CN203186574U - Digital servo control rudder system - Google Patents
Digital servo control rudder system Download PDFInfo
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- CN203186574U CN203186574U CN 201320153305 CN201320153305U CN203186574U CN 203186574 U CN203186574 U CN 203186574U CN 201320153305 CN201320153305 CN 201320153305 CN 201320153305 U CN201320153305 U CN 201320153305U CN 203186574 U CN203186574 U CN 203186574U
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- rudder
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- servo control
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Abstract
The utility model discloses a digital servo control rudder system. The digital servo control rudder system comprises a digital controller, a power supply and management circuit, a signal processing circuit, an A/D (analog to digital) interface circuit, an input/output buffer circuit, an RS-422 serial communication circuit, a driving buffer circuit, a motor drive circuit, a motor, an angle transducer and a transmission mechanism, wherein the digital controller collects a rudder control signal, a rudder feedback signal, a motor current signal through the interface circuit, computes a rudder driving signal according to a control algorithm, and controls the motor to drive the transmission mechanism to rotate through drive, and a position transducer can feed back an output shaft deflection angle, and controls an output shaft to deflect to a preset angle, thus enabling a rudder surface to rotate according to the requirements of the rudder control signal. The digital servo control rudder system provided by the utility model has the characteristics of high integration level, flexible control algorithm, small volume, light weight, good dynamic property, and small tracking phase error.
Description
Technical field
The utility model belongs to the servocontrol field, is specifically related to a kind of digital servo control rudder system.
Background technology
Rudder system is a kind of servo control unit, and it carries out rudder control signal and rudder feedback signal comprehensively, amplifies, and drive motor drives the transmission device running, allows rudder follow rudder control signal beat.
From national intellectual property patent network inquiry, 201120228509.3 patent has been introduced a kind of electronic rudder system, control circuit is analogous circuit, and transmission device is harmonic gear reducer, its characteristics are that volume is little, power is big, working temperature range is wide, are used for unmanned plane; 200810103492.1 patent has been introduced a kind of intelligent electric steering engine based on the CAN bus, adopt PIC8F chip microcontroller computing and control, realize CAN interface communication function by PCA82C250T, little, low in energy consumption, the high intelligence of this steering wheel volume is used for model aircraft and anthropomorphic robot.
Certain aircraft wants with rudder system that cube is little, in light weight, dynamic characteristics is good, and rudder control, rudder feedback phase error are little.The described rudder system of above-mentioned 201120228509.3 patents is because adopting analog control technique, and the system control parameters debugging is difficulty comparatively, and the control parameter has certain drift in the use; Because adopt harmonic speed reducer, system damping is bigger, has the big defective of tracking error, can not satisfy the requirement of high speed, little phase error.200810103492.1 patent is because of micro controller system PIC8F running velocity and the restriction of A/D conversion accuracy, the output torque limitation is not suitable for this vehicle dynamic characteristic and high speed requirement.
The utility model content
Technical problem to be solved in the utility model provides a kind of integrated digital servo control rudder system, this system has integrated level height, control algorithm distinguishing feature flexibly, possesses by transmission device design, the digital servo control rudder system of optimizing that volume is little, in light weight, dynamic property is good, follow the tracks of the little characteristics of phase error.
For solving the problems of the technologies described above, the utility model provides a kind of digital servo control rudder system, comprises control mechanism, driver train and transmission device, it is characterized in that,
Described control mechanism comprises digitial controller, power supply and management circuit, signal processing circuit, A/D interface circuit, input and output buffer circuit, RS-422 serial communication circuit and buffering driving circuit;
Described driver train comprises power driving circuit;
Described transmission device comprises motor, large and small straight gear, ball screw assembly,, output shaft and angular transducer;
Described control mechanism is integrated on the control desk, and described control desk, described power driving circuit and motor seal are installed in stake body inside, described large and small straight gear, and ball screw assembly,, output shaft and angular transducer are fixed on the described stake body.
Preferably, described digitial controller is digital signal processor DSP.
Described power driving circuit comprises power drive photoelectrical coupler and H bridge driving circuit.
Described large and small gear and ball screw assembly, are arranged vertically, and design has tooth bar on the ball screw nut, cooperates with quadrant gear, drive output shaft (rudder face) and rotate, and when slowing down, change the direction of transmission.The oad of big small Spur gear, ball screw assembly,, tooth bar is determined according to reduction ratio and load request.
Working process of the present utility model is as follows: after this digital servocontrol rudder system has the control signal input, through isolated amplifier, A/D converter, with control signal and rudder feedback signal input digit controller, resolve through digitial controller, output drive signal rotates by H bridge driving circuit drive motor direction and speed as required, rotates through straight gear, ball-screw, rack drives output shaft.With the drive through output shaft gear of the angular transducer of the parallel installation of output shaft, feedback angle of inclination location information forms the closed loop control of system to controller, realizes the controlled deflection of angle.
Control parameter of the present utility model, is stored among the FLASH of DSP through the input of RS-422 serial communication port by upper computer, and the control parameter can constantly be adjusted when debugging, obtains optimal parameter, and this parameter can not change because of the variation of environment in the rudder system work.
The utility model is positioned over control circuit board and motor in the stake body by control circuit and transmission device are carried out integrated design, and volume is little, in light weight; Power device, motor are fixed on the servomechanism stake body, are conducive to system radiating.
The utility model controller advanced person, the system architecture compactness has good dynamic characteristics, and the system keeps track error is little.
Description of drawings
Fig. 1 is digital servo control rudder system composition frame chart.
Fig. 2 is power supply and translation circuit figure.
The specific embodiment
Below in conjunction with accompanying drawing embodiment a kind of digital servo control rudder system is introduced:
As shown in Figure 1, a kind of digital servo control rudder system comprises control part, drive part and running part.Control part is made up of DSP digital signal processor, signal processing circuit, A/D interface circuit, input and output buffer circuit, RS-422 serial communication circuit, buffering drive circuit, power supply and management circuit; Drive part is made up of power drive photoelectrical coupler and H bridge driving circuit (or integrated power module); Running part is made up of motor, big small Spur gear, ball screw assembly,, output shaft, angular transducer.
The control signal of control part is imported by upper computer, behind isolated amplifier ISO120SG, enter signal processing circuit, send A/D converter then, rudder feedback signal, angular transducer signal send A/D converter after signal is handled simultaneously, A/D converter is converted to digital signal simultaneously with three tunnel analog signals under the control of DSP, and importing respectively that DSP carries out digital filter and rudder control signal resolves into, the rudder control signal that calculates is exported through pulsewidth modulator PWM.Simultaneously, the rudder control signal after signal is handled, rudder feedback signal are given telegage by the output isolated amplifier.
Control part externally has a RS-422 communication interface circuit, is used for the bookbinding of control parameter.The control parameter is imported by upper computer between the rudder system limber up period, and solidifies in the FLASH of DSP.The control parameter can constantly be revised, until obtaining system's optimization control parameter.Another effect of RS-422 communication interface is to adjust rudder face at carry-on mechanical zero, cooperates with the ground three-coordinates measuring machine, by writing the rudder feedback zero-bit parameter of measurement, rudder face is adjusted within the scope of requirement.
Power driving circuit is made of the H bridge circuit of a pair of complementation.Wherein B1～B4 is the power photoelectrical coupler, and the electric path that it act as isolated controlling part and drive part prevents that the interfering signal of drive part from sealing in control part, and another act as with auxiliary circuit driven MOS pipe.V1～V4MOS pipe constitutes H type bridge circuit, under the control of control circuit, and the drive motor running.
Figure 2 shows that power supply and translation circuit, by the DC/DC changer, to import power conversion for+5V, ± 15V ,+the 18V power supply, use for system digits circuit, analogous circuit, power circuit portion, in addition, by low-dropout regulator LDO general+5V be transformed to+3.3V ,+1.8V uses for digital signal processor DSP.
The transmission device of native system is made of motor, straight gear, ball screw assembly, and tooth bar, gear, by selecting motor and little gear, ball wire bar pair, the tooth bar of rotor inertia that time constant is little, rotating speed is high for use, thereby satisfy the requirement that system's electromechanical time constant is little, driving efficiency is high, output torque is moderate.
The working process of present embodiment is as follows: behind the rudder system input control signal, through isolated amplifier and circuit conditioning, digitial controller collection, calculate the driving signal, rotate through power driving circuit drive motor rotating speed and direction as required, behind large and small gear reduction, the rotation of drive ball screw assembly,, be fixed on quadrant gear on the output shaft by the rack drives on the nut that is mated, drive the output shaft combination and rotate.The parallel installation with output shaft of angular transducer, by gear transmission, the position signal of responsive output shaft feeds back to control part, forms the position closed loop control of system, makes output shaft deflect into predetermined position, angle according to the corresponding rule of setting.Simultaneously, rudder control, rudder feedback signal are handled by signal, export telemetric circuit to through isolated amplifier.
It should be noted last that, above specific embodiment is only unrestricted in order to the technical solution of the utility model to be described, although with reference to preferred embodiment the utility model is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (3)
1. a digital servo control rudder system comprises control mechanism, driver train and transmission device, it is characterized in that,
Described control mechanism comprises digitial controller, power supply and management circuit, signal processing circuit, A/D interface circuit, input and output buffer circuit, RS-422 serial communication circuit and buffering driving circuit;
Described driver train comprises power driving circuit;
Described transmission device comprises motor, large and small straight gear, ball screw assembly,, output shaft and angular transducer;
Described control mechanism is integrated on the control desk, and described control desk, described power driving circuit and motor seal are installed in stake body inside, described large and small straight gear, and ball screw assembly,, output shaft and angular transducer are fixed on the described stake body.
2. digital servo control rudder system according to claim 1 is further characterized in that described digitial controller is digital signal processor DSP.
3. digital servo control rudder system according to claim 1 and 2 is further characterized in that described power driving circuit comprises power drive photoelectrical coupler and H bridge driving circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320153305 CN203186574U (en) | 2013-03-29 | 2013-03-29 | Digital servo control rudder system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320153305 CN203186574U (en) | 2013-03-29 | 2013-03-29 | Digital servo control rudder system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203186574U true CN203186574U (en) | 2013-09-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320153305 Expired - Lifetime CN203186574U (en) | 2013-03-29 | 2013-03-29 | Digital servo control rudder system |
Country Status (1)
| Country | Link |
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| CN (1) | CN203186574U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935507A (en) * | 2014-04-04 | 2014-07-23 | 北京航空航天大学 | Self-driven intelligent all-dynamic air rudder |
| CN105035310A (en) * | 2015-06-17 | 2015-11-11 | 北京航天控制仪器研究所 | Electric steering engine |
| CN105173063A (en) * | 2015-09-29 | 2015-12-23 | 北京精密机电控制设备研究所 | Integrated electric actuator for unmanned aerial vehicle |
| CN107896031A (en) * | 2017-10-30 | 2018-04-10 | 北京自动化控制设备研究所 | A kind of modularization servo drive control device |
| CN112650112A (en) * | 2020-12-18 | 2021-04-13 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
| CN115218728A (en) * | 2022-08-26 | 2022-10-21 | 上海翔骜电子科技有限公司 | Electric steering engine and control system thereof |
-
2013
- 2013-03-29 CN CN 201320153305 patent/CN203186574U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935507A (en) * | 2014-04-04 | 2014-07-23 | 北京航空航天大学 | Self-driven intelligent all-dynamic air rudder |
| CN105035310A (en) * | 2015-06-17 | 2015-11-11 | 北京航天控制仪器研究所 | Electric steering engine |
| CN105173063A (en) * | 2015-09-29 | 2015-12-23 | 北京精密机电控制设备研究所 | Integrated electric actuator for unmanned aerial vehicle |
| CN105173063B (en) * | 2015-09-29 | 2017-04-05 | 北京精密机电控制设备研究所 | A kind of unmanned plane integral electric steering wheel |
| CN107896031A (en) * | 2017-10-30 | 2018-04-10 | 北京自动化控制设备研究所 | A kind of modularization servo drive control device |
| CN112650112A (en) * | 2020-12-18 | 2021-04-13 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
| CN112650112B (en) * | 2020-12-18 | 2024-02-27 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
| CN115218728A (en) * | 2022-08-26 | 2022-10-21 | 上海翔骜电子科技有限公司 | Electric steering engine and control system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130911 |