CN202692976U - Angle position sensor redundancy device of control plane of steering engine - Google Patents
Angle position sensor redundancy device of control plane of steering engine Download PDFInfo
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- CN202692976U CN202692976U CN 201220253843 CN201220253843U CN202692976U CN 202692976 U CN202692976 U CN 202692976U CN 201220253843 CN201220253843 CN 201220253843 CN 201220253843 U CN201220253843 U CN 201220253843U CN 202692976 U CN202692976 U CN 202692976U
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- control plane
- rudder face
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Abstract
The utility model discloses an angle position sensor redundancy device of a control plane of a steering engine. A double-redundancy angular position sensor collects angular position of the control plane of the steering engine and outputs two ways of control plane angular position sampling values which are conditioned into voltage values capable of being recognized by an analog-to-digital (AD) module of a central processing unit (CPU) through a conditioning circuit, then respectively filtered by a filtering circuit and input into the CPU to be processed. When one redundancy has faults, the redundancy signals are removed, and the control plane angular position sampling value of the other redundancy serves as final position closed loop feedback data. The angle position sensor redundancy device reduces error of the sensor, improves sensor accuracy, improves system reliability and brings convenience to maintenance of the device.
Description
Technical field
The present invention relates to a kind of angular position pick up redundant apparatus, especially a kind of rudder face angular position pick up redundant apparatus for the redundancy actuator system.
Background technology
In the redundancy actuator system, the rudder face angular position pick up is mainly used to the position of Real-time Collection rudder face, and process by modulate circuit, wave circuit is sent into CPU and is obtained position Synthesis output after filtration afterwards, so the rudder face angular position pick up is a very important part in the system, it provides position feed back signal for system, allows more effective, the stable operation of system.The reliability of angular position pick up is the directly collection of impact position signal then, thereby affects the safe operation of rudder system.
At present, in steering gear system, what mainly adopt is single remaining angular position pick up, if it breaks down, can cause that then alliance feedback makes mistakes, whole system error running even cause system crash is so mainly be devoted to the raising to its power electronic devices Performance And Reliability.The paper that the Haitao Zhang of Northwestern Polytechnical University is delivered " research of high precision dual-redundancy steering engine servo-drive system " is exactly this technology of utilizing, because material, reasons, be difficult to increase substantially the Performance And Reliability of these electron devices, and can have significantly increased cost.
Summary of the invention
The present invention describes and provides a kind of rudder face angular position pick up redundant apparatus, it can be when angular position pick up works, utilize the advantage of two remainings, improve the precision of angular position pick up, and when a remaining breaks down, can detect immediately fault, and fault remaining angular position pick up isolated, switch to single remaining mode of operation, utilize not fault remaining angular position pick up to continue position, rudder face angle is gathered and processes, effectively raise the reliability of steering gear system rudder face angular position pick up.
The technical solution adopted for the present invention to solve the technical problems is: comprise CPU, filtering circuit, modulate circuit and two remaining angular position pick up.Wherein, two remaining angular position pick ups gather the position, angle of steering wheel rudder face, output two-way rudder face angle position sampling value, respectively through a modulate circuit, nurse one's health into the magnitude of voltage that the AD module of CPU can be identified, more respectively through a filtering circuit filtering, input CPU processes.When a remaining breaks down, excise this remaining signal, and with the rudder face angle position sampling value of another remaining as final position closed loop feedback data, system still can finish appointed function.
Described pair of remaining angular position sensor is two electric independently pots, coaxial installation, and connect respectively a modulate circuit.
When working, the present invention may further comprise the steps:
The first step: gather the two-way rudder face angle position sampling value of steering wheel, nurse one's health respectively and filtering.
Second step: judge whether two-way rudder face angle position sampling value all exceeds setting threshold, if, decision maker fault and reporting an error then, position closed loop feedback data (being that positional value is comprehensively exported) equals 0; If not, entered for the 3rd step.
The 3rd step: whether the difference of judging two-way rudder face angle position sampling value exceeds setting threshold, if not the position closed loop feedback data equals two-way rudder face angle position sampling value sum divided by two; If entered for the 4th step.
The 4th step: judge the difference size of rudder face position set-point and two-way rudder face angle position sampling value, the position closed loop feedback data equals that rudder face angle, road position sampling value corresponding to less difference.
The described setting threshold of second step is-30 ° ~+30 °, and the 3rd step, described setting threshold was-3 ° ~+3 °.
The present invention is applied to steering wheel rudder face angle position monitoring and feedback, compares with feedback method with the conventional position sensor monitoring to have the following advantages:
1) adopts double redundant sensors, when two redundancy sensor normal operations, reduced the error of sensor, improved the precision of sensor.
2) when a redundancy sensor fault, system can continue normal operation, has improved the reliability of system.
3) when a redundancy sensor fault, corresponding trouble spot information is provided, safeguarding for device provides convenience.
Description of drawings
Fig. 1 is steering wheel rudder face angular position pick up sensor redundant apparatus structural drawing.
Among the figure, 1-position sensor redundancy control module CPU, 2-remaining, 1 filtering circuit, 3-remaining, 2 filtering circuits, 4-remaining, 1 modulate circuit, 5-remaining, 2 modulate circuits, 6-two remaining position transducers.
Fig. 2 is two remaining position transducer structural drawing.
Among the figure, 7-remaining, 1 position transducer, 8-remaining, 2 position transducers.
Fig. 3 is steering wheel rudder face angular position pick up redundant apparatus control method.
Embodiment
The present invention includes CPU, remaining 1 filtering circuit, remaining 1 modulate circuit, remaining 2 filtering circuits, remaining 2 modulate circuits, two remaining angular position pick up.Wherein, two remaining angular position pick ups gather the position, angle of steering wheel rudder face, output two-way rudder face angle positional value, pass through respectively remaining 1 modulate circuit and remaining 2 modulate circuits, nurse one's health into the magnitude of voltage that the AD port of CPU can be identified, through remaining 1 filtering circuit and remaining 2 filtering circuit filtering, input CPU processes again.
The rudder face angular position sensor is the coaxial installation of two electric independently pots, and is connected to respectively remaining 1 and remaining 2 modulate circuits of control system.Rudder face angular position pick up fault generally shows as the circuit loose contact, and the value of feedback that this moment, sampling obtained is the normal range of deviation position deflection angle corresponding voltage signal significantly.Through reality debugging, the Voltage-output signal of steering wheel rudder face location deflection angle when-30 ° ~+30 ° of normal variation amplified nurse one's health into can be for 0.417 ~ 2.083V voltage of AD module samples among the CPU; If generation line short fault, then sampled value can perseverance show as 0 or the corresponding limit deflection of 3V(position), therefore can judge that this remaining pot breaks down, should in time excise, and with the position sampling value of another remaining as final position closed loop feedback data, system still can finish appointed function.Control method is as follows:
The first step: remaining 1 and remaining 2 location feedback value are gathered.Enter second step.
Second step: judge whether remaining 1 location feedback value and remaining 2 location feedback value all exceed setting threshold, if, then positional value comprehensively export=0, plant failure also reports an error; If not, entered for the 3rd step.
The 3rd step: whether the absolute value of judging the difference of remaining 1 location feedback value and remaining 2 location feedback value exceeds setting threshold, if not, position Synthesis output=(remaining 1 location feedback value+remaining 2 location feedback value)/2; If entered for the 4th step.
The 4th step: whether the absolute value of judging the given difference with remaining 2 location feedback value in position the absolute value of the difference of and remaining 1 location feedback value given greater than the position, if, position Synthesis output=remaining 1 location feedback value; If not, position Synthesis output=remaining 2 location feedback value.
The present invention improves in original angular position pick up structure and control method, has selected high precision, high performance pair of remaining position transducer, and control strategy and method are improved.This redundant apparatus is hot-standby mode, and namely under normal circumstances, two remainings are worked simultaneously, when a certain remaining breaks down, immediately the fault remaining is isolated, intelligence switches to not that the position transducer of fault remaining carries out collection and the processing of position signalling, enters single remaining mode of operation.So this invention has improved the reliability of rudder face angular position pick up part, and can also carry out fault diagnosis and isolation, and then switches to normal remaining work, has guaranteed the normal operation of whole system.
The present invention is further described below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention includes position sensor redundancy control module CPU1, remaining 1 filtering circuit 2, remaining 2 filtering circuits 3, remaining 1 modulate circuit 4, remaining 2 modulate circuits 5, two remaining position transducers 6.Wherein, two remaining position transducers 6 gather position, steering wheel rudder face angle, output two-way rudder face angle positional value, process remaining 1 modulate circuit 2 and remaining 2 modulate circuit 3(are as utilizing AD620 to amplify respectively), nurse one's health into the magnitude of voltage that the AD port of CPU can be identified, respectively through remaining 1 filtering circuit 4 and remaining 2 filtering circuits, 5 filtering (such as second-order active filter), input position sensor redundant control module CPU1.
Two remaining position transducers as shown in Figure 2, it is made of remaining 1 position transducer 7 and remaining 2 position transducers 8, each other remaining each other, and electrical isolation.When a position transducer breaks down, another position transducer still can work.
As shown in Figure 3, be steering wheel rudder face angular position pick up redundant apparatus control method.
The first step: remaining 1 and remaining 2 location feedback value are gathered.Enter second step.
Second step: judge whether remaining 1 location feedback value and remaining 2 location feedback value all exceed setting threshold (in this model machine for-30 ° ~ 30 °), if, then positional value comprehensively export=0, plant failure also reports an error; If not, entered for the 3rd step.
The 3rd step: whether the absolute value of judging the difference of remaining 1 location feedback value and remaining 2 location feedback value exceeds setting threshold (being-3 ° ~ 3 ° in this model machine), if not, position Synthesis output=(remaining 1 location feedback value+remaining 2 location feedback value)/2; If entered for the 4th step.
The 4th step: whether the absolute value of judging the given difference with remaining 2 location feedback value in position the absolute value of the difference of and remaining 1 location feedback value given greater than the position, if, position Synthesis output=remaining 1 location feedback value; If not, position Synthesis output=remaining 2 location feedback value.
Claims (2)
1. steering wheel rudder face angular position pick up redundant apparatus, comprise CPU, filtering circuit, modulate circuit and two remaining angular position pick up, it is characterized in that: two remaining angular position pick ups gather the position, angle of steering wheel rudder face, output two-way rudder face angle position sampling value, respectively through a modulate circuit, nurse one's health into the magnitude of voltage that the AD module of CPU can be identified, more respectively through a filtering circuit filtering, input CPU processes.
2. steering wheel rudder face angular position pick up redundant apparatus according to claim 1, it is characterized in that: described pair of remaining angular position sensor is two electric independently pots, coaxial installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220253843 CN202692976U (en) | 2012-05-31 | 2012-05-31 | Angle position sensor redundancy device of control plane of steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220253843 CN202692976U (en) | 2012-05-31 | 2012-05-31 | Angle position sensor redundancy device of control plane of steering engine |
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| CN202692976U true CN202692976U (en) | 2013-01-23 |
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| CN 201220253843 Expired - Fee Related CN202692976U (en) | 2012-05-31 | 2012-05-31 | Angle position sensor redundancy device of control plane of steering engine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157668A (en) * | 2015-08-27 | 2015-12-16 | 北京航天发射技术研究所 | Method for acquiring reference azimuth of rocket aiming system by using reference prism |
| CN106608370A (en) * | 2015-10-23 | 2017-05-03 | 中国飞行试验研究院 | Non-contact control surface angle calibration method |
| CN108045562A (en) * | 2017-11-03 | 2018-05-18 | 中航通飞研究院有限公司 | A kind of aircraft water rudder steerable system |
| CN113196013A (en) * | 2018-12-10 | 2021-07-30 | Zf腓德烈斯哈芬股份公司 | Inductive detection of rotation angle |
-
2012
- 2012-05-31 CN CN 201220253843 patent/CN202692976U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157668A (en) * | 2015-08-27 | 2015-12-16 | 北京航天发射技术研究所 | Method for acquiring reference azimuth of rocket aiming system by using reference prism |
| CN105157668B (en) * | 2015-08-27 | 2017-11-28 | 北京航天发射技术研究所 | The method that rocket sighting system obtains reference bearing by benchmark prism |
| CN106608370A (en) * | 2015-10-23 | 2017-05-03 | 中国飞行试验研究院 | Non-contact control surface angle calibration method |
| CN108045562A (en) * | 2017-11-03 | 2018-05-18 | 中航通飞研究院有限公司 | A kind of aircraft water rudder steerable system |
| CN113196013A (en) * | 2018-12-10 | 2021-07-30 | Zf腓德烈斯哈芬股份公司 | Inductive detection of rotation angle |
| CN113196013B (en) * | 2018-12-10 | 2024-03-01 | Zf腓德烈斯哈芬股份公司 | Inductance detection of rotation angle |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20150531 |
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| EXPY | Termination of patent right or utility model |