CN207889973U - Unmanned plane electric lifting device frame packing controller - Google Patents

Unmanned plane electric lifting device frame packing controller Download PDF

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Publication number
CN207889973U
CN207889973U CN201721578202.XU CN201721578202U CN207889973U CN 207889973 U CN207889973 U CN 207889973U CN 201721578202 U CN201721578202 U CN 201721578202U CN 207889973 U CN207889973 U CN 207889973U
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China
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control
module
standby
composite module
circuit
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CN201721578202.XU
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Inventor
陈永
李建勇
江永泽
张文阳
何平
王元新
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Chengdu CAIC Electronics Co Ltd
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Chengdu CAIC Electronics Co Ltd
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Abstract

A kind of a kind of unmanned plane electric lifting device frame packing controller disclosed by the utility model, it is desirable to provide the strong controller of light-weight, small, good reliability, environmental suitability.The utility model is achieved by following technical proposals:Master cpu composite module is connected for control CPU composite modules, it is enabled respectively by rotating forward reversion, output, electric machine speed regulation, current sample, hardware shutdown control line are correspondingly connected with master control driving composite module, standby control drives composite module, and by driving active-standby switch signal wire to connect active-standby switch module with drive and control of electric machine line, active-standby switch module connects undercarriage electric motor units by motor drive signal line;Master cpu composite module receives the folding and unfolding order of undercarriage, the processing of control logic and sends motor control command;Master control drives composite module, standby control driving composite module to receive master cpu composite module, standby control CPU composite module motor control commands and motor Hall sensor signal.

Description

Unmanned plane electric lifting device frame packing controller
Technical field
The utility model is related to a kind of undercarriage control controller, the electronic undercarriage control control of especially a kind of unmanned plane Device processed.
Background technology
Traditional undercarriage retractable actuating cylinder is driven using airplane centralized hydraulic power source, will be each by long fluid pressure line The hydraulic unit and hydraulic actuator of kind function connect, and each position is driven to act, and there is let out when hydraulic services work Leakage and pipeline lose along stroke pressure, and also need in undercarriage start to utilize throttle valve adjustment movement velocity, a large amount of energy Amount is all consumed in the form of leakage, pipeline consume and throttling heat, and the capacity usage ratio of hydraulic actuation is relatively low;Hydraulic pressure system simultaneously System includes not only dynamicliquid pressure element, further includes the hydraulic tube of corresponding hydraulic control component, hydraulic actuator and complexity Road leads to this systems bulky, heavier-weight.Therefore traditional fluid pressure type undercarriage control scheme, which is difficult to apply, is confronting Amount requires in stringent small and medium size unmanned aerial vehicles, such as:It is about 1.5 tons that certain, which is examined and beats integrated unmanned plane take-off weight, it is desirable that carries bullet weight Measure it is larger, if using traditional hydraulic power source as power drive undercarriage control if can increase aircraft weight to reduce aircraft Carry play weight, therefore it is a kind of using electric power as power source drive undercarriage debit case urgently by utility model.
Utility model content
The purpose of this utility model is to provide strong nobody of a kind of light-weight, small, good reliability, environmental suitability The dynamic undercarriage control controller of electromechanics.
The purpose of this utility model can be reached by the following measures:A kind of unmanned plane electric lifting device frame folding and unfolding control Device, including:It is installed on master cpu composite module in casing structure part babinet, standby control CPU composite modules, master control driving combination Module, standby control driving composite module, active-standby switch module, power source combination module and motherboard combination module, it is characterised in that:Power supply Composite module is installed on the floor combination module body of casing structure part, be master cpu composite module, standby control CPU composite modules, Master control drives composite module, standby control driving composite module, active-standby switch module, power source combination module and motherboard combination module to provide Power supply, master cpu composite module are connected for control CPU composite modules, are enabled respectively by rotating forward reversion, output, electric machine speed regulation, electricity Stream sampling, hardware shutdown control line are correspondingly connected with master control driving composite module, standby control driving composite module, and active and standby by driving Line switching signal connects active-standby switch module with drive and control of electric machine line, and active-standby switch module is connected by motor drive signal line Undercarriage electric motor units, be integrated with current detection circuit, current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit 3 A undercarriage motor-drive circuit is integrated in a printed board;Power source combination module, master cpu composite module, standby control CPU groups It molds block, master control driving composite module, standby control driving composite module and active-standby switch module and uses identical connector and positioning Lock realizes error protection, is connected with motherboard by electric connector, and be fixed in the babinet of cabinet by front panel combination module.
The master cpu composite module of the utility model receives the folding and unfolding order of undercarriage, the various sensor signals of processing, control The feedback of device status signal processed, the processing of control logic and transmission motor control command;Master control drives composite module, standby control driving Composite module receives master cpu composite module, standby control CPU composite module motor control commands and motor Hall sensor signal, Electronics commutation is carried out by driving active-standby switch signal wire to send driving active-standby switch signal to active-standby switch module.
The utility model has the following effects that compared with the prior art.
It is light-weight, small.The utility model is using master cpu composite module, standby control CPU composite modules, master control driving Composite module, standby control driving composite module, active-standby switch module and power source combination module form electric lifting device frame packing controller, Electricity consumption power is effectively reduced the weight of integrated unmanned plane as driven by energy undercarriage control.Current detecting will be integrated with simultaneously Circuit, current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit 3 undercarriage motor-drive circuits be integrated in one It opens in printed board so that controller architecture is compact, small, light-weight.Avoid prior art hydraulic control component, hydraulic pressure is held Units and complicated hydraulic pipeline, systems bulky, the defect of heavier-weight.
Good reliability.The utility model receives the folding and unfolding order of undercarriage, the various biographies of processing using master cpu composite module The feedback of sensor signal, controller state signal, the processing of control logic and transmission motor control command;Master control drives combination die Block, standby control driving composite module receive master cpu composite module, standby control CPU composite module motor control commands and motor Hall Sensor signal, by driving active-standby switch signal wire to send driving active-standby switch signal to active-standby switch module, to carry out electricity Sub- commutation;The CPU composite modules and driving composite module of this double remainings are controlled using the double remainings of circuit and the double remainings of communication The folding and unfolding for falling frame, effectively reduce possibility failure cause undercarriage can not folding and unfolding probability, functional reliability is high.
Environmental suitability is strong.The utility model is connected using master cpu composite module for control CPU composite modules, is led to respectively Cross rotating forward reversion, output enables, start 1 electric machine speed regulation of setting, current sample, hardware shutdown control line are correspondingly connected with master control driving Composite module, standby control driving composite module, and by driving active-standby switch signal wire to connect active and standby cut with drive and control of electric machine line Block is changed the mold, is connected compared to using hydraulic unit and hydraulic actuator, the hydraulic power source driving of each position action is driven, has Stronger environmental suitability can be widely applied to receive the electric lifting device frame of weight and the higher small and medium size unmanned aerial vehicles of volume requirement It puts.
The utility model is suitable for 2 tons and the packing controller of following small and medium size unmanned aerial vehicles electric retractable system.
Description of the drawings
Fig. 1 is the utility model unmanned plane electric lifting device frame packing controller organigram.
Fig. 2 is the undercarriage control controller circuitry principle schematic of Fig. 1.
Fig. 3 is the schematic block circuit diagram of the master control driving composite module of Fig. 1, standby control driving composite module.
Fig. 4 is the master control driving composite module of Fig. 1, standby control driving composite module power tube drive circuit principle schematic.
Fig. 5 is the master control driving composite module of Fig. 1, standby control driving composite module three-phase full-bridge inverting circuit principle signal Figure.
Fig. 6 is Fig. 1 master controls driving composite module, standby control driving composite module current sampling circuit principle schematic.
Fig. 7 is Fig. 1 master controls driving composite module, standby control driving composite module hardware current foldback circuit principle schematic.
Fig. 8 is Fig. 1 master controls driving composite module, standby control driving 8 power bleed off circuit theory schematic diagram of composite module.
The utility model is described further below in conjunction with the accompanying drawings, but is not therefore limited in the utility model described Scope of embodiments among.
Specific implementation mode
Refering to fig. 1, Fig. 2.In the embodiment described below, a kind of unmanned plane electric lifting device frame packing controller is by cabinet Structural member and 6 soft copy combinations are constituted.Casing structure part includes front panel module, floor combination module, upper cover plate combination die Block, wherein front panel module are for selection of powering, Surge suppression, filtering and primary channel switching.Soft copy includes:Master cpu Composite module, standby control CPU composite modules, master control driving composite module, standby control driving composite module, active-standby switch module, power supply Composite module and motherboard combination module.Power source combination module is installed on the floor combination module body of casing structure part, is master control CPU composite modules, standby control CPU composite modules, master control driving composite module, standby control driving composite module, active-standby switch module, electricity Source composite module and motherboard combination module provide power supply, and master cpu composite module is connected for control CPU composite modules, passes through respectively Rotate forward reversion, output enables, start setting 1, electric machine speed regulation, current sample, hardware shutdown control line are correspondingly connected with master control driving Composite module, standby control driving composite module, and by driving active-standby switch signal wire to connect active and standby cut with drive and control of electric machine line Block is changed the mold, active-standby switch module connects undercarriage electric motor units by motor drive signal line, is integrated with current detection circuit, mistake Stream protects 3 undercarriage motor-drive circuits of circuit, Cycle by Cycle current-limiting circuit, power drain circuit to be integrated in a printed board On;Power source combination module, master cpu composite module, standby control CPU composite modules, master control driving composite module, standby control driving combination Module and active-standby switch module realize error protection using identical connector and positioning lock, are connected with motherboard by electric connector It connects, and is fixed in the babinet of cabinet by front panel combination module.It is filled out with conductive rubber in the junction of cabinet part It fills, increases the conductive capability of cabinet part, by designing good overlap joint approach, chassis shell body is made well to be taken with airframe It connects, the electromagnetic protection performance of complete machine can be improved.
Motherboard combination module is passive mother board, is installed on the floor combination module of casing structure part, motherboard and other combinations The connection of intermodule realizes that the function of motherboard combination module is to provide the electricity of signal between each electronic combination by in-line connector Gas channel, for the signal transmission between each composite module.
Master cpu composite module, standby control CPU composite modules include:Clock circuit, active/standby switching circuit, RS422 buses Telecommunication circuit, analog quantity acquisition circuit, the electronics formula of erasing can make carbon copies read-only memory EEPROM, motor control interface, fly control machine The parts such as interface, hardware watchdog, level conversion, digital signal processor DSP and complex programmable logic device (CPLD).Its In, clock circuit is mainly base when system provides;Active/standby switching circuit major function is the relay of the active/standby switching of drive control Device;Watchdog circuit is primarily to improve the reliability of running software;RS422 bus communication circuitries mainly realize the string of program Mouth is loaded and is communicated with winged control machine and ground-support device;Analog quantity acquisition circuit is to supply voltage, motor is single-phase and Bus current is sampled;The electronics formula of erasing can make carbon copies reserved designs of the read-only memory EEPROM as system, can save one A little important parameters;Motor control interface circuit realizes the interface conversion between master cpu composite module, standby control CPU composite modules; Fly control machine interface circuit and then realizes the interface docking communicated between controller and winged control machine;Level shifting circuit for realizing The conversion of 3.3V/5V level, to realize electrical level match;Digital signal processor DSP is mainly completed at acquisition and the signal of data Reason;Complex programmable logic device (CPLD) mainly completes I/O read/write logic, house dog sequential logic, 422 communication conversion logics Deng;In addition to this, complex programmable logic device (CPLD) also participates in active/standby switch logic, that is, recognizes this CPU and be combined as master control When combination, the RS422 buses transmission that this CPU is combined is enabled.In addition, complex programmable logic device (CPLD) is according to Hall pulse Signal calculates motor speed, participates in active/standby switch logic, completes I/O read/write logic, house dog sequential logic, 422 communications turn Change logic.
Master cpu composite module, standby control CPU composite modules, master control driving composite module are all made of double redundancy designs, are formed Circuit remaining is communicated using RS422 buses and the communication of DO two ways with winged control machine, and communication remaining is formed, and reception is risen and fallen Frame folding and unfolding order sends out motor control command, handles various sensor signals, the feedback of status signal, controls the logic of motor Sequential.
Master cpu composite module, standby control CPU composite modules receive processing external information as packing controller, send out control System order and status information, and detected by CPU integration softwares and be inserted into the level state of motherboard position to judge oneself being master control CPU composite modules or standby control CPU composite modules, only master cpu composite module sends RS422 to winged control machine under normal circumstances Bus and DI information, only standby control CPU composite module front panels send active-standby switch signal.
The TI companies mutually number of TMS320F28335 each other may be used in master cpu composite module, standby control CPU composite modules Signal processor chip is as primary processor, highway width 32, dominant frequency 150M(This product drops volume and uses, and highest dominant frequency is only set For 100M), using 256K*16 Flash in DSP chip, as program storage, working software resides in this In memory.12 the included channels 2*8,80ns conversion ratios precision analog-digital converter ADC are adopted in digital signal processor DSP piece Each phase current of collection motor also acquires power supply as the foundation of automatic current limiting, overcurrent protection with time slice internal model number converter ADC Voltage realizes the detection of supply voltage.
The communication of RS422 bus communication circuitries is master cpu composite module, for controlling, CPU composite module CPU elements are of crucial importance A part, main realize load with the serial ports of flight control computer, the communication of ground-support device and program.Due to requiring to fly control Machine interface UC1, ground-support device interface UC2 can exchange function, and be required to by RS422 buses carry out software liter Grade is safeguarded.
DS26C31 and DS26C32 difference receipts may be used in master cpu composite module, standby control CPU composite module CPU elements Device is sent out, the differential signal for meeting RS422 bus protocols is converted to serial data by difference transceiver, then passes through Digital Signal Processing SCI transceivers are received and dispatched in device DSP pieces, can meet design requirement.CPU composite modules, standby control CPU composite module CPU elements Using DS26C31 and DS26C32 difference transceivers, difference transceiver is converted to the differential signal for meeting RS422 bus protocols Serial data, then received and dispatched by SCI transceivers in digital signal processor DSP piece;It is loaded into line program when utilizing serial ports When, it introduces external BootLoad signals and carries out logic judgment, judgement is to master cpu loading procedure or to standby control CPU loads Program, and the transmission of corresponding RS422 buses enable/is forbidden, or enabled serial ports of establishing is sent by corresponding RS422 buses and is led to Letter.
When load into line program using serial ports, the problem of being related to active/standby conflict, passes through and introduces external BootLoad letters Number carry out logic judgment and by corresponding RS422 buses transmission enable/forbid, reach a solution of a problem.When CPU combine detections arrive When this CPU is combined as standby control CPU composite modules, the RS422 buses transmission of this standby control CPU composite module is forbidden.Meanwhile it utilizing When RS422 buses serial ports is to CPU element loading procedure, judge it is to load journey to master cpu by external BootLoad signals Sequence still gives standby control CPU loading procedures, and corresponding RS422 buses are sent and enable to establish serial communication.
When being communicated with winged control machine/ground installation, by detecting external interface CHEK1+ (UC1), CHEK2+ (UC2) Level state, judge receive be the data of flight control computer or the data of ground-support device.Utilize active/standby identification position Logic judgment is carried out, when master cpu composite module works, the RS422 buses transmission of standby control CPU composite modules is forbidden;When When standby control CPU composite modules work, the RS422 buses transmission of master cpu composite module is forbidden, to avoid RS422 buses It sends conflict analog quantity acquisition circuit and mainly realizes that supply voltage, motor be single-phase and the sampling of bus current.
Controller collection of simulant signal utilizes two independent 8 channel modulus converters in digital signal processor DSP piece ADC_A and analog-digital converter ADC_B realize that sampling precision 12Bit, sample frequency (sampling period) combines depending on actual conditions. Analog acquisition includes mainly 2 tunnel+5VDC and the sampling of+12VDC supply voltages, 9 road current sample 0-5VDC, through signal condition electricity Road is converted into after 0-3.0VDC is filtered again and acquires.The effect of analog acquisition mainly detects current of electric and realizes automatic Current limliting, and the monitoring of supply voltage is acted on.
Master cpu composite module, standby control CPU composite modules motor control interface circuit mainly by with motherboard combination phase Driving plate interaction even, realizes the control to undercarriage motor and feedback of status.Motor speed control signal, direction of motor rotation control Light-coupled isolation output of the signal through being connected with CPU composite modules, and it is all made of the open collector output of optocoupler secondary, when When control signal is effective, is exported by the rear class collector of optocoupler and drag down corresponding resistance terminal in driving plate, realize motor Speed governing and course changing control.
Power source combination module includes the storage capacitor that can bear 50ms power interruptions, DC/DC modules, filter circuit, voltage Sample circuit.Power source combination module is converted into 28V DC power supplies needed for the work of undercarriage control control unit internal circuit Various secondary power supplies ,+12V ,+5V etc..N2, N4 are DC/DC power modules, and storage capacitor C allows the controller to bear 50ms's Power-off.Power source combination module for power supply convert, export 3 motors driving power, output+12V ,+5V electricity it is filtered after CPU combinations and driving composite module are supplied ,+12V ,+5V voltage obtain digital signal processor DSP after electric resistance partial pressure simultaneously Analog-digital converter A/D sample acceptable 0-3V voltages, to monitor power supply.
Any type is accordingly to be regarded as the undercarriage channel failure extremely in undercarriage or controller state, needs feedback event Hinder status word.Fly control machine by flying control machine interface circuit (discrete magnitude), RS422 buses and DO mouthfuls to master cpu composite module, standby It controls CPU composite modules and sends undercarriage control instruction, be subject to RS422 bus datas when RS422 buses are normal.Master cpu Composite module, standby control CPU composite modules power on BIT and period self-test information, undercarriage by RS422 buses to winged control machine feedback Status information, packing controller working condition, wheel load on off state and the current stroke percentage of undercarriage;When the event of RS422 buses When barrier, the order progress gear ups/put down of DO mouthful transmissions are executed, undercarriage signal is fed back to winged by DI mouthfuls at this time Control machine.In order to realize that winged control machine and ground-support device interface function are exchanged, the DO signals of UC1 and UC2, using 8 road I/O mouthful divide It Cai Ji and not handle, when only flying control machine access, read D0~D3, D4~D7 data, where which road road signal effectively just executes Order;And DI signals (controller to winged control machine or ground-support device) can not have to send respectively, need to only pass through software control pair The I/O answered.
Master cpu composite module, standby control CPU composite modules power on BIT certainly by RS422 buses and DI to the transmission of winged control machine Information, period self-test information, undercarriage information, undercarriage control fault message are examined, master control drives composite module, standby control to drive Dynamic composite module combination receives the motor control command and motor Hall of master cpu composite module, standby control CPU composite modules CPU Sensor signal carries out electronics commutation, exports the driving power of 3 motors.
Master cpu composite module, standby control CPU composite modules, master control driving composite module are all made of double redundancy designs, are formed Circuit remaining is communicated using RS422 buses and the communication of DO two ways with winged control machine, and communication remaining is formed, and reception is risen and fallen Frame folding and unfolding order sends out motor control command, handles various sensor signals, the feedback of status signal, controls the logic of motor Sequential.
Master cpu composite module, standby control CPU composite modules acquisition undercarriage motor Hall sensor signal, current signal, Motor rotation blockage, wheel load on off state and landing gear position lock status are detected, and is calculated according to motor Hall sensor signal The current stroke percentage of frame is fallen, the order sent according to winged control machine is self-test, status inquiry come the instruction for judging currently to be executed Or normal control undercarriage control;When master cpu composite module, standby control CPU composite modules receive normal control undercarriage When order, according to the Hall sensor signal of the folding and unfolding order and motor feedback received, driven to master control driving composite module, standby control Dynamic composite module sends motor control signal, control motor rotation;Detect undercarriage motor in real time using Hall current sensor Electric current, when master control drives composite module, standby control driving composite module to receive the letter in place of upper and lower position lock sensor feedback Number, and after detecting motor rotation blockage, control motor stalls.Undercarriage motor is by the way of being segmented speed governing, in undercarriage Start and preceding last 50mm is run using low speed in place, middle of stroke is run using fair speed.Undercarriage stroke is by collecting Hall sensor umber of pulse be calculated.
Refering to Fig. 3.Driving is combined as double redundancy designs, is divided into master control driving composite module, standby control driving composite module.It is main Control driving composite module, standby control driving composite module are the core combination of undercarriage control controller driving motor operation, master control Drive composite module, the circuit of standby control driving composite module and function completely the same.
Master control drives composite module, standby control driving composite module mainly to be driven by circuit for controlling motor, MOSFET power tubes Circuit, three-phase full-bridge inverting circuit, current detection circuit, current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit etc. Composition.Circuit for controlling motor receives enabled motor, speed governing, the positive and negative rotaring signal of electronics commutation and motor Hall sensor signal, leads to The pulse width modulation (PWM) signal that internal circuit generates control motor is crossed, MOSFET power tube drive circuits put pwm signal Greatly, three-phase full-bridge inverting circuit is by the motor three-phase power that DC bus-bar voltage inversion is variation, when current detection circuit detects To when the electric current of two-phase, current foldback circuit passes through Cycle by Cycle current limliting electricity in the bus current, three-phase of three-phase full-bridge inverting circuit Road limits current in control range, and power drain circuit opens vent discharge after DC bus-bar voltage is increased to certain value Road, by extra energy expenditure on bleeder resistance.Current foldback circuit judges that motor rotation blockage is directed to be more than using software to be preset Current value, shutdown motor driving;When current of electric overcurrent, hardware current-limiting circuit works in driving plate, electric motor protecting, and will be former Barrier state gives master cpu composite module through level shifting circuit, standby control CPU composite modules CPU, CPU are done by the signal Respective handling.
The MC33035 brshless DC motor special integrated circuits of Motorola Inc. may be used in circuit for controlling motor, connect Enabled motor, speed governing, positive and negative rotaring signal and the motor Hall sensor signal for electronics commutation are received, is generated by internal circuit Pwm signal is to control motor.Three groups of identical undercarriage motor-drive circuits control nose-gear and left and right main landing gear respectively DC brushless motor.
Master cpu composite module is connected for control CPU composite modules, is enabled respectively by rotating forward reversion, output, motor tune Speed, current sample, hardware shutdown control line are correspondingly connected with master control driving composite module, standby control driving composite module, and pass through drive Dynamic active-standby switch signal wire connects active-standby switch module with drive and control of electric machine line, and master cpu composite module receives undercarriage Folding and unfolding order, the various sensor signals of processing, the feedback of controller state signal, the processing of control logic, transmission motor control Order;Master control drives composite module, standby control driving composite module to receive master cpu composite module, standby control CPU composite module motors Control command and motor Hall sensor signal, by driving active-standby switch signal wire active and standby to the transmission driving of active-standby switch module Switching signal, to carry out electronics commutation;Active-standby switch module connects undercarriage electric motor units by motor drive signal line.
Master cpu composite module, standby control CPU composite modules are risen and fallen by what the winged control machine of RS422 bus group splice graftings receipts was sent Frame folding and unfolding control instruction, the up and or down locks sensor signal transmitted according to undercarriage, Hall sensor signal, wheel load switching signal The current sampling signal transmitted is combined with master control driving composite module, standby control driving composite module, according to prespecified control Logic exports corresponding motor drive signal driving undercarriage motor work, executes the functions such as undercarriage receiving/releasing.
When master control driving composite module combination is intact, RS422 buses and winged control machine communication function, motor control signal by Master control drives composite module to send out, and standby control combination does not export RS422 bus signals, motor drive signal.It is set in standby control CPU combinations Remaining switching judging unit, erasable Programmadle logic device EPLD complete programmable combination or sequential logic function.
When master control drives composite module, standby control driving composite module normal work, master control drives composite module to standby control CPU Composite module exports high level state signal, and when master control driving composite module combination is broken down, master control drives composite module The status signal of standby control CPU composite modules, which will be output to, becomes low level, at this point, standby control CPU composite modules to active-standby switch The connected relay of module sends switching signal, and driving relay normally open contact is closed, and standby control driving composite module is switched to Master control operating mode, standby control CPU composite modules send communication signal to winged control machine, and remaining switching is sent out according to motor control signal Signal, the safety that undercarriage folding and unfolding is controlled, Control for Dependability are within the acceptable range.
Refering to Fig. 4.Power tube drive circuit use IR companies IR2130, pwm signal AB1, BB1, CB1, AT1, BT1, CT1 is RAB1, RBB1, RCB1, RAT1, RBT1, RCT1 after IR2130 enhanced processings, and is further sent to MOSFET power tubes To control the break-make of power tube.IR2130 can also be to when 2 MOSFET drive signals generate 2us interlock delays above and below same bridge arm Between, to ensure that it will not be simultaneously turned on.
Refering to Fig. 5.Using three-phase, conduction mode, switching tube use the N-channel of IR companies to three-phase full-bridge inverting circuit two-by-two Enhanced MOSFET power tubes IRF540N, switching tube are connected and are turned off by the control of pwm signal, thus by DC bus Voltage inversion is the three phase mains of variation to control the start and stop, positive and negative rotation, rotating speed of motor.Rotating speed by adjust RAB1, RBB1, The PWM duty cycle of RCB1, RAT1, RBT1, RCT1 realizes, positive and negative rotation by adjust RAB1, RBB1, RCB1, RAT1, RBT1, The sequence that RCT1 is connected two-by-two is realized.
Refering to Fig. 6.Power detection circuit carries out current detecting using linear current sensing IC ACS712, and each electric machines test is female The electric current of two-phase in line current, three-phase, since ACS712 output voltages are 0.5V-4.5V, it is therefore desirable to again by signal condition Give CPU processing.Signal conditioning circuit is mainly made of integrated transporting discharging, amplifier F124, reference voltage 0.5V.
Refering to Fig. 7.Current foldback circuit carries out hardware shutdown when detecting that electric current is more than 13A, forbids motor enabled. Since electric motor starting electric current is larger, current foldback circuit is closed in electric motor starting, prevents motor can not due to overcurrent protection Start.
Refering to Fig. 8.Power drain circuit puts down speed when doing load test since gravity loads, at motor DC bus-bar voltage can be made to increase in generating state, damage circuit board in order to prevent, devise power drain circuit, in direct current mother LM193JGB output high level drivings S9013 is connected and then is applied to about 10V voltages after line voltage is increased to certain value The grid of IRF540N, makes IRF540N be connected, and leadage circuit is opened, by extra energy expenditure on bleeder resistance.

Claims (10)

1. a kind of unmanned plane electric lifting device frame packing controller, including:The master cpu combination being installed in casing structure part babinet Module, standby control CPU composite modules, master control driving composite module, standby control driving composite module, active-standby switch module, power source combination Module and motherboard combination module, it is characterised in that:Power source combination module is installed on the floor combination module body of casing structure part, Composite module, standby control driving composite module, active-standby switch are driven for master cpu composite module, standby control CPU composite modules, master control Module, power source combination module and motherboard combination module provide power supply, and master cpu composite module is connected for control CPU composite modules, point By rotating forward, reversion, output is not enabled, start setting 1, electric machine speed regulation, current sample, hardware turn off control line and is correspondingly connected with master Control driving composite module, standby control driving composite module, and by driving active-standby switch signal wire to be connected with drive and control of electric machine line Active-standby switch module, active-standby switch module connect undercarriage electric motor units by motor drive signal line, are integrated with current detecting Circuit, current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit 3 undercarriage motor-drive circuits be integrated in one It opens in printed board;Power source combination module, master cpu composite module, standby control CPU composite modules, master control driving composite module, standby control It drives composite module and active-standby switch module to realize error protection using identical connector and positioning lock, passes through electric connector and mother Plate is connected, and is fixed in the babinet of cabinet by front panel combination module.
2. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu composite module Receive the folding and unfolding order of undercarriage, the various sensor signals of processing, the feedback of controller state signal, the processing of control logic and Send motor control command;Master control drives composite module, standby control driving composite module to receive master cpu composite module, standby control CPU Composite module motor control command and motor Hall sensor signal, by driving active-standby switch signal wire to active-standby switch module It sends driving active-standby switch signal and carries out electronics commutation.
3. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu composite module, Standby control CPU composite modules, master control driving composite module are all made of double redundancy designs, form circuit remaining, using RS422 buses and The communication of DO two ways is communicated with winged control machine, forms communication remaining.
4. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Motherboard combination module is nothing Source motherboard is installed on the floor combination module of casing structure part, and the connection between motherboard and other composite modules passes through direct insertion company Device realization is connect, the function of motherboard combination module is to provide the electrical path of signal between each electronic combination, is used for each composite module Between signal transmission.
5. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu composite module, Include for control CPU composite modules:Clock circuit, active/standby switching circuit, RS422 bus communication circuitries, analog quantity acquisition circuit, The electronics formula of erasing can make carbon copies read-only memory EEPROM, motor control interface, fly control machine interface, hardware watchdog, level conversion, Digital signal processor DSP and complex programmable logic device (CPLD), wherein clock circuit is mainly base when system provides; The relay of the active/standby active/standby switching of switching circuit drive control;RS422 bus communication circuitries by serial ports load and with fly Control machine and ground-support device are communicated;Analog quantity acquisition circuit to supply voltage, motor is single-phase and bus current is adopted Sample;Motor control interface circuit realizes the interface conversion between master cpu composite module, standby control CPU composite modules;Fly control machine to connect Mouth circuit then realizes the interface docking communicated between controller and winged control machine;Level shifting circuit is for realizing 3.3V/5V level Conversion, to realize electrical level match;Digital signal processor DSP mainly completes acquisition and the signal processing of data.
6. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu composite module, Standby control CPU composite modules, as primary processor, utilize number using the DSP chip of TMS320F28335 each other As program storage, working software resides in the memory 256K*16 Flash in signal processor chip.
7. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu composite module, Standby control CPU composite module CPU elements use DS26C31 and DS26C32 difference transceivers, and it is total that difference transceiver will meet RS422 The differential signal of wire protocol is converted to serial data, then is received and dispatched by SCI transceivers in digital signal processor DSP piece.
8. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master control drives combination die Block, standby control driving composite module mainly by circuit for controlling motor, MOSFET power tube drive circuits, three-phase full-bridge inverting circuit, Current detection circuit, current foldback circuit, Cycle by Cycle current-limiting circuit, power drain circuit composition;Wherein, circuit for controlling motor connects Enabled motor, speed governing, the positive and negative rotaring signal of electronics commutation and motor Hall sensor signal are received, control electricity is generated by internal circuit The pulse width modulation (PWM) signal of machine, MOSFET power tube drive circuits amplify pwm signal, and three-phase full-bridge inverting circuit will DC bus-bar voltage inversion is the motor three-phase power of variation, when current detection circuit detects the busbar electricity of driving composite module In stream, three-phase when the electric current of two-phase, current foldback circuit is limited current to by Cycle by Cycle current-limiting circuit in control range, work( Rate leadage circuit opens leadage circuit after DC bus-bar voltage is increased to certain value, by extra energy expenditure in bleeder resistance On.
9. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu composite module, Standby control CPU composite modules receive the undercarriage control control instruction for flying control machine and sending by RS422 bus group splice graftings, according to undercarriage Up and or down locks sensor signal, Hall sensor signal, wheel load switching signal and master control driving composite module, the standby control transmitted are driven Dynamic composite module combines the current sampling signal transmitted, and corresponding motor drive signal is exported according to prespecified control logic The work of undercarriage motor is driven, undercarriage receiving/releasing is executed.
10. unmanned plane electric lifting device frame packing controller as described in claim 1, it is characterised in that:Master cpu combination die Block, the standby motor control interface circuit for controlling CPU composite modules are mainly interacted by the driving plate being connected with motherboard combination module, real The now control to undercarriage motor and feedback of status;Motor speed control signal, direction of motor rotation control signal with CPU through combining Connected light-coupled isolation output, and optocoupler secondary is all made of open collector output, when control signal is effective, passes through optocoupler Rear class collector output corresponding resistance terminal in driving plate is dragged down, realize speed governing and the course changing control of motor.
CN201721578202.XU 2017-11-23 2017-11-23 Unmanned plane electric lifting device frame packing controller Active CN207889973U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109634103A (en) * 2019-01-24 2019-04-16 成都优艾维智能科技有限责任公司 A kind of torque PID control method of unmanned plane undercarriage direct current generator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109634103A (en) * 2019-01-24 2019-04-16 成都优艾维智能科技有限责任公司 A kind of torque PID control method of unmanned plane undercarriage direct current generator

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