CN114499035B - Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor - Google Patents
Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor Download PDFInfo
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- CN114499035B CN114499035B CN202011155115.XA CN202011155115A CN114499035B CN 114499035 B CN114499035 B CN 114499035B CN 202011155115 A CN202011155115 A CN 202011155115A CN 114499035 B CN114499035 B CN 114499035B
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Classifications
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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
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- 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
- 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
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
The invention relates to an electric steering engine system directly driven by an outer rotor permanent magnet synchronous motor, which comprises a control board assembly and a four-way transmission mechanism; the control panel assembly is used for respectively controlling the output torque of the four-way transmission mechanism and driving four independent controlled control surfaces to rotate; the four paths of transmission mechanisms have the same structure; each path of transmission mechanism is used for directly driving the controlled control surface through the permanent magnet synchronous motor; the control board assembly is used for collecting the rotation angles of the permanent magnet motor rotating shaft and the controlled control surface rotating shaft and feeding back the rotation angles to the control board assembly; the control panel assembly is also used for converting the rotation angle of the controlled control surface rotating shaft into corresponding angular displacement information and angular speed information, converting the rotation angle of the permanent magnet motor rotating shaft into corresponding driving current information of the motor, and performing three-loop closed-loop control on the position, the speed and the current of the permanent magnet synchronous motor. The invention effectively controls the scale of the circuit, reduces the cost, and meets the demands of compact and light steering engine by adopting a decentralized design architecture.
Description
Technical Field
The invention relates to the technical field of steering engines, in particular to an electric steering engine system directly driven by an outer rotor permanent magnet synchronous motor.
Background
The steering engine servo driving system is used as an executing component of a flight attitude control system of an airplane, a missile and the like, and is a typical position servo system. The electric steering engine is an electromechanical integrated component, the electric part of the electric steering engine comprises a main power circuit, a control circuit and an auxiliary source circuit, and the mechanical part of the electric steering engine consists of a motor, a coupler, a speed reducer and a control surface load simulator. With the rapid development of the aerospace technology in recent years, the missile steering engine is promoted to greatly advance in the directions of miniaturization, light weight, low cost, high precision and high response, and the application of the electric steering engine in the missile is further accelerated.
At present, many electric steering engines use a brushless direct current motor (BLDC) as a power source, but the torque pulsation of the brushless direct current motor is larger, and a speed reducer is required to reduce the output of the brushless direct current motor, so that a complex structural design is caused, the high-difficulty transfer operation is realized, and the application of the brushless direct current motor in a servo system is limited.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an electric steering engine system directly driven by an outer rotor permanent magnet synchronous motor; the problem caused by the fact that the direct current motor is used as a power source of an electric steering engine is solved.
The invention discloses an electric steering engine system directly driven by an outer rotor permanent magnet synchronous motor, which comprises a control panel assembly and a four-way transmission mechanism;
the control panel assembly is used for respectively controlling the output torque of the four-way transmission mechanism and driving four independent controlled control surfaces to rotate;
the four paths of transmission mechanisms have the same structure; each path of transmission mechanism is used for directly driving the controlled control surface through the permanent magnet synchronous motor; the control board assembly is used for collecting the rotation angles of the permanent magnet motor rotating shaft and the controlled control surface rotating shaft and feeding back the rotation angles to the control board assembly;
the control panel assembly is also used for converting the rotation angle of the rotating shaft of the controlled control surface into corresponding angular displacement information and angular speed information, converting the rotation angle of the rotating shaft of the permanent magnet motor into corresponding driving current information of the motor, and performing three-loop closed-loop control on the position, the speed and the current of the permanent magnet synchronous motor.
Further, each transmission mechanism comprises a permanent magnet synchronous motor, a screw rod, a ball mechanism, a shifting fork column and a sleeve;
the permanent magnet synchronous motor is an outer rotor flat permanent magnet synchronous motor; the stator and the winding of the permanent magnet synchronous motor are fixed on an upper fixed cover plate of the motor mounting frame; the motor outer rotor and the magnetic steel are positioned outside the motor stator and the winding and coaxial with the motor stator and the winding;
the screw rod is fixed on the magnetic steel and is coaxial with the outer rotor of the motor; the ball mechanism is sleeved outside the screw rod, a shifting fork is fixed on the ball mechanism, and the direction of the shifting fork is vertical to the radial direction of the screw rod;
the motor outer rotor and the magnetic steel drive the screw rod to rotate, and the ball mechanism converts the rotation of the screw rod into linear movement, so that the shifting fork linearly moves along the radial direction of the screw rod;
the sleeve is rigidly connected with the controlled control surface rotating shaft, and the shifting fork column is arranged on the sleeve; the shifting fork column is matched with the shifting fork, and the moment of the linear movement of the shifting fork is converted into a rotating moment to drive the control surface to rotate along the control surface rotating shaft.
Further, each transmission mechanism further comprises a shifting fork guide rail parallel to the screw rod, the shifting fork guide rails are connected with the shifting fork, and the moving direction of the shifting fork is limited to be parallel to the screw rod.
Further, each transmission mechanism also comprises an angle measuring assembly, and the rotating angles of the rotating shaft of the permanent magnet motor and the rotating shaft of the controlled control surface are respectively measured by adopting a non-contact magneto-electric transmission mode.
Further, the angle measurement assembly comprises a first angular displacement sensor and a second angular displacement sensor;
the first magnetic encoder of the first angular displacement sensor is arranged at a position close to the magnetic steel and is used for collecting the magnetic field change of the magnetic steel when the motor rotates and measuring the rotating angle of the rotating shaft of the motor;
the second angular displacement sensor comprises a magnetic stripe and a second magnetic encoder; the magnetic stripe becomes semicircle ring and arranges in telescopic outer edge, the second magnetic encoder sets up in the position that is close the magnetic stripe for gather the controlled control surface rotate with the control surface pivot together the magnetic field change of magnetic stripe, measure the rotation angle of controlled control surface pivot.
Further, the magnetic stripe is a multipole magnetic grid, and comprises a plurality of magnets with magnetic poles, and the second magnetic encoder is a multipole magnetic encoder; the second magnetic encoder measures each pole of the multipole magnetic grid to obtain position data with 12-bit precision.
Further, the control panel assembly comprises a main control panel and four driving panels;
the main control board is respectively connected with the four driving boards; the method is used for carrying out interrupt management, instruction data management, angular displacement sensor algorithm operation, uploading steering engine telemetry data and executing real-time monitoring and protecting measures of steering engine fault items;
each driving plate corresponds to a permanent magnet synchronous motor of each transmission mechanism and is used for collecting data of a magnetic encoder, receiving control quantity data of a main control board, judging an electrical angle of the permanent magnet synchronous motor and carrying out driving and rotation control on the motor.
Further, the controller core of the main control board is TMS320C28346, and the rts2800fpu fast_support. Lib library is carried; peripheral XINTF cooperates with low voltage 1553B chip BU64843, is used for carrying on the external high-speed serial communication of the steering engine complete machine; the external CAN is matched with the communication chip SN65HVD230 and is used for transmitting a control surface angle instruction and receiving feedback of a control surface mechanical angle and a control surface moment load with the driving plate; the SCI is matched with the communication chip ADM2587E and is used for telemetering isolation signal transmission of steering engine data; and the peripheral SPI is matched with the digital temperature sensor chip ADT7320, so that temperature compensation of electric execution efficiency is realized.
Further, the processor STM32F401 of the drive board integrated motor driver; the external CAN is matched with the communication chip SN65HVD230 and is used for receiving a control surface angle instruction and sending feedback of a steering engine rotating mechanical angle and a control surface moment load with the main control board; the peripheral SPI is matched with the first magnetic encoder AS5048A to collect angle information of the monopole magnetic encoder and is used for identifying the electrical angle of the motor rotor, is matched with the second magnetic encoder AS5311 to collect angle information of the multipolar magnetic encoder and collect the rotation angle of the control surface rotating shaft; and the peripheral PWM is matched with the DRV8313 half H-bridge power chip and is used for amplifying the power of the motor. The SPI is externally arranged to be matched with an analog-to-digital conversion chip AD7124-4 to collect the resistance type temperature and pressure sensor; the address dial switch adopts the pull-up and pull-down of GPIO pins to distinguish the unique identification IDs of four motors.
Further, the drive board performs a FOC control algorithm for the motor: and collecting electric angle data of the motor, receiving control quantity data, and generating Clark positive/inverse transformation, park positive/inverse transformation, a PI controller and SVPWM signals.
The beneficial effects of the invention are as follows:
the invention uses the permanent magnet synchronous motor as a steering engine power source, and highlights the advantages of high power factor, high torque/weight ratio, easy heat dissipation and convenient maintenance.
The non-contact magneto-electric sensor is adopted: compared with the traditional potentiometer mode, the operational amplifier, the analog-to-digital converter and the positive and negative direct current power supply are omitted, and abrasion of the contact sensor is avoided; compared with the traditional rotary transformer, the rotary transformer omits the wiring relation of an alternating current excitation power supply, an RDC (remote data storage) conversion chip, a positive and negative direct current power supply and a complex sine and cosine output signal, effectively controls the scale of a circuit, improves the reliability and reduces the cost.
The power-driven decentralized design architecture of the motor is adopted, the FOC control algorithm of the permanent magnet synchronous motor is realized by the ARM, the controller DSP is responsible for the PID control algorithm of the control surface, the calculation burden of the other party is shared by the assistance work of different processors, and the demands of compactness and light weight of the steering engine are met.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
Fig. 1 is a structural view of each transmission mechanism in the present embodiment;
fig. 2 is a detailed cross-sectional view of the internal structure of the electric steering engine system in the present embodiment;
fig. 3 is a schematic top view of the structure of the electric steering engine system in this embodiment;
fig. 4 is a schematic side view of the electric steering engine system in this embodiment;
FIG. 5 is a schematic diagram of angular conversion of a multipole magnetic encoder in the present embodiment;
fig. 6 is a software and hardware system block diagram of a control board of the electric steering engine system in the present embodiment;
fig. 7 is a schematic diagram of a driving plate in the present embodiment.
Reference numerals: the motor comprises a main control board, a 2-driving board, a 3-stator and windings, a 4-motor outer rotor, magnetic steel, a 5-lead screw, a 6-ball mechanism, a shifting fork, a 7-shifting fork guide rail, an 8-shifting fork column, a 9-control surface body, a 10-control surface rotating shaft, a 11-magnetic stripe, a 12-second magnetic encoder, an upper fixed cover plate of a 13-motor mounting frame, a lower fixed cover plate of a 14-motor mounting frame and a 15-steering engine fixing mechanism bracket.
Detailed Description
Preferred embodiments of the present invention are described in detail below with reference to the attached drawing figures, which form a part of the present application and, together with the embodiments of the present invention, serve to explain the principles of the invention.
The embodiment discloses an electric steering engine system directly driven by an outer rotor permanent magnet synchronous motor, which comprises a control board and a four-way transmission mechanism;
the control board and the four-way transmission mechanism form a one-control-four structure, and the four-way transmission mechanism is respectively controlled to output torque to drive four independent control surfaces to rotate;
the four paths of transmission mechanisms have the same structure; each transmission mechanism directly drives a controlled control surface through a permanent magnet synchronous motor; collecting the rotation angles of the permanent magnet motor rotating shaft and the controlled control surface rotating shaft and feeding back the rotation angles to the control board; the control board converts the rotation angle of the controlled control surface rotating shaft into corresponding angular displacement information and angular speed information, converts the rotation angle of the permanent magnet motor rotating shaft into corresponding driving current information of the motor, and performs three-loop closed-loop control on the position, the speed and the current of the permanent magnet synchronous motor.
Specifically, as shown in fig. 1, each transmission mechanism comprises a permanent magnet synchronous motor, a screw rod, a ball mechanism, a shifting fork column and a sleeve;
the permanent magnet synchronous motor is an outer rotor flat permanent magnet synchronous motor; the stator and the winding of the permanent magnet synchronous motor are fixed on the bottom surface of the upper fixed cover plate of the motor mounting frame; the motor outer rotor and the magnetic steel are positioned outside the motor stator and the winding and coaxial with the motor stator and the winding; the magnetic steel shaft penetrates through the axis of the winding and is connected with the upper fixed cover plate bearing.
One end of the screw rod is fixed on the magnetic steel and is coaxial with the outer rotor of the motor, and the other end of the screw rod is connected with a lower fixed cover plate of the motor mounting frame through a bearing; the ball mechanism is sleeved outside the screw rod, a shifting fork is fixed on the ball mechanism, and the direction of the shifting fork is vertical to the radial direction of the screw rod;
and a shifting fork guide rail parallel to the screw rod is further arranged between the upper fixed cover plate and the lower fixed cover plate, and is connected with the shifting fork to limit the moving direction of the shifting fork to be parallel to the screw rod.
The specific connection mode can be that a hole is arranged on the shifting fork body, a shifting fork guide rail passes through the hole, and the shifting fork can freely move along the direction of the guide rail, or other connection modes capable of limiting the moving direction of the shifting fork are adopted.
The motor outer rotor and the magnetic steel drive the screw rod to rotate, and the ball mechanism converts the rotation of the screw rod into linear movement, so that the shifting fork linearly moves along the radial direction of the screw rod;
the sleeve is rigidly connected with the controlled control surface rotating shaft, and the shifting fork column is arranged on the sleeve; the position of the shifting fork column is not overlapped with the rotating shaft of the controlled control surface, and when the rotating shaft of the controlled control surface rotates, the shifting fork column rotates around the rotating shaft of the controlled control surface.
The shifting fork column is matched with the shifting fork, the shifting fork column is positioned in a fork head of the shifting fork, and when the shifting fork moves linearly, the shifting fork shaft converts the moment of the linear movement of the shifting fork into a rotating moment to drive the control surface to rotate along the control surface rotating shaft.
Fig. 2 is a detailed cross-sectional view of the internal structure of the electric steering engine system.
The electric steering engine system of the embodiment directly connects the outer rotor flat permanent magnet synchronous motor with the controlled control surface through the screw rod and the shifting fork, a speed reducing mechanism is not needed, and the volume and the weight of the system are reduced. As shown in fig. 3 and 4, the controlled control surface is directly arranged on the carrier outer shell, and the carrier outer shell is used as an outer cabin of the steering engine, so that the volume and the weight of the whole electric steering engine are reduced, and the design requirements of miniaturization, light weight and high integration level of the electric steering engine are met.
The external rotor permanent magnet synchronous motor is adopted as power output, and the advantages of high power factor and small torque pulsation are utilized, so that the volume and weight of the steering engine are reduced while the dynamic performance of the steering engine is improved. Fig. 2 is a schematic drawing of a 12N14P permanent magnet synchronous motor.
Preferably, the present embodiment adopts a 24N26P flat outer rotor permanent magnet synchronous motor, the rotor uses a magnetic pole number p=26 poles, i.e. 13 rotor magnetic pairs, and the stator uses a magnetic pole number n=24 poles, i.e. 12 stator magnetic pairs. The following is satisfied: P/2-N/2=1; the number P/2 of the pole pairs of the rotor is an odd number; the number of the stator pole pairs N/2 is even; the pole pair number N/2 of the stator coil winding can be divided by 3, so that the cogging torque is effectively reduced, the starting torque of the motor is effectively reduced, and meanwhile, the electromagnetic torque can be effectively improved as the pole pair number is more.
Each transmission mechanism further comprises an angle measuring assembly, and the rotating angles of the permanent magnet motor rotating shaft and the controlled control surface rotating shaft are respectively measured by adopting a non-contact magneto-electric transmission mode.
Specifically, the angle measurement assembly comprises a first angular displacement sensor and a second angular displacement sensor;
the first magnetic encoder of the first angular displacement sensor is arranged at a position close to the magnetic steel and is used for collecting the magnetic field change of the magnetic steel when the motor rotates and measuring the rotating angle of the rotating shaft of the motor;
when the motor rotates, a unipolar radial magnetizing magnetic field is arranged inside the magnetic steel, so that the first magnetic encoder adopts a unipolar magnetic encoder;
specifically, the first magnetic encoder employs a magnetic encoder AS5048A.
The second angular displacement sensor comprises a magnetic stripe and a second magnetic encoder; the magnetic stripe becomes semicircle ring and arranges in telescopic outer edge, the second magnetic encoder sets up in the position that is close the magnetic stripe for gather the controlled control surface rotate with the control surface pivot together the magnetic field change of magnetic stripe, measure the rotation angle of controlled control surface pivot.
Specifically, the magnetic stripe is a multipole magnetic grid, and comprises a plurality of magnets with magnetic poles, and the second magnetic encoder is a multipole magnetic encoder; the second magnetic encoder measures each pole of the multipole magnetic grid to obtain position data with 12-bit precision.
The second magnetic encoder uses magnetic encoder AS5311, and the magnetic pole position increment data repeatedly appeared in the multi-pole magnetic grid rotation is combined with the increment output to obtain higher resolution.
The incremental output resolution can reach 12 bits of each pair of poles, the moving speed can reach 650mm/s, and when the device is designed into a plurality of pairs of pole arc magnetic rings with the diameter of 60mm, the resolution can reach 16 bits.
AS shown in fig. 5, in the moving process of the multipole magnetic grating, the hall element on the surface of the chip AS5311 outputs sine and cosine voltage signals with an electrical angle difference of 90 ° through sensing the magnetic field movement, and the sine and cosine voltage signals are amplified by the built-in front-end amplifier and are transmitted to the built-in processor through analog-to-digital conversion, so that the absolute position signal and the incremental position signal can be accurately output through operation. Meanwhile, the magnetic field intensity information can be output through magINCn and magDECN, so that the distance information between the chip and the magnetic stripe can be obtained. The chip AS5311 is used for measuring the angle range of the control surface to be plus or minus 30 degrees.
According to the steering engine system, a monopole magnetic encoder and a plurality of pairs of pole magnetic encoders are adopted for mixed angle measurement, and by utilizing the non-contact magneto-electric sensing characteristic, compared with a traditional potentiometer mode, an operational amplifier, an analog-digital converter and a positive and negative direct current power supply are omitted, so that abrasion of a contact sensor is avoided; compared with the traditional rotary transformer, the rotary transformer omits the introduction of an alternating current excitation power supply, an RDC (remote data storage) conversion chip, a positive and negative direct current power supply and a complex sine and cosine output signal wiring relation, effectively controls the scale of a circuit, and reduces the reliability and the cost.
Specifically, the control board assembly of the embodiment includes a main control board and four driving boards;
the main control board is respectively connected with the four driving boards; the method is used for carrying out interrupt management, instruction data management, angular displacement sensor algorithm operation, uploading steering engine telemetry data and executing real-time monitoring and protecting measures of steering engine fault items;
each driving plate corresponds to a permanent magnet synchronous motor of each transmission mechanism and is used for collecting data of a magnetic encoder, receiving control quantity data of a main control board, judging an electrical angle of the permanent magnet synchronous motor and carrying out driving and rotation control on the motor.
Preferably, the main control board adopts a circular top control circuit board framework; the main processor of the embodiment uses a TMS320C28346 chip of the C2800 series of TI company as a controller core, the performance of the processor is improved by two times as high as 300MHz compared with that of TMS320F28335, a 256K single-cycle RAM memory is highly integrated, a Delfina floating point controller provides possibility for high floating point calculation requirements and advanced control algorithms, and the calculation capability of the newly added RTS2800fpu fast_supply library is doubled compared with that of the traditional rts2800fpu32.Lib library. Peripheral XINTF cooperates with low voltage 1553B chip BU64843 to carry out external high-speed serial communication of steering engine. And the CAN is matched with the communication chip SN65HVD230 to send a control surface angle instruction, and feed back and receive the control surface rotating mechanical angle and the control surface moment load with the ARM. The SCI is matched with the communication chip ADM2587E to realize remote measurement isolation signal transmission of steering engine data. And the peripheral SPI is matched with the digital temperature sensor chip ADT7320, so that temperature compensation of electric execution efficiency is realized.
As shown in fig. 6, the control software running on the main control board in the control board assembly performs the following functions: the main control board controller core processor is responsible for interrupt management (timing interrupt, external 1553B interrupt, CAN communication interrupt and SCI communication interrupt) in a system, command data management (external command data analysis, sensor data receiving and control quantity data sending), steering engine angular displacement sensor algorithm operation, uploading steering engine telemetry data (mechanism pressure of a steering engine, temperature of a DSP controller and bus voltage and current), and executing real-time monitoring and protecting measures of steering engine fault items (mechanism limit, overhigh speed, current overrun and temperature abnormality). The temperature acquisition part of the controller adopts a digital temperature sensor chip ADT7320 with 16-bit resolution and ultra-low temperature drift to acquire the environment temperature of the steering engine, and the temperature measurement range is-20 degrees to +105 degrees. The method is used for proportional adjustment of control parameters in software, and achieves temperature compensation of electric execution efficiency.
The four driving plates are driving plates of a sensitive permanent magnet synchronous motor, and the driving plates comprise first magnetic encoders; each driving plate is respectively fixed on the top surface of the upper fixed cover plate of the motor mounting frame of each transmission mechanism, so that the first magnetic encoder arranged on the driving plate corresponds to the outer rotor of the motor and the magnetic steel, and magnetic field data of the magnetic steel can be acquired. The processor of the integrated motor driver of the drive board selects STM32F401 chips of STM32 series of ST company, the driver has small package, low power consumption and rich peripheral, and is suitable for being integrated in the limited space of the motor. And the CAN is matched with the communication chip SN65HVD230 to perform control surface angle execution instruction receiving, control surface mechanical rotation angle and feedback sending of control surface moment load with the DSP. The peripheral SPI is matched with the magnetic encoder chip AS5048A to collect angle information of the monopole magnetic encoder, and is used for identifying the electrical angle of the motor rotor. And the peripheral PWM is matched with the DRV8313 half H-bridge power chip to amplify the power of the motor. And the peripheral SPI is matched with the AD7124-4 to collect the resistive temperature and pressure sensor, and the internal self-contained range of the AD7124-4 is adjustable and constant current source, so that the peripheral circuit of the temperature and pressure sensor is simplified. And the temperature acquisition part of the driver is used for measuring the temperature of the power module by sticking a platinum resistor PT1000 made of two wires on the surface of the driving module, and the temperature measuring range is-80 DEG to +150 DEG, so that the power module is prevented from being burnt due to overheat temperature. And a driver moment acquisition part, wherein a two-wire force-measuring strain gauge BHF1000-3EB is stuck between the control surface and the connecting shaft and is used for measuring the load condition of the control surface, so as to avoid irreversible damage to an actuating mechanism and an electric part caused by excessive external load. The address dial switch adopts the pull-up and pull-down of GPIO pins to distinguish the unique identification IDs of four motors.
As shown in fig. 7, the software running in the drive board performs the following functions: the drive board processor is mainly responsible for the FOC control algorithm of the motor in the system: the method comprises the steps of collecting electric angle data of a motor, receiving control quantity data, and generating Clark positive/inverse transformation, park positive/inverse transformation, a PI controller and SVPWM signals. The inductive control method is adopted, and the inductive control method is used for judging the electrical angle of the motor in the AS5048A of the motor driving plate, so that the smooth rotation of the motor is realized.
Specifically, the FOC control algorithm is implemented in a driver ARM processor, and three-phase alternating current is equivalently converted into exciting current and torque by Clarke, park matrix transformation and inverse transformation, so that the brushless motor is controlled by two direct current components, and three-phase voltage of motor rotation is output through the steps of matrix transformation, six-sector distribution judgment of a rotor, space vector synthesis of voltage, seven-segment SVPWM generation and the like.
The power-driven decentralized design architecture of the motor is adopted, the FOC control algorithm of the permanent magnet synchronous motor is realized by the ARM, the controller DSP is responsible for the PID control algorithm of the control surface, the respective calculation burden is shared by the assistance work of different processors, and the demands of compactness and light weight of the steering engine are met.
In summary, in the electric steering engine system directly driven by the outer rotor permanent magnet synchronous motor of the embodiment, the permanent magnet synchronous motor is used as a steering engine power source, so that the advantages of high power factor, high torque/weight ratio, easiness in heat dissipation and convenience in maintenance are highlighted. The non-contact magneto-electric sensor is adopted: compared with the traditional potentiometer mode, the operational amplifier, the analog-to-digital converter and the positive and negative direct current power supply are omitted, and abrasion of the contact sensor is avoided; compared with a rotary transformer, the method omits the introduction of an alternating current excitation power supply, an RDC (remote digital control) conversion chip, a positive and negative direct current power supply and a complex sine and cosine output signal wiring relation, effectively controls the scale of a circuit, and reduces the reliability and the cost. The power-driven decentralized design architecture of the motor is adopted, the FOC control algorithm of the permanent magnet synchronous motor is realized by the ARM, the controller DSP is responsible for the PID control algorithm of the control surface, the calculation burden of the other party is shared by the assistance work of different processors, and the demands of compactness and light weight of the steering engine are met.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (9)
1. An electric steering engine system directly driven by an outer rotor permanent magnet synchronous motor is characterized in that: comprises a control panel assembly and a four-way transmission mechanism;
the control panel assembly is used for respectively controlling the output torque of the four-way transmission mechanism and driving four independent controlled control surfaces to rotate;
the four paths of transmission mechanisms have the same structure; each path of transmission mechanism is used for directly driving the controlled control surface through the permanent magnet synchronous motor; the control board assembly is used for collecting the rotation angles of the permanent magnet motor rotating shaft and the controlled control surface rotating shaft and feeding back the rotation angles to the control board assembly;
the control panel assembly is also used for converting the rotation angle of the rotating shaft of the controlled control surface into corresponding angular displacement information and angular speed information, converting the rotation angle of the rotating shaft of the permanent magnet motor into corresponding driving current information of the motor, and performing three-loop closed-loop control on the position, the speed and the current of the permanent magnet synchronous motor;
each transmission mechanism comprises a permanent magnet synchronous motor, a screw rod, a ball mechanism, a shifting fork column and a sleeve;
the permanent magnet synchronous motor is an outer rotor flat permanent magnet synchronous motor; the stator and the winding of the permanent magnet synchronous motor are fixed on an upper fixed cover plate of the motor mounting frame; the motor outer rotor and the magnetic steel are positioned outside the motor stator and the winding and coaxial with the motor stator and the winding;
the screw rod is fixed on the magnetic steel and is coaxial with the outer rotor of the motor; the ball mechanism is sleeved outside the screw rod, a shifting fork is fixed on the ball mechanism, and the direction of the shifting fork is vertical to the radial direction of the screw rod;
the motor outer rotor and the magnetic steel drive the screw rod to rotate, and the ball mechanism converts the rotation of the screw rod into linear movement, so that the shifting fork linearly moves along the radial direction of the screw rod;
the sleeve is rigidly connected with the controlled control surface rotating shaft, and the shifting fork column is arranged on the sleeve; the shifting fork column is matched with the shifting fork, and the moment of the linear movement of the shifting fork is converted into a rotating moment to drive the control surface to rotate along the control surface rotating shaft.
2. The electric steering engine system of claim 1, wherein each of the plurality of drive mechanisms further includes a fork rail parallel to the lead screw, the fork rail being coupled to the fork defining a direction of movement of the fork parallel to the lead screw.
3. The electric steering engine system of claim 1, wherein each transmission mechanism further comprises an angle measurement assembly for measuring the rotation angle of the permanent magnet motor shaft and the controlled control surface shaft respectively by a contactless magneto-electric transmission mode.
4. The electric steering engine system of claim 3, wherein the angle measurement assembly includes a first angular displacement sensor and a second angular displacement sensor;
the first magnetic encoder of the first angular displacement sensor is arranged at a position close to the magnetic steel and is used for collecting the magnetic field change of the magnetic steel when the motor rotates and measuring the rotating angle of the rotating shaft of the motor;
the second angular displacement sensor comprises a magnetic stripe and a second magnetic encoder; the magnetic stripe becomes semicircle ring and arranges in telescopic outer edge, the second magnetic encoder sets up in the position that is close the magnetic stripe for gather the controlled control surface rotate with the control surface pivot together the magnetic field change of magnetic stripe, measure the rotation angle of controlled control surface pivot.
5. The electric steering engine system of claim 4, wherein the magnetic stripe is a multipole magnetic grid, a magnet comprising a plurality of poles, and the second magnetic encoder is a multipole magnetic encoder; the second magnetic encoder measures each pole of the multipole magnetic grid to obtain position data with 12-bit precision.
6. The electric steering engine system of claim 1, wherein the control board assembly comprises a main control board and four drive boards;
the main control board is respectively connected with the four driving boards; the method is used for carrying out interrupt management, instruction data management, angular displacement sensor algorithm operation, uploading steering engine telemetry data and executing real-time monitoring and protecting measures of steering engine fault items;
each driving plate corresponds to a permanent magnet synchronous motor of each transmission mechanism and is used for collecting data of a magnetic encoder, receiving control quantity data of a main control board, judging an electrical angle of the permanent magnet synchronous motor and carrying out driving and rotation control on the motor.
7. The electric steering engine system of claim 6, wherein the controller core of the main control board is TMS320C28346, and the rts2800fpu fast_support library is mounted; peripheral XINTF cooperates with low voltage 1553B chip BU64843, is used for carrying on the external high-speed serial communication of the steering engine complete machine; the external CAN is matched with the communication chip SN65HVD230 and is used for transmitting a control surface angle instruction and receiving feedback of a control surface mechanical angle and a control surface moment load with the driving plate; the SCI is matched with the communication chip ADM2587E and is used for telemetering isolation signal transmission of steering engine data; and the peripheral SPI is matched with the digital temperature sensor chip ADT7320, so that temperature compensation of electric execution efficiency is realized.
8. The electric steering engine system of claim 6, wherein the processor STM32F401 of the drive plate integrated motor driver; the external CAN is matched with the communication chip SN65HVD230 and is used for receiving a control surface angle instruction and sending feedback of a steering engine rotating mechanical angle and a control surface moment load with the main control board; the peripheral SPI is matched with the first magnetic encoder AS5048A to collect angle information of the monopole magnetic encoder and is used for identifying the electrical angle of the motor rotor, is matched with the second magnetic encoder AS5311 to collect angle information of the multipolar magnetic encoder and collect the rotation angle of the control surface rotating shaft; the peripheral PWM is matched with the DRV8313 half H-bridge power chip and is used for amplifying the power of the motor; the SPI is externally arranged to be matched with an analog-to-digital conversion chip AD7124-4 to collect the resistance type temperature and pressure sensor; the address dial switch adopts the pull-up and pull-down of GPIO pins to distinguish the unique identification IDs of four motors.
9. The electric steering engine system of claim 8, wherein the drive board performs a FOC control algorithm for the motor: and collecting electric angle data of the motor, receiving control quantity data, and generating Clark positive/inverse transformation, park positive/inverse transformation, a PI controller and SVPWM signals.
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