CN115694055A - Linear actuator integrated with gear vernier encoder and control method thereof - Google Patents
Linear actuator integrated with gear vernier encoder and control method thereof Download PDFInfo
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- CN115694055A CN115694055A CN202211138476.2A CN202211138476A CN115694055A CN 115694055 A CN115694055 A CN 115694055A CN 202211138476 A CN202211138476 A CN 202211138476A CN 115694055 A CN115694055 A CN 115694055A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
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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
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- 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
- H02K7/06—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
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a linear actuator integrated with a gear cursor encoder and a control method thereof, wherein the linear actuator comprises a motor, a control circuit module, the gear cursor encoder and a ball screw pair for pushing a push rod to reciprocate; the gear vernier encoder comprises a synchronous belt, a vernier gear, vernier gear magnetic steel, a vernier gear magnetic encoding chip, a main gear magnetic encoding chip, main gear magnetic steel and a main gear; the main gear is assembled on a motor rotor shaft; the main gear is rotationally connected with the vernier gear through a synchronous belt; the main gear magnetic steel and the vernier gear magnetic steel are respectively and correspondingly arranged on the main gear and the vernier gear; the main gear magnetic coding chip and the vernier gear magnetic coding chip (8) are respectively and correspondingly arranged below the main gear magnetic steel and the vernier gear magnetic steel; the control circuit is respectively and electrically connected with the main gear magnetic coding chip and the vernier gear magnetic coding chip (8), and the single circle angle values of the main gear and the vernier gear are respectively read through the main gear magnetic coding chip and the vernier gear magnetic coding chip; the vernier gear is connected with the ball screw pair; the control circuit module is electrically connected with the motor.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a linear actuator integrated with a gear cursor encoder and a control method thereof.
Background
The actuator is a servo driving device for position or angle control, and is widely used in equipment such as aircrafts and used for control plane control and other operations of the aircrafts.
Among the linear electromechanical actuators (EMA) commonly used in small and medium-sized aircrafts, there are two main types: (1) limit switch scheme: the device comprises a permanent magnet synchronous motor, a rotor angle encoder, a gear box, a ball screw pair, a cylinder barrel, a push rod, a built-in limit switch and the like. The controller controls the motor to rotate to drive the ball screw pair to do reciprocating motion, but the mechanical zero position is searched through the built-in limit switch after the motor needs to be powered on. Because the actuator is not provided with an absolute position sensor, if the controller fails to restart in flight, the mechanical zero resetting needs to be carried out for a long time, so that the aircraft can be crashed, and the actuator is not suitable for high-safety aircraft; (2) linear position sensor solution: the Linear Variable Differential Transformer (LVDT) is used as an absolute position sensor, and the linear variable differential transformer can normally work without mechanical return to zero after being electrified. The actuator is suitable for high-safety aircrafts, but needs an internal or external Linear Variable Differential Transformer (LVDT), so that the defects of complex manufacture, large volume, high price and the like are caused.
Disclosure of Invention
The invention provides a linear actuator integrated with a gear vernier encoder and a control method thereof, aiming at solving the problems of complex manufacture, large volume, high price and the like of the linear actuator in the prior art.
In order to realize the purpose of the invention, the technical scheme is as follows:
a linear actuator integrated with a gear cursor encoder comprises a permanent magnet synchronous motor, a control circuit module, the gear cursor encoder and a ball screw pair for pushing a push rod to reciprocate;
the gear vernier encoder comprises a synchronous belt, a vernier gear with N +1 teeth, vernier gear magnetic steel, a vernier gear magnetic coding chip, a main gear magnetic coding chip, main gear magnetic steel and a main gear with N teeth;
the main gear is assembled on a rotor shaft of the permanent magnet synchronous motor; the main gear is rotationally connected with the vernier gear through a synchronous belt;
the main gear magnetic steel and the vernier gear magnetic steel are respectively and correspondingly arranged on the main gear and the vernier gear;
the main gear magnetic coding chip and the vernier gear magnetic coding chip are respectively and correspondingly arranged below the main gear magnetic steel and the vernier gear magnetic steel;
the control circuit module is respectively and electrically connected with the main gear magnetic coding chip and the vernier gear magnetic coding chip, and the single-circle angle values of the main gear and the vernier gear are respectively read through the main gear magnetic coding chip and the vernier gear magnetic coding chip;
the vernier gear is connected with the ball screw pair, and the ball screw pair pushes the push rod to do reciprocating motion under the rotation of the vernier gear (2);
the control circuit module is electrically connected with the permanent magnet synchronous motor and controls the motor to rotate according to the single-turn angle values of the main gear and the vernier gear and the control signal.
Preferably, the control circuit module comprises a controller and an inverter circuit;
the main gear magnetic encoding chip and the vernier gear magnetic encoding chip are respectively electrically connected with the controller;
the output end of the controller is electrically connected with the input end of the inverter circuit and outputs a pulse width modulation signal to the inverter circuit;
the first output end of the inverter circuit is electrically connected with the motor;
the inverter circuit is electrically connected with the second output end and the controller and feeds current information back to the controller.
Further, the linear actuator also comprises a mounting plate; the end that the motor is connected with the master gear, the end that the ball screw pair is connected with the vernier gear are all connected with the mounting panel, and motor, ball screw pair set up in parallel in one side of mounting panel.
Preferably, the linear actuator further comprises a bottom shell provided with an accommodating cavity; the drain pan can dismantle with the mounting panel and be connected, control circuit module, gear vernier encoder all be located the holding chamber of drain pan.
Preferably, the magnetic control device further comprises a PCB board, and the control circuit module, the main gear magnetic encoding chip and the vernier gear magnetic encoding chip are all arranged on the PCB board.
Preferably, the linear actuator further comprises a main gear magnetic steel sheath for protecting the main gear magnetic steel, and a vernier gear magnetic steel sheath for protecting the vernier main gear magnetic steel;
the main gear magnetic steel is connected with the main gear through a main gear magnetic steel sheath;
the vernier main gear magnetic steel is connected with the vernier main gear through a vernier gear magnetic steel sheath.
A control method of a linear actuator of an integrated gear cursor encoder,
respectively reading single-circle angle values of the main gear and the vernier gear through the main gear magnetic coding chip and the vernier gear magnetic coding chip;
calculating the number of rotation turns of the motor according to the linear relation between the single-turn angle difference of the main gear and the vernier gear and the number of rotation turns of the permanent magnet synchronous motor, and calculating the position information of the push rod through the lead of the ball screw pair;
and outputting a group of Pulse Width Modulation (PWM) signals to control the permanent magnet synchronous motor to rotate according to the received control information and the push rod position information, so as to control the push rod to reciprocate.
Preferably, a group of pulse width modulation signals PWM is output to control the rotation of the permanent magnet synchronous motor according to the received control information and the push rod position information, specifically as follows:
after receiving the control information, calculating to obtain speed information through the control information and the push rod position information;
calculating to obtain first current information according to the speed information and the rotating speed information of the cursor gear;
calculating to obtain a group of direct-axis voltage Vd and quadrature-axis voltage Vq according to the first current information and the second current information which receives feedback;
according to the direct-axis voltage Vd, the quadrature-axis voltage Vq and the single-turn angle value of the main gear, a group of pulse width modulation signals PWM are output to control the permanent magnet synchronous motor to rotate, and the push rod is controlled to be pushed to reciprocate.
Further, the calculation formula for calculating the putter position information is as follows:
N nonius ＝N master +1#(1)
θ CalcMaster ＝n*360°+θ ReadMaster #(6)
wherein: n is a radical of master Indicating the number of teeth of the main gear; n is a radical of nonius Representing the number of teeth of the vernier gear; theta master Indicating a master gear multi-turn angle; theta nonius Representing the multi-turn angle of the vernier gear; MOD represents a remainder function; theta.theta. ReadMaster Representing a single turn angle of the master gear; theta ReadNonius Representing the single-turn angle of the vernier gear; delta theta represents the single-turn angular difference between the main gear and the vernier gear; INT represents a numerical floor function; n represents the rotation number of the main gear, the value range of n belongs to [0,N ] nonius )；θ CalcMaster Indicating the calculated multi-turn angle value of the main gear; p B Showing the lead of the ball screw pair; s real Indicating the actual position of the push rod; s calc Indicating the calculated position of the push rod.
An aircraft comprises a fuselage, a flight control system, the linear actuator, a control surface and a push rod;
the flight controller is electrically connected with the control circuit module and sends control information to the control circuit module;
one end of the control surface is rotatably connected with the machine body, and the ball screw pair is rotatably connected with the middle part of the control surface through a push rod;
the linear actuator realizes the control method and realizes the control surface steering.
The invention has the following beneficial effects:
compared with the prior art in which a linear position sensor scheme adopts a built-in or external Linear Variable Differential Transformer (LVDT), which causes the disadvantages of complex manufacture, large volume, high price and the like, the linear actuator described in this embodiment does not need a linear variable differential transformer or a gear box, the connection mode of the whole structure is relatively simple, and only a vernier gear needs to be added and connected with the gear through a synchronous belt. Compared with the traditional linear actuator, the mode has the advantages of simple manufacture, small volume, low price and the like, does not need a limit switch or a Linear Variable Differential Transformer (LVDT) for position detection, reduces the cost and improves the reliability. Therefore, the cost and the installation area are greatly reduced under the condition of meeting the requirement of high safety.
The invention can calculate the number of rotation turns of the permanent magnet synchronous motor and use the number for counting multiple turns by reading the angle difference value between the main wheel magnetic coding chip and the vernier wheel magnetic coding chip, and read the angle value of the main wheel magnetic coding chip and use the angle value for single turn absolute angle, thereby forming a multiple turn absolute value encoder without a standby battery. Compared with a traditional multi-turn absolute value encoder, the counting is maintained without a standby battery, and the reliability is improved.
Drawings
Fig. 1 is an exploded view of a linear actuator integrated with a geared cursor encoder according to the present embodiment.
Fig. 2 is an overall appearance schematic diagram of the linear actuator of the integrated gear vernier encoder of the embodiment.
Fig. 3 is a schematic diagram of the connection between the gear and the gear cursor encoder in the embodiment.
Fig. 4 is a control schematic diagram of the linear actuator according to the present embodiment.
FIG. 5 is a graph of the number of revolutions of the permanent magnet synchronous versus the magnetic encoder angle.
Fig. 6 is a relationship of the number of rotations of the permanent magnet synchronization and the number of calculated rotations.
Fig. 7 shows the relationship between the number of rotations of the permanent magnet synchronous and the position of the push rod.
Fig. 8 is an overall schematic view of the aircraft.
In the figure, 1-controller, 2-vernier gear, 3-main gear, 4-synchronous belt, 5-main gear magnetic steel, 6-vernier gear magnetic steel, 7-main gear magnetic coding chip, 8-vernier gear magnetic coding chip, 9-permanent magnet synchronous motor, 10-main gear magnetic steel sheath, 11-vernier gear magnetic steel sheath, 12-mounting plate, 13-bottom shell, 14-cylinder, 15-push rod, 16-PCB plate, 17-machine body.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
Example 1
As shown in fig. 1, 2 and 3, a linear actuator integrated with a gear cursor encoder comprises a permanent magnet synchronous motor 9, a control circuit module, a gear cursor encoder and a ball screw pair for pushing a push rod 15 to reciprocate;
the gear vernier encoder comprises a synchronous belt 4, a vernier gear 2 provided with N +1 teeth, vernier gear magnetic steel 6, a vernier gear magnetic encoding chip 8, a main gear magnetic encoding chip 7, a main gear magnetic steel 5 and a main gear 3 provided with N teeth;
the main gear 3 is assembled on a rotor shaft of a permanent magnet synchronous motor 9; the main gear 3 is rotationally connected with the vernier gear 2 through a synchronous belt 4;
the main gear magnetic steel 5 and the vernier gear magnetic steel 6 are respectively and correspondingly arranged on the main gear 3 and the vernier gear 2;
the main gear magnetic coding chip 7 and the vernier gear magnetic coding chip 8 are respectively and correspondingly arranged below the main gear magnetic steel 5 and the vernier gear magnetic steel 6;
the control circuit module is respectively and electrically connected with the main gear magnetic coding chip 7 and the vernier gear magnetic coding chip 8, and the single-circle angle values of the main gear 3 and the vernier gear 2 are respectively read through the main gear magnetic coding chip 7 and the vernier gear magnetic coding chip 8;
the vernier gear (2) is connected with the ball screw pair, and the ball screw pair pushes the push rod to reciprocate under the rotation of the vernier gear (2);
the control circuit module is electrically connected with the permanent magnet synchronous motor 9 and controls the motor to rotate according to the single-turn angle values and the control signals of the main gear 3 and the vernier gear 2.
Compared with the scheme of a linear position sensor in the prior art, the linear actuator has the defects of complex manufacture, large volume, high price and the like due to the fact that an internal or external Linear Variable Differential Transformer (LVDT) is adopted, the linear actuator does not need the LVDT or a gear box, the connection mode of the whole structure is relatively simple, and only one vernier gear 2 needs to be additionally arranged and is connected with a gear through a synchronous belt 4. Compared with the traditional linear actuator, the mode has the advantages of simple manufacture, small volume, low price and the like, does not need a limit switch or a Linear Variable Differential Transformer (LVDT) for position detection, reduces the cost and improves the reliability. Therefore, the cost and the installation area are greatly reduced under the condition of meeting the requirement of high safety.
In a specific embodiment, the control circuit module comprises a controller 1 and an inverter circuit;
the main gear magnetic encoding chip 77 and the vernier gear magnetic encoding chip 8 are respectively electrically connected with the controller 1;
the output end of the controller 1 is electrically connected with the input end of the inverter circuit and outputs a pulse width modulation signal to the inverter circuit;
the first output end of the inverter circuit is electrically connected with the motor;
the inverter circuit electrically connects the second output end with the controller 1, and feeds current information back to the controller 1.
The controller 1 adopts a single chip microcomputer which is an integrated circuit chip and is a small and perfect microcomputer system formed by integrating functions (possibly comprising a display driving circuit, a pulse width modulation circuit, an analog multiplexer, an A/D converter and other circuits) of a central processing unit CPU with data processing capacity, a random access memory RAM, a read-only memory ROM, various I/O ports, an interrupt system, a timer/counter and the like into a silicon chip by adopting a super-large scale integrated circuit technology. An STM single chip microcomputer can be adopted in the embodiment.
In the embodiment, the permanent magnet synchronous motor 9 uses the permanent magnet to provide excitation, so that the motor has a simpler structure, the processing and assembling cost is reduced, a collecting ring and an electric brush which are easy to cause problems are omitted, and the running reliability of the motor is improved; and because excitation current is not needed, excitation loss is avoided, and the efficiency and the power density of the motor are improved.
In order to fix the motor and the ball screw pair in parallel, the linear actuator further comprises a mounting plate 12; one end of the motor connected with the main gear 3 and one end of the ball screw pair connected with the vernier gear 2 are both connected with the mounting plate 12, and the motor and the ball screw pair are arranged on one side of the mounting plate 12 in parallel.
In this embodiment, the motor and the ball screw pair are stably fixed together by the mounting plate 12, which is equivalent to fixing the distance between the cursor gear 2 and the main gear 3, thereby ensuring that the synchronous belt 4 does not fall off from the main gear 3 and the cursor gear 2.
As shown in fig. 3, in the present embodiment, the main gear 3 is provided with N teeth, and the vernier gear 2 is provided with N +1 teeth; the main gear 3 with N teeth drives the vernier gear 2 with N +1 teeth to rotate through the synchronous belt 4. Correspondingly, gear teeth for meshing the main gear 3 and the vernier gear 2 are also arranged on the inner side of the synchronous belt 4.
In a specific embodiment, as shown in fig. 1 and 2, the linear actuator further includes a bottom case 13 having a receiving cavity; bottom shell 13 can dismantle with mounting panel 12 and be connected, control circuit module, gear vernier encoder all be located the holding chamber of bottom shell 13.
The bottom shell 13 and the mounting plate 12 can be connected through screw threads, and a sealed cavity is formed through the mutual matching action of the bottom shell 13 and the mounting plate 12, so that the control circuit module and the gear cursor encoder are protected.
In a specific embodiment, the magnetic encoder further comprises a PCB board 14, and the control circuit module, the main gear magnetic encoder chip 77 and the vernier gear magnetic encoder chip 8 are all disposed on the PCB board 14.
In a specific embodiment, the ball screw pair comprises a screw rod and a nut in threaded connection with the screw rod; the cylinder body 14 and the push rod are arranged outside the present embodiment; the ball screw pair is arranged in the cylinder body (14), one end of the screw is connected with the vernier gear, and the nut is connected with the push rod; under the rotation of the vernier gear (2), the screw rod also rotates to drive the nut to move forwards or backwards, and then the push rod is pushed to do reciprocating motion. The cylinder 14 has the function of protecting the ball screw pair so as to prevent dust from entering and influencing the connection between the screw and the nut.
In a specific embodiment, the linear actuator further comprises a main gear magnetic steel sheath 10 for protecting the main gear magnetic steel, and a vernier gear magnetic steel 6 sheath for protecting the vernier main gear magnetic steel;
the main gear magnetic steel is connected with the main gear 3 through a main gear magnetic steel sheath 10;
the vernier main gear magnetic steel is connected with the vernier main gear 3 through a vernier gear magnetic steel 6 sheath.
Example 2
Based on the linear actuator of the integrated gear vernier encoder described in embodiment 1, as shown in fig. 4, this embodiment further provides a method for controlling the linear actuator of the integrated gear vernier encoder,
respectively reading single-circle angle values of the main gear 3 and the vernier gear 2 through a main gear magnetic coding chip 7 and a vernier gear magnetic coding chip 8;
calculating the number of rotation turns of the motor according to the linear relation between the single-turn angle difference of the main gear 3 and the vernier gear 2 and the number of rotation turns of the permanent magnet synchronous motor 9, and calculating the position information of the push rod 15 through the lead of the ball screw pair;
and outputting a group of pulse width modulation signals PWM to control the permanent magnet synchronous motor 9 to rotate according to the received control information and the position information of the push rod 15, so as to control the push rod 15 to do reciprocating motion.
Preferably, a group of pulse width modulation signals PWM is output to control the rotation of the permanent magnet synchronous motor 9 according to the received control information and the position information of the push rod 15, as follows:
after receiving the control information, calculating to obtain speed information through the control information and the position information of the push rod 15;
according to the speed information and the rotating speed information of the vernier gear 2, calculating to obtain first current information;
according to the first current information and the second current information which receives feedback, a group of direct-axis voltage Vd and quadrature-axis voltage Vq are obtained through calculation;
according to the direct-axis voltage Vd, the quadrature-axis voltage Vq and the single-turn angle value of the main gear 3, a group of pulse width modulation signals PWM are output to control the permanent magnet synchronous motor 9 to rotate, and the push rod 15 is controlled to be pushed to reciprocate.
In the embodiment, in the inverter circuit, the pulse width modulation signal PWM is amplified by the inverter circuit, and outputs three-phase alternating current to the permanent magnet synchronous motor 9; the permanent magnet synchronous motor 9 rotates under the excitation of three-phase alternating current, the main gear magnetic steel 5 on the rotor shaft of the permanent magnet synchronous motor 9 rotates simultaneously and outputs the position of the rotor shaft to the controller 1 through the main gear magnetic coding chip 7; the main gear 3 drives the vernier gear 2 to rotate through the synchronous belt 4, the vernier gear magnetic steel 6 on the vernier gear 2 rotates simultaneously, and the position of the vernier gear 2 is output to the controller 1 through the vernier gear magnetic coding chip 8; the ball screw pair in the cylinder 14 rotates along with the vernier gear 2, thereby pushing the push rod 15 to reciprocate.
In a specific embodiment, in the linear actuator, the main gear 3 is mounted on the rotor shaft of the permanent magnet synchronous motor 9 and rotates along with the permanent magnet synchronous motor 9, and the main gear 3 with N teeth drives the vernier gear 2 with N +1 teeth to rotate through the synchronous belt 4. Because there is a gear difference of 1 tooth between the main gear 3 and the cursor gear 2, within a certain range of rotation number of the motor, the single-turn angular difference between the main gear 3 and the cursor gear 2 has a linear relationship with the rotation number of the permanent magnet synchronous motor 9 (the single-turn angular difference Δ θ between the main gear 3 and the cursor gear 2 is α to the rotation number n of the permanent magnet synchronous motor 9). Therefore, the number of rotation turns of the permanent magnet synchronous motor 9 can be calculated by reading the single-turn angle value of the main gear 3 and the vernier gear 2, and then the position of the push rod 15 is calculated through the lead of the ball screw pair, wherein the calculation formula for calculating the position information of the push rod 15 is as follows:
N nonius ＝N master +1#(1)
θ CalcMaster ＝n*360°+θ ReadMaster #(6)
wherein: n is a radical of master Indicating the number of teeth of the main gear 3; n is a radical of nonius Represents the number of teeth of the vernier gear 2; theta master Indicating a number of turns of the main gear 3; theta nonius Representing the multi-turn angle of the vernier gear 2; MOD represents a remainder function; theta ReadMaster Representing a single turn angle of the main gear 3; theta ReadNonius Represents the single-turn angle of the vernier gear 2; Δ θ represents a single-turn angular difference of the main gear 3 and the vernier gear 2; INT represents a numerical rounding-down function; n represents the number of rotation turns of the main gear 3, and the value range of n belongs to [0,N ] norius )；θ CalcMaster Indicating the calculated multi-turn angle value of the main gear 3; p B Representing the ball screw pair lead; s. the real Indicating the actual position of the push rod 15; s. the calc Indicating the calculated position of the push rod 15.
The current push rod 15 position can be calculated by the gear cursor encoder through the formulas (1) - (7), for example, the gear cursor encoder is composed of the main gear 3 with 10 teeth and the cursor gear 2 with 11 teeth, and the push rod 15 position can be obtained by the following calculation:
1. suppose main gear 3 has N teeth master =10, the number of teeth N of the vernier gear 2 can be obtained from the formula (1) nonius ＝10+1＝11。
2. Assuming that the main gear 3 rotates 10.1 turns, the main gear 3 makes a plurality of turns of the angle θ master =3636 °, and the multi-turn angle of the vernier gear 2 can be obtained from the formula (2)
3. From the formula (3), the single-turn angle θ read by the magnetic encoding chip of the main gear 3 can be obtained ReadMaster =36 °, magnetic encoding chip for the cursor gear 2Read single turn angle theta ReadNonius ＝65.45°。
4. From the formula (4), the angle difference Δ θ between the main gear magnetic encoding chip 7 and the vernier gear magnetic encoding chip 8 is =330.54 °.
5. From equation (5), the number of rotations n =10 of the main gear 3 is obtained.
6. From the equation (6), the calculated multi-turn angle θ of the main gear 3 can be obtained CalcMaster =10 x 360 ° +36 ° =3636 °, i.e. θ CalcMaster Is equal to theta master 。
7. Suppose a ball screw pair lead P B =2mm, as obtained from equation (7), actual position of push rod 15
Calculated position of the push rod 15
Namely S real Is equal to S calc Therefore, the actual position of the push rod 15 in the linear actuator can be calculated by the gear vernier encoder.
As shown in fig. 5, when the motor rotates, the main gear 3 is angularly related to the cursor gear 2.
As shown in fig. 6, when the motor rotates, the current number of motor rotations can be obtained by calculating the angular difference between the main gear 3 and the cursor gear 2.
As shown in FIG. 7, when the motor rotates, the angle difference between the position of the push rod 15 and the magnetic encoder is linear, and the position of the push rod 15 can be obtained through the gear vernier encoder.
Example 3
As shown in fig. 8, an aircraft comprises a fuselage 17, a flight control system, a linear actuator as described in embodiment 1, a control surface, and a push rod;
the flight controller 1 is electrically connected with the control circuit module and sends control information to the control circuit module;
one end of the control surface is rotatably connected with the machine body 17, and the ball screw pair is rotatably connected with the middle part of the control surface through a push rod 15;
the linear actuator realizes the control method as described in embodiment 2, and realizes controlled control surface steering.
The control surface described in this embodiment may be an elevator, that is, the lifting of the elevator of the aircraft can be controlled by controlling the linear actuator.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A linear actuator integrated with a gear vernier encoder is characterized in that: the device comprises a permanent magnet synchronous motor (9), a control circuit module, a gear vernier encoder and a ball screw pair for pushing a push rod to reciprocate;
the gear vernier encoder comprises a synchronous belt (4), a vernier gear (2) provided with N +1 teeth, vernier gear magnetic steel (6), a vernier gear magnetic coding chip (8), a main gear magnetic coding chip (7), main gear (3) magnetic steel and a main gear (3) provided with N teeth;
the main gear (3) is assembled on a rotor shaft of the permanent magnet synchronous motor (9); the main gear (3) is rotationally connected with the vernier gear (2) through a synchronous belt (4);
the main gear magnetic steel and the vernier gear magnetic steel (6) are respectively and correspondingly arranged on the main gear (3) and the vernier gear (2);
the main gear magnetic coding chip (7) and the vernier gear magnetic coding chip (8) are respectively and correspondingly arranged below the main gear magnetic steel and the vernier gear magnetic steel (6);
the control circuit module is respectively and electrically connected with the main gear magnetic coding chip (7) and the vernier gear magnetic coding chip (8), and single-circle angle values of the main gear (3) and the vernier gear (2) are respectively read through the main gear magnetic coding chip (7) and the vernier gear magnetic coding chip (8);
the vernier gear (2) is connected with the ball screw pair, and the ball screw pair pushes the push rod to reciprocate under the rotation of the vernier gear (2);
the control circuit module is electrically connected with the permanent magnet synchronous motor (9), and the motor is controlled to rotate according to the single-turn angle values of the main gear (3) and the vernier gear (2) and the control signal.
2. The linear actuator of an integrated geared cursor encoder as claimed in claim 1, wherein: the control circuit module comprises a controller (1) and an inverter circuit;
the main gear magnetic encoding chip (7) and the vernier gear magnetic encoding chip (8) are respectively electrically connected with the controller (1);
the output end of the controller (1) is electrically connected with the input end of the inverter circuit and outputs a pulse width modulation signal to the inverter circuit;
the first output end of the inverter circuit is electrically connected with the motor;
and the inverter circuit is used for electrically connecting the second output end with the controller (1) and feeding current information back to the controller (1).
3. The linear actuator integrated with a geared cursor encoder as claimed in claim 2, wherein: the linear actuator also comprises a mounting plate (12); one end of the motor connected with the main gear (3) and one end of the ball screw pair connected with the vernier gear (2) are both connected with the mounting plate (12), and the motor and the ball screw pair are arranged on one side of the mounting plate (12) in parallel.
4. The linear actuator integrating a geared cursor encoder as claimed in claim 1, wherein: the linear actuator also comprises a bottom shell (13) provided with an accommodating cavity; bottom shell (13) can dismantle with mounting panel (12) and be connected, control circuit module, gear vernier encoder all be located the holding chamber of bottom shell (13).
5. The linear actuator integrating a geared cursor encoder as claimed in claim 4, wherein: the magnetic encoding device is characterized by further comprising a PCB (14), wherein the control circuit module, the main gear magnetic encoding chip (7) and the vernier gear magnetic encoding chip (8) are all arranged on the PCB (14).
6. The linear actuator of an integrated geared cursor encoder as claimed in claim 1, wherein: the linear actuator also comprises a main gear magnetic steel sheath (10) for protecting the main gear magnetic steel and a vernier gear magnetic steel (6) sheath for protecting the vernier main gear magnetic steel;
the main gear magnetic steel is connected with the main gear (3) through a main gear magnetic steel sheath (10);
the vernier main gear magnetic steel is connected with the vernier main gear (3) through a vernier gear magnetic steel (6) sheath.
7. A method of controlling a linear actuator based on an integrated geared cursor encoder according to any one of claims 1 to 6, characterized in that:
the single-turn angle values of the main gear (3) and the vernier gear (2) are respectively read through a main gear magnetic coding chip (7) and a vernier gear magnetic coding chip (8);
calculating the number of revolutions of the motor according to the linear relation between the single-turn angle difference of the main gear (3) and the vernier gear (2) and the number of revolutions of the permanent magnet synchronous motor (9), and calculating the position information of the push rod through the lead of the ball screw pair;
and outputting a group of Pulse Width Modulation (PWM) signals to control a permanent magnet synchronous motor (9) to rotate according to the received control information and the push rod position information, so as to control the push rod to reciprocate.
8. The linear actuator integrated with a geared cursor encoder as claimed in claim 7, wherein: outputting a group of pulse width modulation signals PWM to control the permanent magnet synchronous motor (9) to rotate according to the received control information and the push rod position information, and specifically comprising the following steps:
after receiving the control information, calculating to obtain speed information through the control information and the push rod position information;
calculating to obtain first current information according to the speed information and the rotating speed information of the vernier gear (2);
calculating to obtain a group of direct-axis voltage Vd and quadrature-axis voltage Vq according to the first current information and the second current information which receives feedback;
according to the direct-axis voltage Vd, the quadrature-axis voltage Vq and the single-turn angle value of the main gear (3), a group of pulse width modulation signals PWM are output to control the permanent magnet synchronous motor (9) to rotate, and the push rod is controlled to be pushed to reciprocate.
9. The linear actuator integrated with a geared cursor encoder as claimed in claim 7, wherein: the calculation formula for calculating the push rod position information is as follows:
N nonius ＝N master +1#(1)
θ CalcMaster ＝n*360°+θ ReadMaster #(6)
wherein: n is a radical of master Represents the number of teeth of the main gear (3);N nonius the number of teeth of the vernier gear (2) is represented; theta master Indicating a plurality of turns of the main gear (3); theta.theta. nonius Representing the multi-turn angle of the vernier gear (2); MOD represents a remainder function; theta ReadMaster Represents a single turn angle of the main gear (3); theta ReadNonius Represents the single-circle angle of the vernier gear (2); delta theta represents the single-turn angle difference between the main gear (3) and the vernier gear (2); INT represents a numerical floor function; n represents the number of rotations of the main gear (3), and the value range of n belongs to [0 nonius )；θ CalcMaster Indicating the calculated multi-turn angle value of the main gear (3); p is B Representing the ball screw pair lead; s real Indicating the actual position of the push rod; s calc Indicating the calculated position of the pushrod.
10. An aircraft, characterized in that: comprising a fuselage, a flight control system, a linear actuator according to any one of claims 1 to 9, a control surface, a pushrod;
the flight controller (1) is electrically connected with the control circuit module and sends control information to the control circuit module;
one end of the control surface is rotatably connected with the machine body, and the ball screw pair is rotatably connected with the middle part of the control surface through a push rod;
the linear actuator realizes the control method according to any one of claims 8 and 9, and realizes controlled rudder surface steering.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211138476.2A CN115694055A (en) | 2022-09-19 | 2022-09-19 | Linear actuator integrated with gear vernier encoder and control method thereof |
| PCT/CN2023/116553 WO2024060971A1 (en) | 2022-09-19 | 2023-09-01 | Linear actuator integrated with gear nonius encoder and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211138476.2A CN115694055A (en) | 2022-09-19 | 2022-09-19 | Linear actuator integrated with gear vernier encoder and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN115694055A true CN115694055A (en) | 2023-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211138476.2A Pending CN115694055A (en) | 2022-09-19 | 2022-09-19 | Linear actuator integrated with gear vernier encoder and control method thereof |
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| Country | Link |
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| CN (1) | CN115694055A (en) |
| WO (1) | WO2024060971A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060971A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Linear actuator integrated with gear nonius encoder and control method therefor |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2159547A3 (en) * | 2008-08-30 | 2014-06-11 | Walter Mehnert | Sensor component for a rotary encoder and rotary encoder equipped with such a sensor component |
| CN109625249B (en) * | 2019-01-25 | 2021-11-02 | 北京精密机电控制设备研究所 | Locking device for external electromechanical actuator |
| CN111473075A (en) * | 2020-04-17 | 2020-07-31 | 贵州新安航空机械有限责任公司 | Electromechanical actuator suitable for electric brake wheel |
| CN112117863A (en) * | 2020-08-14 | 2020-12-22 | 西安交通大学 | Mechanical-jamming-free high-thrust-density direct-drive type electric actuator |
| CN113029206A (en) * | 2021-04-13 | 2021-06-25 | 上海思博机械电气有限公司 | Vernier gear type magnetic sensitive multi-ring encoder |
| CN114425690A (en) * | 2022-01-10 | 2022-05-03 | 南京蔚蓝智能科技有限公司 | Mechanical multi-ring encoder for foot type robot joint |
| CN115694055A (en) * | 2022-09-19 | 2023-02-03 | 亿航智能设备（广州）有限公司 | Linear actuator integrated with gear vernier encoder and control method thereof |
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2022
- 2022-09-19 CN CN202211138476.2A patent/CN115694055A/en active Pending
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2023
- 2023-09-01 WO PCT/CN2023/116553 patent/WO2024060971A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060971A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Linear actuator integrated with gear nonius encoder and control method therefor |
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| WO2024060971A1 (en) | 2024-03-28 |
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