CN114715372A - Direct-drive efficient low-noise electric steering engine and control system and control method thereof - Google Patents

Direct-drive efficient low-noise electric steering engine and control system and control method thereof Download PDF

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Publication number
CN114715372A
CN114715372A CN202210093685.3A CN202210093685A CN114715372A CN 114715372 A CN114715372 A CN 114715372A CN 202210093685 A CN202210093685 A CN 202210093685A CN 114715372 A CN114715372 A CN 114715372A
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CN
China
Prior art keywords
planetary roller
steering engine
output shaft
direct
driving
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Pending
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CN202210093685.3A
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Chinese (zh)
Inventor
柏龙
陈浩
陈晓红
孙园喜
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Chongqing University
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Chongqing University
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Priority to CN202210093685.3A priority Critical patent/CN114715372A/en
Publication of CN114715372A publication Critical patent/CN114715372A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/20—Steering equipment
    • 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
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses a direct-drive high-efficiency low-noise electric steering engine and a control system and method thereof, wherein the steering engine comprises a shell, an integrated planetary roller screw driving device, an inverted crank block mechanism and a power output shaft; the control system comprises an instruction sending module, a controller calculating module, a direct drive motor controller, a direct drive motor driver, an error compensation module and an angle sensor. The steering engine solves the problems that the existing steering engine has low efficiency, large volume, high noise, heating, difficulty in meeting the accurate control requirement of the underwater vehicle in China and the like, and has the advantages of low quality, high efficiency, low noise and long service life; the control system and the control method thereof feed back parameters such as the detection angle of the external sensor and compensate for errors, greatly improve the output precision of the steering engine angle and have important application value and significance.

Description

Direct-drive efficient low-noise electric steering engine and control system and control method thereof
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a direct-drive type high-efficiency low-noise electric steering engine, and a control system and a control method thereof.
Background
An electric steering engine system applied to an underwater vehicle is a high-precision position servo system, the turning of a control surface is realized by controlling the rotation angle of the output end of a steering engine, and the attitude of the underwater vehicle is adjusted under the combined action of a plurality of control surfaces. Because the underwater environment is a nonlinear time-varying system, a control method with high precision, strong stability and strong reliability is a key point for stable and accurate navigation of an underwater vehicle besides the structural requirements of a steering engine. Aiming at the requirements of 'sound stealth', high transmission efficiency, low running noise and the like of an underwater vehicle, the direct-drive electric steering engine adopting the planetary roller screw transmission mode can effectively solve the problems of high noise and energy dissipation caused by transmission chains such as gears and the like, is used as an integrated planetary roller motor driven by the steering engine, adopts a stable and reliable control system, and is a key for reliable, stable and accurate motion of the underwater vehicle.
Therefore, a direct-drive electric steering engine, and a control system and method for the direct-drive electric steering engine are needed to realize high-precision angle output and reliable system control of the direct-drive electric steering engine.
Disclosure of Invention
The invention aims at providing a stable, reliable and high-precision control system and a control method for an electric steering engine based on direct drive, which feed back parameters such as angle detected by an external sensor and compensate errors, greatly improve the angle output precision of the steering engine and have important application value and significance.
The invention relates to a direct-drive high-efficiency low-noise electric steering engine which comprises a shell, an integrated planetary roller screw driving device, an inverted crank block mechanism and a power output shaft, wherein the shell is provided with a planetary roller screw driving device; the planetary roller nut of the integrated planetary roller screw driving device is used as a sliding block of the inverted crank sliding block mechanism, and a rocker arm of the inverted crank sliding block mechanism is connected to a power output shaft to drive the power output shaft to rotate; the integrated planetary roller screw driving device comprises a stator, a planetary roller screw, a driving protective shell and a planetary roller nut; the stator is fixedly arranged in the driving protective shell; the planetary roller screw comprises a rotor section, a transition section and a screw section; the rotor section extends into the driving protective shell to be matched with the stator; the screw rod section is matched with the planetary roller nut to form planetary roller transmission. And a rotor section of the planetary roller screw is supported in the drive protective shell through a bearing, and a gasket for axially limiting the rotor section is arranged between the end surface of the rotor section and the end surface of the bearing. The inverted crank slider mechanism comprises a connecting rod and a rocker arm; the connecting rod is hinged between the planetary roller nut and the rocker arm; the rocker arm is connected to the power output shaft through a spline. The two connecting rods are respectively arranged on the upper side and the lower side of the planetary roller nut, and one end of the rocker arm is of a fork-shaped structure and is respectively hinged with the two connecting rods through two forks. And an encoder is arranged on the inner end face of the driving protection shell to acquire the rotation angle of the rotor. And an angular displacement potentiometer for acquiring the rotation angle of the power output shaft is arranged above the power output shaft.
The invention relates to a control system of a direct-drive type high-efficiency low-noise electric steering engine, which comprises:
the command sending module is used for sending the output angle position information appointed by the output shaft of the electric steering engine;
the controller calculation module is used for calculating the driving quantity required by the integrated planetary roller screw driving device according to the mathematical model determined by the transmission system;
the direct-drive motor controller is used for receiving the driving quantity sent by the controller calculation module and sending a motor driving signal to the direct-drive motor driver so as to control the rotor of the integrated planetary roller screw driving device to rotate;
the error compensation module is used for comparing the rotor angle information and the output shaft angle information returned by the encoder with a theoretical value and compensating deviation when the controller calculation module outputs the driving information;
and the angle sensor is used for detecting a rotation angle value of the output shaft of the electric steering engine and combining the rotation angle value with the position information sent by the instruction sending module to form a negative feedback chain.
The invention discloses a control method of a direct-drive type high-efficiency low-noise electric steering engine, which comprises the following steps of:
s1. according to the requirement of the navigation task, the command sending module sends the information of the set angle position which the output shaft of the electric steering engine wants to reach manually or automatically;
s2, the controller calculation module receives the instruction sent by the instruction sending module and obtains driving information required by the integrated planetary roller screw driving device through calculation;
s3. the direct drive motor controller receives the drive information and sends a control instruction to the direct drive motor driver to make the direct drive motor driver drive the rotor of the integrated planetary roller screw drive device to rotate, thereby driving the output shaft of the steering engine to rotate through the inverted crank-slider mechanism;
s4. a motor encoder and an angle sensor at the output shaft acquire the motor rotation angle and the actual rotation angle of the output shaft in real time, and the motor rotation angle and the actual rotation angle of the output shaft are jointly input into an error compensation module, and then the error compensation module outputs information which is jointly acted with the output information of the controller calculation module to correct the driving information received by the direct drive motor controller;
s5. the rotation angle information of the output shaft measured by the angle sensor is combined with the position information sent by the command sending module to form a negative feedback chain.
The invention has the beneficial effects that:
1. the invention utilizes the error compensation module to directly react the rotation angle errors of the integrated planetary roller screw driving device and the output shaft of the steering engine to the input of the direct drive motor, thereby further improving the control precision of the control system.
2. The invention is based on direct-drive electric steering engine control, adopts a negative feedback control system, combines the actual angle of the output shaft with the angle sent by an instruction, and can effectively compensate errors caused by hardware problems such as vibration, transmission clearance and the like in a transmission chain.
3. The direct-drive electric steering engine control system has the advantages that the error compensation and the forward control system are combined, the control of the direct-drive electric steering engine is effectively realized, and the direct-drive electric steering engine control system has important application value and significance.
4. According to the electric steering engine, the screw rod and the motor drive are combined ingeniously, a drive and transmission integrated input mode is designed, the connection between the existing motor and a transmission system is eliminated, transmission parts are simplified, and the energy utilization rate is improved; by adopting a planetary roller screw transmission mode, the advantages of large reduction ratio, high power density, large bearing capacity, high rigidity, strong reliability and the like make up for the problems of insufficient torque, overhigh rotating speed and the like after the speed reducer is solved, and the difficulties of noise and efficiency loss caused by the speed reducer are reduced; according to the electric steering engine, the fork-shaped connecting rod is applied to the inverted crank sliding block mechanism, so that the space utilization rate is improved, the space waste is reduced, and the structure is more compact. The electric steering engine disclosed by the invention is simple in structure, tends to be modularized, is convenient to disassemble and assemble, and is easy to overhaul.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the integrated planetary roller screw drive of the present invention;
FIG. 3 is an overall schematic view of the steering engine control system of the present invention;
FIG. 4 is a control flow diagram of the steering engine control system of the present invention;
fig. 5 is a schematic view of an inverted crank block configuration.
Reference numerals: 1-an integrated planetary roller screw drive; 101-a rear end bearing; 102-a stator; 103-front gasket; 104-front end bearing; 105-planetary roller nuts; 106-planetary roller screw; 107-driving the protective housing; 108-back end pad; 109-an encoder; 2-tapered roller bearing I; 3-mounting screws; 4-a top cover; 5-a connecting rod; 6-connecting rod gasket; 7-tapered roller bearing II; 8-cotter pin; 9-a base; 10-a power take-off shaft; 11-a rocker arm; 12-output shaft tapered roller bearings; 13-angular displacement potentiometer.
Detailed Description
As shown in fig. 1, the direct-drive high-efficiency low-noise electric steering engine of the embodiment includes a housing, an integrated planetary roller screw driving device 1, an inverted crank-slider mechanism and a power output shaft.
The integrated planetary roller screw driving device 1 comprises a driving protective shell, a stator 102, a planetary roller screw 106 and a planetary roller nut 105; the stator 102 is fixedly arranged in the driving protection shell 107; the planetary roller screw 106 comprises a rotor section, a transition section and a screw section; permanent magnets are uniformly distributed on the rotor section in an annular mode, and the transition section is a stepped optical axis and is located outside the driving protection shell 107; the rotor section extends into the drive protection shell 107 to be matched with the stator 102; the stator 102 surrounds the rotor section, and a magnetic field generated by the permanent magnet rotor section interacts with a magnetic field generated by electrifying the stator 102 to generate acting force for rotating the rotor; the rotor section of the planetary roller screw 106 is supported in a driving protective shell 107 through a front end bearing 104 and a rear end bearing 101, a front end gasket 103 and a rear end gasket 108 for axially limiting the rotor section are arranged between two end faces of a permanent magnet of the rotor section and end faces of the front end bearing 101 and the rear end bearing 101 so as to reduce axial movement of the whole planetary roller screw 106, and the transition section and the tail part of the screw section of the planetary roller screw 106 are supported in the shell through a tapered roller bearing I2 and a tapered roller bearing II 7 respectively. An encoder 109 is mounted on the inner end face of the driving protection shell 107 to obtain the rotation angle of the rotor. The screw rod section is matched with the planetary roller nut 105 to form planetary roller transmission, and the rotation freedom degree of the planetary roller nut 105 is limited to realize the output of linear motion; the planet roller nut 105 is used as a sliding block of the inverted crank sliding block mechanism, so that the compactness of the whole transmission system of the steering engine can be improved. The inverted crank-slider mechanism comprises a connecting rod 5 and a rocker arm 11 (a planetary roller nut 105 is a slider); the two connecting rods 5 are respectively arranged at the upper side and the lower side of the planetary roller nut 105, one ends of the two connecting rods 5 are respectively hinged with the upper surface and the lower surface of the planetary roller nut 105, one end of the rocker arm 11 is of a fork-shaped structure, and the two ends of the rocker arm are respectively hinged with the other ends of the two connecting rods 5 through two forks. The joint between the two ends of the connecting rod 5 and the nut and the rocker arm 11 is provided with a gasket 6 and a cotter pin 8 so as to reduce the abrasion of the slider-crank mechanism during operation. Mechanical stops should be provided on both sides of the swing arm to limit the swing angle of the swing arm while avoiding the planet roller nut 105 from impacting the bearing. The rocker arm 11 is connected to the power take-off shaft 10 by a spline. The power output shaft 10 is supported in the shell through two conical roller bearings 12 of the output shaft which are arranged back to back, and an angular displacement potentiometer 13 for obtaining the rotation angle of the output shaft is arranged above the output shaft. The casing includes base 9 and top cap 4 through mounting screw 3 mutual fastening, and the casing material is high strength aluminum alloy, and structures such as bearing frame, mechanical limit switch all are designed for with the casing integration, have reduced the vibration noise that the joint gap produced at the course of the work between each component. The transmission route of the invention is as follows: the integrated planetary roller screw driving device 1-connecting rod 5-rocker arm 11-power output shaft 10 is characterized in that the integrated planetary roller screw driving device 1 drives a screw rod to rotate under the interaction force of a magnetic field, a planetary roller screw pair converts the rotation of the screw rod into the linear motion of a planetary roller nut 105, the rocker arm 11 is further pushed to rotate through the connecting rod 5, the output shaft connected with the rocker arm 11 also rotates along with the rotation, the reliable limiting is realized by a mechanical structure formed on a base on two sides of the movement of the rocker arm 11, and therefore the output shaft can only rotate within a specific angle range.
As shown in fig. 3, the control system of the direct-drive high-efficiency low-noise electric steering engine adopted in this embodiment includes: the command sending module is used for sending output angle position information appointed by an output shaft of the electric steering engine; the controller calculation module is used for calculating the driving quantity required by the integrated planetary roller screw driving device according to the mathematical model determined by the transmission system; the direct-drive motor controller is used for receiving the driving quantity sent by the controller calculation module and sending a motor driving signal to the direct-drive motor driver so as to control the rotor of the integrated planetary roller screw driving device to rotate; the error compensation module is used for comparing the rotor angle information and the output shaft angle information returned by the encoder with a theoretical value and compensating deviation when the controller calculation module outputs the driving information; and the angle sensor is used for detecting a rotation angle value of the output shaft of the electric steering engine and combining the rotation angle value with the position information sent by the instruction sending module to form a negative feedback chain.
As shown in fig. 4, the method for controlling the direct-drive high-efficiency low-noise electric steering engine by using the control system comprises the following steps:
s1. according to the requirement of the navigation task, the command sending module sends the information of the set angle position which the output shaft of the electric steering engine wants to reach manually or automatically;
s2, the controller calculation module receives the instruction sent by the instruction sending module, and calculates a mathematical model obtained by deducing the transmission system and the direct drive motor to obtain driving information required by the integrated planetary roller screw driving device; the derivation process of the mathematical model is as follows:
if the rotating speed of the direct drive motor is omega, the pitch of the planetary roller screw is p, and the linear displacement of the nut (slide block) is s, the linear displacement speed of the nut (slide block) is
Figure RE-GDA0003690821580000061
As shown in FIG. 5, let the length of the connecting rod be l in the inverted crank-slider structure1The length of the crank is l2。
The relationship between the output angle θ and the displacement of the connecting rod, crank and slider is:
(l2(1-cos(θ)))2+(l1+s-l2sin(θ))2＝l1 2
the method is simplified and can be obtained:
Figure RE-GDA0003690821580000062
if it is assumed that1＝40mm，l2When the rotating speed is 100mm, the output rotating speed can be obtained
Figure RE-GDA0003690821580000063
If p is 5mm/rpm, the transmission ratio is:
Figure RE-GDA0003690821580000071
and the mathematical model is deduced.
s3. the direct drive motor controller receives the drive information and sends a control instruction to the direct drive motor driver, so that the direct drive motor driver drives the rotor of the integrated planetary roller screw drive device to rotate, and the steering engine output shaft is driven to rotate through the inverted crank-slider mechanism;
s4. a motor encoder and an angle sensor at the output shaft acquire the motor rotation angle and the actual rotation angle of the output shaft in real time, and the motor rotation angle and the actual rotation angle of the output shaft are jointly input into an error compensation module, and then the error compensation module outputs information which is jointly acted with the output information of the controller calculation module to correct the driving information received by the direct drive motor controller;
s5. the rotation angle information of the output shaft measured by the angle sensor is combined with the position information sent by the instruction sending module to form a negative feedback chain, thereby greatly improving the precision of the control system and the precision of the output shaft.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (4)

1. The utility model provides a high-efficient low noise electric steering engine of direct drive formula which characterized in that: the planetary roller screw driving device comprises a shell, an integrated planetary roller screw driving device, an inverted crank-slider mechanism and a power output shaft; the planetary roller nut of the integrated planetary roller screw driving device is used as a sliding block of the inverted crank sliding block mechanism, and a rocker arm of the inverted crank sliding block mechanism is connected to a power output shaft to drive the power output shaft to rotate; the integrated planetary roller screw driving device comprises a stator, a planetary roller screw, a driving protective shell and a planetary roller nut; the stator is fixedly arranged in the driving protective shell; the planetary roller screw comprises a rotor section, a transition section and a screw section; the rotor section extends into the driving protection shell to be matched with the stator; the screw rod section is matched with the planetary roller nut to form planetary roller transmission.
2. The direct-drive high-efficiency low-noise electric steering engine according to claim 1, characterized in that: the rotor section of the planetary roller screw is supported in the driving protective shell through a bearing, and a gasket for axially limiting the rotor section is arranged between the end face of the rotor section and the end face of the bearing; the inverted crank slider mechanism comprises a connecting rod and a rocker arm; the connecting rod is hinged between the planetary roller nut and the rocker arm; the rocker arm is connected to the power output shaft through a spline.
3. A control system for controlling the electric steering engine according to any one of claims 1 to 2, comprising:
the command sending module is used for sending the output angle position information appointed by the output shaft of the electric steering engine;
the controller calculation module is used for calculating the driving quantity required by the integrated planetary roller screw driving device according to the mathematical model determined by the electric steering engine transmission system;
the direct-drive motor controller is used for receiving the driving quantity sent by the controller calculation module and sending a motor driving signal to the direct-drive motor driver so as to control the rotor of the integrated planetary roller screw driving device to rotate;
the error compensation module is used for comparing the rotor angle information and the output shaft angle information returned by the encoder with a theoretical value and compensating deviation when the controller calculation module outputs the driving information;
and the angle sensor is used for detecting a rotation angle value of the output shaft of the electric steering engine and combining the rotation angle value with the position information sent by the instruction sending module to form a negative feedback chain.
4. A control method using the control system according to claim 3, characterized by comprising the steps of: s1. according to the requirement of the navigation task, the command sending module sends the information of the set angle position which the output shaft of the electric steering engine wants to reach manually or automatically;
s2, the controller calculation module receives the instruction sent by the instruction sending module and obtains driving information required by the integrated planetary roller screw driving device through calculation;
s3. the direct drive motor controller receives the drive information and sends a control instruction to the direct drive motor driver to make the direct drive motor driver drive the rotor of the integrated planetary roller screw drive device to rotate, thereby driving the output shaft of the steering engine to rotate through the inverted crank-slider mechanism;
s4., acquiring a motor rotation angle and an output shaft actual rotation angle in real time by a motor encoder and an angle sensor at the output shaft, inputting the motor rotation angle and the output shaft actual rotation angle into an error compensation module together, outputting information by the error compensation module, and correcting driving information received by a direct drive motor controller under the combined action of the output information of a controller calculation module;
s5. the rotation angle information of the output shaft measured by the angle sensor is combined with the position information sent by the command sending module to form a negative feedback chain.
CN202210093685.3A 2022-01-26 2022-01-26 Direct-drive efficient low-noise electric steering engine and control system and control method thereof Pending CN114715372A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103207568A (en) * 2013-03-18 2013-07-17 哈尔滨工程大学 Steering engine saturation resistant self-adaptive control method for ship courses
CN203318673U (en) * 2013-06-05 2013-12-04 江苏海事职业技术学院 Direct driving type electric driving steering gear device of ship
CN107203184A (en) * 2017-06-20 2017-09-26 南京理工大学 The dynamic control method of straight line steering wheel Electric Loading System
CN109383761A (en) * 2018-11-14 2019-02-26 中国空空导弹研究院 A kind of integration involute rocker arm electric steering engine
CN112389639A (en) * 2020-11-10 2021-02-23 中国船舶重工集团公司第七一六研究所 270V dual-redundancy high-power electric steering engine
CN113162321A (en) * 2020-11-26 2021-07-23 重庆大学 Low-noise high-efficiency electrically-driven steering engine based on bionic joint driving mechanism
CN113296404A (en) * 2021-05-21 2021-08-24 重庆大学 Electric steering engine control system and control method
CN113377029A (en) * 2021-06-25 2021-09-10 中国民航大学 Method for inhibiting redundant torque of electric servo system of airplane steering engine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103207568A (en) * 2013-03-18 2013-07-17 哈尔滨工程大学 Steering engine saturation resistant self-adaptive control method for ship courses
CN203318673U (en) * 2013-06-05 2013-12-04 江苏海事职业技术学院 Direct driving type electric driving steering gear device of ship
CN107203184A (en) * 2017-06-20 2017-09-26 南京理工大学 The dynamic control method of straight line steering wheel Electric Loading System
CN109383761A (en) * 2018-11-14 2019-02-26 中国空空导弹研究院 A kind of integration involute rocker arm electric steering engine
CN112389639A (en) * 2020-11-10 2021-02-23 中国船舶重工集团公司第七一六研究所 270V dual-redundancy high-power electric steering engine
CN113162321A (en) * 2020-11-26 2021-07-23 重庆大学 Low-noise high-efficiency electrically-driven steering engine based on bionic joint driving mechanism
CN113296404A (en) * 2021-05-21 2021-08-24 重庆大学 Electric steering engine control system and control method
CN113377029A (en) * 2021-06-25 2021-09-10 中国民航大学 Method for inhibiting redundant torque of electric servo system of airplane steering engine

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