the figure, a 1-motor driving part, a 2-electric mechanism interface, a power supply/operation interface, a 3-shell component, a 4-control component, a 5-mode selection switch/a driving assistant driving selection switch and a 6-power supply component.
Detailed Description
The invention will now be described in detail with reference to the drawings and examples.
Referring to fig. 1 to 2, the electronic controller for an aircraft electric driver seat in one embodiment provided by the invention comprises a control component, a motor driving part and a power supply component, wherein the power supply component is respectively connected with the control component and the motor driving part, and the control component is respectively connected with a horizontal electric mechanism and a vertical electric mechanism of the seat through the motor driving part.
Further, the horizontal electric mechanism comprises a driving motor and a horizontal guide rail, the driving motor of the horizontal electric mechanism is connected with the seat through a transmission mechanism, the seat is driven to move back and forth along the horizontal guide rail, an angular displacement sensor is arranged on an output shaft of the driving motor of the horizontal electric mechanism, a Hall position sensor is arranged on the horizontal guide rail, the angular displacement sensor and the Hall position sensor of the horizontal electric mechanism are connected with a DSP digital signal processor of the control assembly, and a partial pressure filter is connected between the DSP digital signal processor and the angular displacement sensor and the Hall position sensor;
the vertical electric mechanism comprises a driving motor and a vertical guide rail, the driving motor of the vertical electric mechanism is connected with the seat through a transmission mechanism, and the seat is driven to move back and forth along the vertical guide rail; the vertical guide rail is arranged on the horizontal guide rail, the seat is arranged on the vertical guide rail, an angular displacement sensor is arranged on an output shaft of a driving motor of the vertical electric mechanism, a Hall position sensor is arranged on the vertical guide rail, the angular displacement sensor and the Hall position sensor of the vertical electric mechanism are connected with a DSP digital signal processor of the control assembly, and a partial pressure filter is connected between the DSP digital signal processor and the angular displacement sensor and the Hall position sensor.
Further, the number of the motor driving parts is 2, and the two motor driving parts are respectively connected with the horizontal electric mechanism and the vertical electric mechanism.
Further, the motor driving part comprises an isolation driving circuit, a power inverter circuit and MOS tube driving, a brake is further arranged on the driving motor, the input end of the isolation driving circuit is connected with the power supply assembly and the control assembly, the output end of the isolation driving circuit is connected with the input end of the power inverter circuit, the output end of the power inverter circuit is respectively connected with the driving motor and the control assembly, the MOS tube driving is respectively connected with the isolation driving circuit and the power inverter circuit, and the output end of the MOS tube driving is connected with the brake.
Further, the electric control assembly comprises a DSP digital signal processor, a buffer circuit, a nonlinear optical coupling isolator and a secondary power supply circuit, wherein the DSP digital signal processor is respectively connected with an isolation driving circuit and a power inverter circuit of the motor driving part through the buffer circuit and the nonlinear optical coupling isolator, and the DSP digital signal processor is connected with the power supply assembly through the secondary power supply circuit.
Further, a PWM pulse width modulator is connected between the buffer circuit and the DSP digital signal processor.
Further, the power supply assembly comprises a driving part primary power supply circuit, a control part primary power supply circuit, a filter circuit and a peak suppression circuit, wherein the output end of the peak suppression circuit is connected with the input end of the filter circuit, the output end of the filter circuit is respectively connected with the input end of the driving part primary power supply circuit and the input end of the control part primary power supply circuit and is connected with the motor driving part, and the output end of the driving part primary power supply circuit and the output end of the control part primary power supply circuit are respectively connected with the motor driving part and the control assembly.
Further, the power supply assembly further comprises a current monitoring circuit, the input end of the current monitoring circuit is connected with the filter circuit, and the output end of the current monitoring circuit is connected with the motor driving part; the input end of the peak suppressing circuit is connected with an anti-reverse connection circuit.
The peak suppression circuit is a transient suppression protection circuit; the current monitoring circuit is a bus Hall current detector.
Further, a voltage monitoring circuit and an EEPROM storage circuit are connected in parallel between the secondary power supply circuit and the DSP digital signal processor.
Further, the DSP digital signal processor is also connected with a communication interface circuit.
The seat electronic controller is a control part of an aircraft electric driver seat, the front and auxiliary driving electric driver seat can be configured and adapted through a front and auxiliary driving selection switch, and the overall framework adopts a single DSP to realize the control of the inductive BLDC motors of the electric driver seat in the vertical direction and the horizontal direction, so that the adjustment of the vertical position and the horizontal position is realized; the vertical and horizontal directions adopt interlocking control and cannot act simultaneously;
the motor power supply and control assembly comprises a transient suppression protection circuit, an anti-reverse connection circuit, a power supply filter circuit, a power supply conversion circuit, a current detection circuit, a temperature detection circuit, a switch, a Hall and displacement interface circuit and a main control circuit; the transient suppression protection circuit, the reverse connection prevention circuit and the power supply filter circuit respectively realize power supply voltage spike surge suppression and power supply reverse connection prevention design; the power supply circuit realizes the power supply of the sensor, the motor Hall, the DSP and the peripheral circuit; the current detection circuit is used for detecting bus current; the temperature detection circuit is used for realizing temperature measurement; the interface circuit realizes the collection of the adjusting signal, the Hall signal, the working mode setting and the displacement signal; the main control circuit adopts a DSP design to realize various control algorithms, ensures that the system operates according to instructions, and comprises a DSP, a peripheral circuit, a voltage monitoring circuit, a communication interface circuit, an EEPROM storage circuit, a driving buffer circuit and the like, wherein the voltage monitoring circuit realizes voltage detection, low-voltage operation is avoided, the communication interface circuit realizes external communication, product detection test is realized, the EEPROM storage circuit is used for storing limit positions and fault information, and the driving buffer circuit increases the I/O driving capability of the DSP.
The motor driving part comprises an optocoupler isolation driving circuit, a horizontal electric mechanism driving circuit (three-phase bridge circuit), a vertical electric mechanism driving circuit (three-phase bridge circuit), a brake control circuit and the like; the motor drive isolation circuit realizes the isolation of strong and weak electric signals, the three-phase bridge drive circuit realizes the conversion from a control signal to a drive signal, and the brake control circuit realizes the control of a motor brake of the electric mechanism. The design principle diagram is shown in figure 1.
The box body component is used for fixing other components and has the connecting function, and has the capability of tolerating natural environments such as salt fog, damp heat and the like and mechanical environments such as vibration, impact and acceleration. The motor mechanism interface and the power/operation interface are used for connecting a power supply and a controlled electric mechanism; the mode selection switch is used for selecting a calibration mode or a normal working mode; the primary and secondary driving switch is used for selecting the seat electronic controller for primary and secondary driving setting.
The seat electronic controller has two modes of operation, a normal mode of operation and a calibration mode of operation, configurable by a mode selection switch.
Normal operation mode: the seat electronic controller can drive and control a horizontal electric mechanism and a vertical electric mechanism of the seat according to the seat operation key signals, so that the adjustment of the horizontal position and the vertical position of the seat is realized; the position sensor signals of the horizontal (vertical) electric mechanism can be acquired in real time and compared with the limit position, a normal speed regulation area, a speed reduction area and an operation prohibition area are divided, when the distance is far, the normal speed regulation area is the normal speed regulation area, a 100% rated speed operation strategy is adopted, 50% rated speed regulation is adopted at the closer position, and the motor and a brake are immediately closed or the operation prohibition strategy is adopted at the operation prohibition area, so that the limit position control of the horizontal position and the vertical position of the seat is realized, and the seat is prevented from touching the mechanical limit of the seat; the fault detection of the seat electric mechanism position sensor fault, short circuit, phase failure, hall fault, current sensor fault and the like can be realized, and the reliable work of the product is realized.
Calibration operation mode: according to a preset program, the touch of the seat and the mechanical limit is actively controlled at a low speed, and the acquisition, filtering, logic judgment analysis and storage of the seat position are realized through current, seat position detection and time multi-information judgment during touch, so that the self-judgment of the bilateral limit position is realized, and the automatic calibration function of the position is realized.
The working principle (step or experimental data) of the invention: in a normal working mode of the seat electronic controller, the seat electronic controller receives (up and down, front and back) control switch signals and then judges according to position information of the seat electric mechanism, when the seat is positioned in a normal speed regulation area, the seat electronic controller opens motor brakes in the corresponding directions, adopts a soft start mode to gradually increase a speed regulation set value until the normal rated speed, calculates the motor speed according to a Hall feedback signal, adopts speed closed loop control, and when the control switch signals stop, the seat motor controller adopts a soft stop mode to gradually reduce the control speed and stop driving to close the motor brakes when the low speed set value is reached; when the seat is positioned in the deceleration zone, the seat electronic controller opens the motor brake in the corresponding direction, adopts a soft start mode, gradually increases the set value of the regulating speed until reaching 50% of rated speed, calculates the motor speed according to a Hall feedback signal, adopts speed closed-loop control, and when a control switch signal stops, the seat motor controller adopts a soft stop mode, gradually reduces the control speed, and stops driving to close the motor brake when reaching a low-speed set value; when the seat is in the forbidden operation region, the seat electronic controller does not output a motor driving signal, and the seat can be reversely controlled.
Calibration mode: the seat electronic controller can control the seat to calibrate the horizontal and vertical limit positions; in the calibration mode, a front switch, a rear switch (up and down) switch are arbitrarily pressed, a seat controller drives a seat to perform three full-stroke extremely-limited low-speed collisions according to a preset program, when the seat is controlled to touch the limit position, the current of a motor due to locked rotor bus is increased, when a Hall current sensor detects the current, the touch time is adjusted according to the product of the current and the time, and the limit position is judged; in order to avoid continuous collision or the bus current flowing time longer than the judging time, the seat position information and the time information are adopted to comprehensively judge, so that the collection, the filtering, the logic judgment analysis and the storage of the seat limit position are realized.
The invention implements automatic correction by a current monitoring circuit (namely a bus Hall current detector), and the specific process is as follows: step 1, a motor drives a seat to move forwards along a guide rail at a fixed speed V;
step 2, monitoring a bus current value of the motor through a bus current sensor of the motor;
step 3, judging whether the seat reaches a forward limit position on the guide rail or not in a motor bus current value integration window mode, and recording the forward limit position when the seat reaches the forward limit position;
step 4, after the seat reaches the forward limit position, the motor drives the seat to start backwards until the seat reaches the set speed, and the seat is switched to a fixed speed V to control the seat to move backwards;
and 5, judging whether the seat reaches a backward limit position or not through a motor bus current value integration window mode when the seat moves backward at a fixed speed V, and recording the backward limit position when the seat reaches the backward limit position.
Further, after the step 5, the method further comprises the following steps:
step 6, repeating the steps 1 to 5 for a plurality of times, taking the intermediate value of each forward limit position as a final forward limit position, and taking the intermediate value of each backward limit position as a final backward limit position;
and 7, the seat moves backwards at a constant speed, and when the motor stops and the calibration is finished when the motor reaches the intermediate position of the final forward limit position and the final backward limit position.
Further, the fixed speed V is 1200 r/min-1800 r/min.
Further, in the step 3 and the step 5, the specific process of judging the forward and backward limit positions by means of the current value integration window is as follows: and when the current value of the motor bus is larger than the set current value, accumulating the current value of the motor bus every 1ms until the accumulated value is larger than the set integral value, and judging that the seat reaches the forward limit position on the guide rail at the moment.
Further, after the seat limit position is determined and recorded by the current accumulated value, the current accumulated value is cleared.
Further, the judgment time difference of the adjacent two limit positions is not less than 2s, and the judgment displacement difference of the adjacent two limit positions is not less than 10cm.
Further, in the steps 4 and 5, the motor drives the seat to start from the last limit position to the opposite direction with constant torque until the seat reaches the set speed, and the seat continues to move at the fixed speed V.
Further, in the step 4 and the step 5, the motor drives the seat to start from the last limit position to the opposite direction with constant torque 2A until the seat reaches the set speed V or after timing T, the seat is driven to move continuously with the speed V with constant rotation speed; when the seat returns in a touch manner, the control is performed by adopting a constant torque control mode, so that the problem that the mechanical aging or track resistance becomes large to cause correction failure can be avoided, the set speed is reached or the timing T is reached, and the control is changed into constant rotation speed control.
Further, the timing T is 80 ms-120 ms.
Further, the optimal time for timing T is 100ms.
The invention provides a seat limit position calibration method based on a current integration window, which can quickly and accurately calibrate the seat limit position automatically when a calibration working mode is realized, is particularly suitable for an aircraft electric driver seat, belongs to the technical field of aviation, can be applied to other trigger systems based on limit position detection, such as signal processing and design, automobile anti-collision and the like, and has good application prospects.
The foregoing is merely illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents.

Claims (8)

1. The electronic controller for the electric driver seat of the aircraft is characterized by comprising a control component, a motor driving part and a power supply component, wherein the power supply component is respectively connected with the control component and the motor driving part, and the control component is respectively connected with a horizontal electric mechanism and a vertical electric mechanism of the seat through the motor driving part; the horizontal electric mechanism comprises a driving motor and a horizontal guide rail, the driving motor of the horizontal electric mechanism is connected with the seat through a transmission mechanism, the seat is driven to move back and forth along the horizontal guide rail, the vertical electric mechanism comprises a driving motor and a vertical guide rail, the driving motor of the vertical electric mechanism is connected with the seat through the transmission mechanism, and the seat is driven to move back and forth along the vertical guide rail; an angular displacement sensor is arranged on an output shaft of a driving motor of the horizontal electric mechanism, a Hall position sensor is arranged on the horizontal guide rail, and the angular displacement sensor and the Hall position sensor of the horizontal electric mechanism are connected with the control assembly;
the number of the motor driving parts is 2, and the two motor driving parts are respectively connected with the horizontal electric mechanism and the vertical electric mechanism;
the seat electronic controller has two working modes, namely a normal working mode and a calibration working mode, and can be configured through a mode selection switch;
normal operation mode: the seat electronic controller can drive and control a horizontal electric mechanism and a vertical electric mechanism of the seat according to the seat operation key signals, so that the adjustment of the horizontal position and the vertical position of the seat is realized; the position sensor signals of the horizontal electric mechanism and the vertical electric mechanism can be acquired in real time and compared with the limit position, a normal speed regulation area, a speed reduction area and an operation inhibition area are divided, when the distance is far, the normal speed regulation area is the normal speed regulation area, a 100% rated speed operation strategy is adopted, 50% rated speed regulation is adopted in the closer position, and the operation inhibition area adopts the immediate closing motor and a brake or the operation inhibition strategy, so that the limit position control of the horizontal position and the vertical position of the seat is realized, and the seat is prevented from touching the mechanical limit of the seat; the fault detection of the position sensor, the short circuit, the phase loss, the Hall fault and the current sensor of the seat electric mechanism can be realized, and the reliable work of the product is realized;
calibration operation mode: according to a preset program, the touch of the seat and the mechanical limit is actively controlled at a low speed, and the acquisition, filtering, logic judgment analysis and storage of the seat position are realized through current, seat position detection and time multi-information judgment during touch, so that the self-judgment of the bilateral limit position is realized, and the automatic calibration function of the position is realized.
2. The electronic controller for the electric driver seat of the aircraft according to claim 1, wherein the motor driving part comprises an isolation driving circuit, a power inverter circuit and a MOS tube driver, a brake is further arranged on the driving motor, an input end of the isolation driving circuit is connected with the power supply component and the control component, an output end of the isolation driving circuit is connected with an input end of the power inverter circuit, an output end of the power inverter circuit is respectively connected with the driving motor and the control component, the MOS tube driver is respectively connected with the isolation driving circuit and the power inverter circuit, and an output end of the MOS tube driver is connected with the brake.
3. The electronic controller for an aircraft electric operator's seat according to claim 1, wherein the electronic control assembly includes a DSP digital signal processor, a buffer circuit, a nonlinear optocoupler isolator, and a secondary power supply circuit, the DSP digital signal processor is connected to the motor driving portion through the buffer circuit and the nonlinear optocoupler isolator, respectively, and the DSP digital signal processor is connected to the power supply assembly through the secondary power supply circuit.
4. The electronic controller for an aircraft electric operator's seat according to claim 3, wherein a PWM pulse width modulator is coupled between the buffer circuit and the DSP digital signal processor.
5. The electronic controller for an aircraft electric operator's seat according to claim 1, wherein the power supply assembly includes a driving portion primary power supply circuit, a control portion primary power supply circuit, a filter circuit, and a spike suppression circuit, an output of the spike suppression circuit is connected to an input of the filter circuit, an output of the filter circuit is connected to an input of the driving portion primary power supply circuit and an input of the control portion primary power supply circuit, respectively, and to the motor driving portion, and an output of the driving portion primary power supply circuit and an output of the control portion primary power supply circuit are connected to the motor driving portion and the control assembly, respectively.
6. The electronic controller for an aircraft electric operator's seat according to claim 5, wherein the power supply assembly further comprises a current monitoring circuit, an input of the current monitoring circuit being coupled to the filter circuit, an output of the current monitoring circuit being coupled to the motor drive portion; the input end of the peak suppressing circuit is connected with an anti-reverse connection circuit.
7. The electronic controller for an aircraft electric operator's seat according to claim 3, wherein a voltage monitoring circuit and an EEPROM memory circuit are connected in parallel between the secondary power supply circuit and the DSP digital signal processor.
8. The aircraft electric operator's seat electronic controller according to claim 3, wherein the DSP digital signal processor is further coupled to a communication interface circuit.
CN202111009147.3A 2021-08-31 2021-08-31 Electronic controller for aircraft electric driver seat Active CN113716051B (en)

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