CN118098752A - Electromagnet, control method of electromagnet and aircraft - Google Patents
Electromagnet, control method of electromagnet and aircraft Download PDFInfo
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- CN118098752A CN118098752A CN202410512944.0A CN202410512944A CN118098752A CN 118098752 A CN118098752 A CN 118098752A CN 202410512944 A CN202410512944 A CN 202410512944A CN 118098752 A CN118098752 A CN 118098752A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 230000005284 excitation Effects 0.000 claims abstract description 32
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 26
- 229910052742 iron Inorganic materials 0.000 claims abstract description 7
- 238000001179 sorption measurement Methods 0.000 claims description 13
- 230000005281 excited state Effects 0.000 claims description 10
- 238000004804 winding Methods 0.000 claims description 8
- 230000002457 bidirectional effect Effects 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 4
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 238000010438 heat treatment Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000003754 machining Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
- H01F7/122—Guiding or setting position of armatures, e.g. retaining armatures in their end position by permanent magnets
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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
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
- B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
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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
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/14—Initiating means actuated personally lockable
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
- H01F7/124—Guiding or setting position of armatures, e.g. retaining armatures in their end position by mechanical latch, e.g. detent
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/16—Rectilinearly-movable armatures
- H01F7/1638—Armatures not entering the winding
- H01F7/1646—Armatures or stationary parts of magnetic circuit having permanent magnet
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnets (AREA)
Abstract
The application provides an electromagnet, a control method of the electromagnet and an aircraft, wherein the electromagnet comprises an excitation coil group wound on an iron core, a movable armature assembly and a locking mechanism; the movable armature assembly comprises a push rod inserted into the first coil group and the second coil group, a movable armature fixedly connected with the push rod and positioned between the first coil group and the second coil group, and a permanent magnet arranged in the movable armature; the locking mechanism comprises a locking main body arranged between the first coil group and the second coil group, a telescopic moving rod in the locking main body and a return spring; when the exciting coil group is in an exciting state, the movable armature iron drives the ejector rod to extend or retract; when the exciting coil group is in a non-exciting state, the positions of the movable armature and the ejector rod are kept fixed. The electromagnet provided by the application can avoid the problems of electromagnet heating, electromagnetic force attenuation and the like caused by long-time power supply, and simultaneously avoid the problem of unstable ejector rod of the permanent magnet after magnetic force attenuation under the condition of power failure.
Description
Technical Field
The application relates to the technical field of electromagnets, in particular to an electromagnet, a control method of the electromagnet and an aircraft.
Background
The electromagnet is powered on and off externally, so that the internal iron core of the electromagnet generates mechanical movement, the telescopic movement of the electromagnet ejector rod is realized, and the electromagnet is widely applied to the fields of aviation, aerospace, automobiles and the like. However, in some use scenarios, the electromagnet needs to be energized for a long time to ensure that the ejector rod is kept in an extended or retracted state all the time, and the long-time energization easily causes serious heating problems of the electromagnet, so that problems of short circuit/disconnection of an electromagnet coil, electromagnetic force attenuation and the like are caused. In addition, when the power is off, the problem that the ejector rod cannot be stabilized at the original position due to the attenuation of the magnetic force of the permanent magnet can also occur.
Disclosure of Invention
The application provides an electromagnet, a control method of the electromagnet and an aircraft, and aims to solve the problems that the electromagnet is easy to generate serious heat, magnetic force is attenuated and the like when the electromagnet is electrified for a long time, and the ejector rod is unstable due to the magnetic force attenuation of a permanent magnet when the electromagnet is powered off.
In a first aspect, the present application provides an electromagnet comprising an excitation coil set wound on an iron core, a movable armature assembly, and a latch mechanism;
The exciting coil group comprises a first coil group and a second coil group which are oppositely arranged, and the winding direction of the first coil group on the iron core is opposite to the winding direction of the second coil group on the iron core;
The movable armature assembly comprises a push rod inserted into the first coil group and the second coil group, a movable armature fixedly connected with the push rod and positioned between the first coil group and the second coil group, and a permanent magnet arranged in the movable armature;
The locking mechanism comprises a locking main body arranged between the first coil group and the second coil group, a telescopic moving rod in the locking main body, and a reset spring, wherein one end of the reset spring is fixed on the locking main body, and the other end of the reset spring is fixed on the moving rod;
When the excitation coil group is in an excitation state, the magnetic field force acting on the movable armature is larger than the sum of the adsorption force generated by the permanent magnet and the elastic force provided by the locking mechanism, so that the movable armature drives the ejector rod to extend or retract;
When the exciting coil group is in a non-excited state, the adsorption force generated by the permanent magnet and acting on the movable armature and the elastic force provided by the locking mechanism enable the movable armature and the ejector rod to be kept fixed.
Preferably, the latching mechanism comprises a first latching mechanism and a second latching mechanism corresponding to the excitation coil set, and the distance between the first latching mechanism and the first coil set and the distance between the second latching mechanism and the second coil set are both larger than or equal to the diameter of the movable armature.
Preferably, the distance between the first locking mechanism and the first coil set and the distance between the second locking mechanism and the second coil set are equal to the diameter of the movable armature.
Preferably, when the exciting coil group is in an exciting state, an abutting part of the movable armature and the movable rod is arc-shaped;
When the movable armature approaches the movable rod, the thrust provided by the movable armature acts on the movable rod, so that the movable rod is retracted into the lock catch main body;
when the moving armature is far away from the moving rod, the elastic force provided by the return spring acts on the moving rod, so that the moving rod is returned.
Preferably, the electromagnet further comprises a power supply and a bidirectional switch;
The bidirectional switch is respectively connected with the first coil group and the second coil group;
the power supply supplies power to the first coil set and the second coil set through the bidirectional switch.
Preferably, the permanent magnet is a neodymium-iron-boron magnet.
In a second aspect, the present application further provides a control method based on the above electromagnet, where the method includes:
When an aircraft state switching instruction is received, a power supply is controlled to supply power to the excitation coil group, so that the excitation coil group is in an excitation state, and the magnetic field force acting on the movable armature is larger than the sum of the adsorption force generated by the permanent magnet and the elastic force provided by the locking mechanism, so that the movable armature drives the ejector rod to extend or retract;
after the ejector rod stretches out or retracts to a preset position, the connection between the power supply and the excitation coil set is disconnected, so that the excitation coil set is in a non-excitation state, and the movable armature and the ejector rod are kept fixed by the attraction force generated by the permanent magnet and the elastic force provided by the locking mechanism, wherein the attraction force acts on the movable armature and the permanent magnet.
Preferably, the aircraft state switching instructions include an automatic flight entry instruction and an automatic flight exit instruction;
When an automatic flight entering instruction is received, the power supply is controlled to provide forward current for the exciting coil group, so that the movable armature iron drives the ejector rod to extend;
When an automatic flight exit instruction is received, the power supply is controlled to provide reverse current for the excitation coil group, so that the movable armature iron drives the ejector rod to retract.
Preferentially, when an aircraft state switching instruction is received, the power supply is controlled to supply power for the exciting coil group within preset time, so that the movable armature iron drives the ejector rod to extend or retract to a preset position.
In a third aspect, the application also provides an aircraft comprising a lever comprising an electromagnet according to the first aspect.
The application can realize the following beneficial effects: the application provides an electromagnet, a control method of the electromagnet and an aircraft, wherein the electromagnet comprises an excitation coil group wound on an iron core, a movable armature assembly and a locking mechanism; the exciting coil group comprises a first coil group and a second coil group which are oppositely arranged, and the winding direction of the first coil group on the iron core is opposite to the winding direction of the second coil group on the iron core; the movable armature assembly comprises a push rod inserted into the first coil group and the second coil group, a movable armature fixedly connected with the push rod and positioned between the first coil group and the second coil group, and a permanent magnet arranged in the movable armature; the locking mechanism comprises a locking main body arranged between the first coil group and the second coil group, a telescopic moving rod in the locking main body, and a reset spring, wherein one end of the reset spring is fixed on the locking main body, and the other end of the reset spring is fixed on the moving rod; when the excitation coil group is in an excitation state, the magnetic field force acting on the movable armature is larger than the sum of the adsorption force generated by the permanent magnet and the elastic force provided by the locking mechanism, so that the movable armature drives the ejector rod to extend or retract; when the exciting coil group is in a non-excited state, the adsorption force generated by the permanent magnet and acting on the movable armature and the elastic force provided by the locking mechanism enable the movable armature and the ejector rod to be kept fixed.
According to the application, the permanent magnet is arranged in the movable armature, and the locking mechanism is arranged between the first coil group and the second coil group, so that the movable armature and the ejector rod are kept at the original positions under the condition of power failure of the electromagnet, and the problems of heating, electromagnetic force fading and the like of the electromagnet caused by long-time power supply are avoided. In addition, to the in-process of using, the permanent magnet can appear magnetic force decay, can't adsorb the condition at original position with moving armature, through addding the stability that locking mechanism comes extra promotion moving armature, guarantees that the ejector pin is kept in the normal position always under the electro-magnet outage condition.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an electromagnet according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a moving armature moving toward a first coil assembly according to an embodiment of the present application;
FIG. 3 is a second schematic diagram illustrating a movement of the moving armature toward the first coil assembly according to an embodiment of the present application;
FIG. 4 is a third schematic view illustrating the movement of the moving armature toward the first coil assembly according to an embodiment of the present application;
FIG. 5 is a fourth schematic diagram of the moving armature moving toward the first coil assembly according to an embodiment of the present application;
Fig. 6 is a schematic diagram illustrating a movement of a moving armature toward a second coil assembly according to an embodiment of the present application;
FIG. 7 is a schematic diagram of the movable armature abutting against the latch mechanism according to the embodiment of the present application;
FIG. 8 is a schematic flow chart of a method for controlling an electromagnet according to an embodiment of the present application;
fig. 9 is a second flowchart of a method for controlling an electromagnet according to an embodiment of the present application.
Reference numerals: 10-excitation coil group, 101-first coil group, 102-second coil group, 20-movable armature assembly, 201-ejector pin, 202-movable armature, 203-permanent magnet, 30-latch mechanism, 301-latch main body, 302-movable rod, 303-return spring, 40-power supply, 50-bi-directional switch.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
The application provides an electromagnet, a control method of the electromagnet and an aircraft.
Fig. 1 is a schematic structural diagram of an electromagnet according to an embodiment of the present application, as shown in fig. 1, an electromagnet includes an exciting coil set 10 wound on an iron core, a movable armature assembly 20, and a latch mechanism 30 (not shown).
The exciting coil assembly 10 includes a first coil assembly 101 and a second coil assembly 102 disposed opposite to each other, and a winding direction of the first coil assembly 101 on the core is opposite to a winding direction of the second coil assembly 102 on the core. That is, after the exciting coil set 10 is energized, the first coil set 101 and the second coil set 102 generate electromagnetic forces in opposite directions.
The movable armature assembly 20 includes a plunger 201 inserted into the first coil assembly 101 and the second coil assembly 102, a movable armature 202 fixedly connected to the plunger 201 and located between the first coil assembly 101 and the second coil assembly 102, and a permanent magnet 203 disposed inside the movable armature 202.
The permanent magnet 203 is disposed in the movable armature 202, specifically in the inner cavity of the movable armature, and because the movable armature is a soft iron with high magnetic permeability, the magnetic field generated by the exciting coil set is concentrated in the movable armature, so that the magnetic field of the inner cavity is greatly weakened, the magnetic shielding effect is achieved, and the probability of demagnetizing the permanent magnet is reduced.
It should be noted that, a gap exists between the first coil set 101 and the second coil set 102, and the gap is used to provide a moving space for the moving armature 202, and the size of the gap is equal to the distance that the ejector rod 201 extends or retracts the exciting coil set 10.
The ejector rod 201 penetrates through the first coil set 101 and the second coil set 102, can move inside the first coil set 101 and the second coil set 102, and is perpendicular to the movable armature 202.
As shown in fig. 7, the latch mechanism 30 includes a latch main body 301 provided between the first coil block 101 and the second coil block 102, a movable rod 302 that is retractable inside the latch main body 301, and a return spring 303 having one end fixed to the latch main body 301 and the other end fixed to the movable rod 302.
In addition, the electromagnet further comprises a housing, and a hole matched with the ejector rod 201 is formed in the housing, so that the ejector rod 201 can be conveniently extended and retracted, and the lock catch main body 301 is fixed on the housing. The moving lever 302 is kept in an extended state by a return spring 303. The moving rod 302 is in parallel relation to the moving armature 202, and the moving rod 302 abuts the moving armature 202 when the moving rod 302 is in the extended state.
A plurality of latching mechanisms 30 may be provided in the gap between the first coil assembly 101 and the second coil assembly 102 where the moving armature 202 reciprocates to further enhance the stability of the electromagnet when de-energized.
When the exciting coil assembly 10 is in an excited state, the magnetic force acting on the movable armature 202 is larger than the sum of the adsorption force generated by the permanent magnet 203 and the elastic force provided by the locking mechanism 30, so that the movable armature 202 drives the ejector rod 201 to extend or retract.
That is, in the case where the first coil group 101 and the second coil group 102 are energized, the moving armature 202 in the initial state receives the magnetic field force F1 of the first coil group 101, the magnetic field force F2 of the second coil group 102, and the attraction force F3 of the permanent magnet 203, and in the case where the current is continuously increased, one of the two magnetic field forces is continuously increased, and when the increased magnetic field force is greater than the remaining magnetic field force and the attraction force of the permanent magnet 203, the moving armature 202 starts to move. Illustratively, if the current of the first coil set 101 is continuously increasing, F1 is continuously increasing, and when F1> f2+f3, the moving armature 202 moves toward the first coil set 101.
As shown in fig. 2 to 5, during the movement of the moving armature 202, the moving rod 302 is blocked, and when the increased magnetic force can also cover the elastic force of the return spring 303, the moving armature 202 presses the moving rod 302, so that the moving rod 302 moves towards the inside of the latch main body 301 by compressing the return spring 303, and the moving armature 202 continues to move until reaching the final position. Illustratively, when f1> f2+f3+f4, where F4 is the elastic force of the latch mechanism 30 acting on the movable armature 202, the movable armature 202 is continuously moved to the first coil group 101.
When the exciting coil assembly 10 is in a non-excited state, the attraction force generated by the permanent magnet 203 and the elastic force provided by the locking mechanism 30 acting on the movable armature 202 keep the movable armature 202 and the ejector rod 201 in position.
That is, in the case where neither the first coil group 101 nor the second coil group 102 is energized, the first coil group 101 and the second coil group 102 do not generate a magnetic field, and do not generate a magnetic field force to the moving armature 202. At this time, the force acting on the movable armature 202 is the attraction force of the permanent magnet 203 (the attraction force with the exciting coil group 10) and the elastic force of the latch mechanism 30, and the movable armature 202 can be ensured to be kept at the original position by the attraction force of the permanent magnet 203 and the elastic force of the latch mechanism 30. Illustratively, if the moving armature 202 moves to the first coil set 101 when the first and second coil sets 101 and 102 are de-energized, the moving armature 202 is held in the first coil set 101 by the attraction and the spring force.
It should be noted that the position set by the latch mechanism 30 is related to the position where the moving armature 202 reaches last, that is, the distance between the latch mechanism 30 and the immediately adjacent coil set can accommodate the moving armature 202.
According to the application, the permanent magnet 203 is arranged in the movable armature 202, and the locking mechanism 30 is arranged between the first coil group 101 and the second coil group 102, so that the movable armature 202 and the ejector rod 201 are kept at the original positions under the condition of power failure of the electromagnet, and the problems of electromagnet heating, electromagnetic force degradation and the like caused by long-time power supply are avoided. In addition, for the situation that the permanent magnet 203 can decline in magnetic force and the movable armature 202 cannot be adsorbed at the original position in the use process, the stability of the movable armature 202 is additionally improved by adding the locking mechanism 30, so that the ejector rod 201 is ensured to be always maintained at the original position under the condition that the electromagnet is powered off.
In some embodiments of the present application, the latching mechanism 30 includes a first latching mechanism and a second latching mechanism corresponding to the exciting coil assembly 10, and the distance between the first latching mechanism and the first coil assembly 101 and the distance between the second latching mechanism and the second coil assembly 102 are both greater than or equal to the diameter of the moving armature 202.
The first locking mechanism corresponds to the first coil set 101, the second locking mechanism corresponds to the second coil set 102, and the correspondence here means that the positions are similar, the first locking mechanism is close to the first coil set 101, and the second locking mechanism is close to the second coil set 102.
In the case of power failure, the movable armature 202 abuts against the first coil set 101 or the second coil set 102, and accordingly, when the movable armature 202 abuts against the first coil set 101, the distance between the movable armature 202 and the moving rod 302 in the first locking mechanism is greater than or equal to 0 and less than a preset distance value, and when the movable armature 202 abuts against the second coil set 102, the distance between the movable armature 202 and the moving rod 302 in the second locking mechanism is greater than or equal to 0 and less than a preset distance value. The preset distance value is determined according to the allowable movement range of the ejector rod in the power-off state and the actual machining error. In different application scenarios, there are different actual machining errors, and in the operation rod, the actual machining errors may be 2-3 mm, which is not limited.
Illustratively, as shown in fig. 1, a first locking mechanism and a second locking mechanism may be disposed above the ejector rod 201, where the first locking mechanism corresponds to the first coil set 101, and the second locking mechanism corresponds to the second coil set 102.
Preferably, the distance between the first latching mechanism and the first coil set 101 is equal to the diameter of the moving armature 202, and the distance between the second latching mechanism and the second coil set 102 is equal to the diameter of the moving armature 202.
In other embodiments, a first locking mechanism may be disposed above the ejector rod 201, and a second locking mechanism may be disposed below the ejector rod 201, where the first locking mechanism corresponds to the first coil set 101 and the second locking mechanism corresponds to the second coil set 102.
Or a first locking mechanism and a second locking mechanism are arranged above the ejector rod 201, and a third locking mechanism 30 and a fourth locking mechanism 30 are arranged below the ejector rod 201.
The stability of the electromagnet in the power-off state is further improved by adding the number of the locking mechanisms 30.
In other embodiments of the present application, the contact portion between the moving armature 202 and the moving rod 302 is arc-shaped when the exciting coil assembly 10 is in the excited state.
In this embodiment, in order to reduce the influence of the elastic force of the latch mechanism 30 on the moving armature 202 during the moving process, the abutting portion of the moving armature 202 and the moving rod 302 is curved to reduce the resistance during the moving process of the moving armature 202.
The abutting portion may be an arc with a fixed radius, or may be a final arc formed by combining arc segments with different radii. The arc shape of the contact portion C of the moving armature 202 and the contact portion D of the moving rod 302 may be the same or different, and is not limited thereto.
In addition, taking the electromagnet shown in fig. 1 to 7 as an example, the lowest point position of the moving rod 302 in the extended state is lower than the highest point position of the moving armature 202.
As the moving armature 202 approaches the moving rod 302, the thrust provided by the moving armature 202 acting on the moving rod 302 causes the moving rod 302 to retract inside the latch body 301.
When the moving armature 202 moves away from the moving rod 302, the spring force provided by the return spring 303 acts on the moving rod 302, so that the moving rod 302 returns.
That is, when the moving armature 202 approaches the moving rod 302, the pushing force provided by the moving armature 202 acting on the moving rod 302 is continuously increased, and the elastic force of the return spring 303 acting on the moving rod 302 is continuously overcome, so that the moving rod 302 is continuously pressed by the moving armature 202 to move towards the inside of the lock catch main body 301. The thrust force of the moving armature 202 is provided by the energized excitation coil set 10, that is, the magnetic field force generated by the first coil set 101 and the second coil set 102, which increases with the current.
When the moving armature 202 moves away from the moving rod 302, the moving rod 302 returns to its original position, i.e., an extended state, by the elastic force provided by the return spring 303.
In addition, in the power-off state, the moving rod 302 is kept in the extended state by the elastic force provided by the return spring 303, and the moving rod 302 abuts against the moving armature 202 to define the moving armature 202 in the home position.
In other embodiments of the application, the electromagnet further comprises a power source 40 and a bi-directional switch 50; the bidirectional switch 50 is connected to the first coil set 101 and the second coil set 102, respectively; the power source 40 supplies power to the first coil set 101 and the second coil set 102 through the bi-directional switch 50.
Schematically, as shown in fig. 2, when the bi-directional switch 50 is closed downward, the power source 40 supplies a forward current to the exciting coil set 10, that is, the positive electrode of the power source 40 is connected to the first coil set 101, and the negative electrode of the power source 40 is connected to the second coil set 102. As shown in fig. 6, when the bi-directional switch 50 is turned on, the power source 40 supplies a reverse current to the exciting coil set 10, that is, the positive electrode of the power source 40 is connected to the second coil set 102, and the negative electrode of the power source 40 is connected to the first coil set 101.
The electromagnet provided by the embodiment of the application controls the extension and retraction of the ejector rod 201 in real time by arranging the bidirectional switch 50.
In other embodiments of the present application, the permanent magnet 203 is a neodymium-iron-boron magnet.
As shown in fig. 8, the present application further provides a method for controlling an electromagnet, the method comprising the following steps:
S101, when an aircraft state switching instruction is received, the control power supply 40 supplies power to the exciting coil assembly 10, so that the exciting coil assembly 10 is in an exciting state, and the magnetic force acting on the movable armature 202 is larger than the sum of the adsorption force generated by the permanent magnet 203 and the elastic force provided by the locking mechanism 30, so that the movable armature 202 drives the ejector rod 201 to extend or retract.
The aircraft state switching instruction specifically refers to an instruction for entering an aircraft automatic flight mode or an instruction for exiting the aircraft automatic flight mode.
In this step, when the central controller disposed inside the aircraft receives the aircraft state switching command, the control power supply 40 starts to supply power to the exciting coil set 10, so that the first coil set 101 and the second coil set 102 are in an excited state, and the movable armature 202 is driven by the magnetic force to move the ejector rod 201, so as to achieve extension or retraction of the ejector rod 201, and complete the switching of the aircraft state.
S102, after the ejector rod is extended or retracted to a preset position, the connection between the power supply 40 and the exciting coil assembly 10 is disconnected, so that the exciting coil assembly 10 is in a non-excited state, and the movable armature 202 and the ejector rod 201 are kept in position by the attraction force generated by the permanent magnet 203 acting on the movable armature 202 and the elastic force provided by the locking mechanism 30.
The preset position comprises a farthest position where the ejector rod can extend out of the shell and a nearest position where the ejector rod can retract into the shell.
In this step, after determining that the ejector rod is extended or retracted to the preset position, the central controller controls the power supply 40 to stop supplying power to the exciting coil set 10, and the permanent magnet 203 and the latch mechanism 30 maintain the movable armature 202 at the original position, so as to ensure that the ejector rod 201 is maintained at the original position, that is, ensure that the state of the aircraft is maintained.
The steps S101 and S102 are not necessarily performed in the same order, and are performed in different states.
According to the electromagnet control method provided by the embodiment of the application, after the received aircraft state switching instruction or the ejector rod reaches the preset position, the switch of the power supply 40 in the electromagnet is controlled, correspondingly, the movable armature 202 is moved or kept at the original position, so that the expansion or the keeping of the ejector rod 201 is realized, the electromagnet is only required to be powered in a short time, the ejector rod 201 can still be kept at the original position after the electromagnet is powered off, the problems of heating, magnetic force decline and the like caused by long-time power supply of the electromagnet are avoided, and the stability of the ejector rod 201 can be maintained.
In other embodiments of the application, the aircraft state switching instructions include an automatic flight entry instruction and an automatic flight exit instruction.
Specifically, when receiving the automatic flight entry command, the power supply 40 is controlled to provide forward current for the exciting coil set 10, so that the movable armature 202 drives the ejector rod 201 to extend. As shown in fig. 2, that is, the bi-directional switch 50 is controlled to be closed downward such that the positive electrode of the power source 40 is connected to the first coil group 101 and the negative electrode of the power source 40 is connected to the second coil group 102 to supply the forward current to the exciting coil group 10 such that the jack 201 is extended.
Upon receiving an automatic flight exit command, the power supply 40 is controlled to provide a reverse current to the exciting coil assembly 10, so that the movable armature 202 drives the ejector rod 201 to retract. As shown in fig. 6, that is, the bi-directional switch 50 is controlled to be closed upward such that the positive electrode of the power source 40 is connected to the second coil set 102 and the negative electrode of the power source 40 is connected to the first coil set 101 to supply the reverse current to the exciting coil set 10 such that the jack 201 is retracted.
In other embodiments of the present application, upon receiving an aircraft state switching command, the power source 40 is controlled to supply power to the exciting coil set 10 for a preset time, so that the movable armature 202 drives the ejector rod 201 to extend or retract to a preset position. After a preset time, the control power source 40 is turned off, so that the jack 201 is maintained at a preset position.
The preset time is determined according to the moving speed of the movable armature and the moving distance thereof, the moving speed is determined according to the force of the movable armature in the electrified state, and the preset time can be determined by adjusting factors such as the moving distance, the current, the elastic coefficient of the spring and the like, so that the electrified time of the electromagnet is reduced as much as possible, and the influence of the electrification on the performance of the electromagnet is further reduced. The preset time may be an empirical value determined through a plurality of experiments, and may be set to 250 ms-1 s in an automatic flight mode switching scene of the aircraft. The relation between the data such as the movement distance, the current level, the spring force coefficient of the spring, and the time may be fully mined by machine learning and determined, which is not limited.
Specifically, after receiving the automatic flight entering command, the control module in the aircraft controls the power supply to supply power to the exciting coil assembly 10, so that the movable armature 202 drives the ejector rod 201 to extend to a preset position, and after a preset time elapses, the power is controlled to be cut off. That is, after the power supply is powered for a preset time, the default ejector rod reaches a preset position, and then power off is controlled, so that the state of the aircraft is maintained, the ejector rod is ensured to be maintained at the preset position during power off, the power supply time can be shortened, and the influence of magnetic attenuation and the like brought by long-time power on the electromagnet can be further relieved.
In another embodiment of the present application, whether the ejector pin reaches the preset position may also be determined by the pilot, after the pilot confirms that the ejector pin reaches the preset position, an aircraft state maintaining instruction is input to the central control module, and then the central control module controls the power supply to be powered off, so that the ejector pin is maintained at the preset position.
According to the electromagnet control method provided by the embodiment of the application, the efficiency is improved by controlling the electrifying time, the electromagnetic decay is further slowed down, and the problems of heating and the like of the battery are relieved.
The application also provides an electromagnet control method, as shown in fig. 9, comprising the following steps:
s200, initializing the electromagnet. The initial state of the electromagnet includes the state in which the moving lever 302 in the latch mechanism 30 is kept extended, that is, the state in which the return spring 303 is not compressed; the excitation coil assembly 10 is in a non-excited state, i.e. the bi-directional switch 50 between the power source 40 and the excitation coil assembly 10 is in an off state; the power supply 40 does not supply power.
It should be noted that, the initial state of the moving armature 202 is a state of keeping being fully retracted, that is, a state of being fully absorbed by the second coil set 102, and the plunger 201 is in a retracted state.
S201, determining whether an automatic flight state entering instruction (namely, an external output signal 1) of the aircraft is received, and entering S202 after determining that the automatic flight state entering instruction is received; and when the automatic flight state entering instruction is not received, the initialized state of the electromagnet is maintained.
S202, the bi-directional switch 50 is controlled to be connected to the first coil set 101 and the second coil set 102 in the excitation coil set 10, so that the power supply 40 supplies the excitation coil set 10 with the forward current as shown in fig. 2.
S203, after the first coil set 101 and the second coil set 102 are energized, the first coil set 101 and the second coil set 102 generate a set of magnetic fields with opposite directions, and as the current value increases, the electromagnetic force generated by the first coil set 101 is continuously increased, the magnetic field force F1 of the electromagnetic force on the moving armature 202 is increasingly greater, and after exceeding the adsorption force F3 of the permanent magnet 203 on the moving armature 202 and the magnetic field force F2 of the second coil set 102 on the moving armature 202, the moving armature 202 is moved toward the first coil set 101. And when f1> f2+f3+f4, the moving armature 202 pushes the moving lever 302 to retract toward the inside of the latch main body 301 against the elastic force F4 of the return spring 303. In the process of moving the movable armature 202 to the first coil group 101, the ejector rod 201 fixedly connected with the movable armature 202 moves along with the movable armature 202, so that the ejector rod 201 stretches out.
When the moving armature 202 moves away from the moving rod 302, the moving rod 302 is driven by the return spring 303 to complete the return.
S204, after power is supplied for a certain time, the movable armature 202 is completely absorbed by the first coil group 101, reaches the final position A, and the extension distance of the ejector rod 201 is also maximized. And then the power supply 40 is controlled to be powered off, the movable armature 202 is kept at the position A under the influence of the adsorption force of the permanent magnet 203 and the resistance of the movable rod 302, and then the ejector rod 201 is kept at the position with the maximum extension distance, so that the ejector rod 201 can still keep a stable state when the power is off.
The power supply here is empirically preset for a certain period of time.
In addition, in order to prevent the permanent magnet 203 from continuously attenuating in the use process, so that the problem that the movable armature 202 keeps steady state cannot be guaranteed, the locking mechanism 30 is additionally arranged, so that the stability of the electromagnet in the power failure process is further improved.
S205, determining whether an automatic flight state exit instruction (namely, an external output signal-1) is received, and entering S206 when the automatic flight state exit instruction is received; when the automatic flight state exit command is not received, the state is maintained, i.e., the power is not applied, and the moving armature 202 is maintained at the position a.
S206, the power supply 40 is controlled to be energized, and the bi-directional switch 50 is closed, so that the power supply 40 supplies the reverse current as shown in fig. 6 to the exciting coil set 10.
In S207, after the first coil set 101 and the second coil set 102 are energized, as the current value increases, the electromagnetic force generated by the second coil set 102 increases continuously, the magnetic force F2 of the electromagnetic force on the moving armature 202 increases more and more, and after exceeding the adsorption force F3 of the permanent magnet 203 on the moving armature 202 and the magnetic force F1 of the first coil set 101 on the moving armature 202, the moving armature 202 moves toward the second coil set 102. And when f2> f1+f3+f4, the moving armature 202 pushes the moving lever 302 to retract toward the inside of the latch main body 301 against the elastic force F4 of the return spring 303. In the process of moving the movable armature 202 to the second coil assembly 102, the ejector rod 201 fixedly connected with the movable armature 202 also moves along with the movable armature, so that retraction of the ejector rod 201 is realized.
S208, after the power is supplied for a certain time, the movable armature 202 is completely absorbed by the second coil assembly 102, reaches the final position B, and the ejector rod 201 is retracted to the initial state, so that the power supply 40 is controlled to be powered off, the movable armature 202 is kept at the position B under the influence of the absorption force of the permanent magnet 203 and the resistance of the movable rod 302, and the ejector rod 201 is further kept in the retracted state, so that the effect that the ejector rod 201 can still keep a steady state when the power is off is realized, and the heating problem caused by long-time power on is avoided.
The application also provides an aircraft, which comprises the control rod and a central controller, wherein the control rod further comprises the electromagnet. The central controller controls the electromagnet by using the control method of the electromagnet. Illustratively, the aircraft may be an airplane, an unmanned aerial vehicle, or the like.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (10)
1. An electromagnet is characterized by comprising an excitation coil group wound on an iron core, a movable armature assembly and a locking mechanism;
The exciting coil group comprises a first coil group and a second coil group which are oppositely arranged, and the winding direction of the first coil group on the iron core is opposite to the winding direction of the second coil group on the iron core;
The movable armature assembly comprises a push rod inserted into the first coil group and the second coil group, a movable armature fixedly connected with the push rod and positioned between the first coil group and the second coil group, and a permanent magnet arranged in the movable armature;
The locking mechanism comprises a locking main body arranged between the first coil group and the second coil group, a telescopic moving rod in the locking main body, and a reset spring, wherein one end of the reset spring is fixed on the locking main body, and the other end of the reset spring is fixed on the moving rod;
When the excitation coil group is in an excitation state, the magnetic field force acting on the movable armature is larger than the sum of the adsorption force generated by the permanent magnet and the elastic force provided by the locking mechanism, so that the movable armature drives the ejector rod to extend or retract;
When the exciting coil group is in a non-excited state, the adsorption force generated by the permanent magnet and acting on the movable armature and the elastic force provided by the locking mechanism enable the movable armature and the ejector rod to be kept fixed.
2. The electromagnet of claim 1, wherein the latching mechanism comprises a first latching mechanism and a second latching mechanism corresponding to the excitation coil set, the distance between the first latching mechanism and the first coil set and the distance between the second latching mechanism and the second coil set each being greater than or equal to the diameter of the moving armature.
3. The electromagnet of claim 2, wherein a distance between the first latching mechanism and the first coil set and a distance between the second latching mechanism and the second coil set are both equal to a diameter of the moving armature.
4. The electromagnet of claim 1, wherein when the excitation coil group is in an excited state, an abutting portion of the moving armature and the moving rod is arc-shaped;
When the movable armature approaches the movable rod, the thrust provided by the movable armature acts on the movable rod, so that the movable rod is retracted into the lock catch main body;
when the moving armature is far away from the moving rod, the elastic force provided by the return spring acts on the moving rod, so that the moving rod is returned.
5. The electromagnet of claim 1, further comprising a power source and a bi-directional switch;
The bidirectional switch is respectively connected with the first coil group and the second coil group;
the power supply supplies power to the first coil set and the second coil set through the bidirectional switch.
6. The electromagnet of claim 1, wherein the permanent magnet is a neodymium-iron-boron magnet.
7. A control method based on an electromagnet according to any one of claims 1 to 6, characterized in that the method comprises:
When an aircraft state switching instruction is received, a power supply is controlled to supply power to the excitation coil group, so that the excitation coil group is in an excitation state, and the magnetic field force acting on the movable armature is larger than the sum of the adsorption force generated by the permanent magnet and the elastic force provided by the locking mechanism, so that the movable armature drives the ejector rod to extend or retract;
after the ejector rod stretches out or retracts to a preset position, the connection between the power supply and the excitation coil set is disconnected, so that the excitation coil set is in a non-excitation state, and the movable armature and the ejector rod are kept fixed by the attraction force generated by the permanent magnet and the elastic force provided by the locking mechanism, wherein the attraction force acts on the movable armature and the permanent magnet.
8. The control method of claim 7, wherein the aircraft state switching instructions include an automatic flight entry instruction and an automatic flight exit instruction;
When an automatic flight entering instruction is received, the power supply is controlled to provide forward current for the exciting coil group, so that the movable armature iron drives the ejector rod to extend;
When an automatic flight exit instruction is received, the power supply is controlled to provide reverse current for the excitation coil group, so that the movable armature iron drives the ejector rod to retract.
9. The control method according to claim 7, wherein when an aircraft state switching command is received, the power supply is controlled to supply power to the exciting coil set within a preset time, so that the movable armature drives the ejector rod to extend or retract to a preset position.
10. An aircraft, characterized in that it comprises a lever comprising an electromagnet according to any one of claims 1 to 6.
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