CN209746834U - Universal electric control load system - Google Patents

Abstract

The utility model discloses a general electric control load system, include: the device comprises a displacement sensor, a force sensor, a torque motor, a transmission screw rod, a sensor platform, a main control board and a main control computer, wherein an output shaft of the torque motor is connected with the transmission screw rod, the sensor platform is connected on the transmission screw rod, driven by the transmission screw rod to do linear motion along the transmission screw rod, one end of the force sensor is fixed on the sensor platform, the other end is connected with the tail end of the operating mechanism through the inhaul cable transmission mechanism, used for detecting the load force of the operating mechanism, a displacement sensor is fixed on the sensor platform and used for detecting the displacement of the operating mechanism, the force sensor and the displacement sensor are both connected with a main control board, the main control board is connected with a main control computer, used for receiving the model force which is calculated by the main control computer in real time and controlling the loading torque of the torque motor according to the model force, and the current load force and the model force tend to be consistent, so that the real-time accurate loading of the load force of the control mechanism is realized.

Description

Universal electric control load system

Technical Field

The utility model relates to a flight simulator manipulation load field provides a general electric manipulation load system very much.

background

The control load system is a crucial link of flight simulation of a flight simulator, and is a force sense simulation system for simulating control force of a control lever and control force of a pedal of a pilot in the process of flying the aircraft. The magnitude of the operating force of a real airplane can change along with the change of flight parameters such as the flight speed, the flight altitude, the rudder deflection angle and the like of the airplane, a pilot needs to judge the flight state of the airplane by virtue of small change of operating feeling and sharply make correct selection and operation actions, the operating force feeling is an important basis for the pilot to judge the flight state of the airplane, and the pilot can accumulate correct flight experience only by using a high-fidelity operating load system, so that the development of the high-fidelity, high-reliability and high-performance operating load system is very important, and the performance of the operating load system directly determines the quality and the performance of a flight simulator.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a general electric control load system to realize the simulation of the force characteristics of the aircraft control mechanism.

The utility model provides a technical scheme is: a universal electrically operated load system comprising: the displacement sensor, a force sensor, a torque motor, a transmission screw, a sensor platform, a main control board and a main control computer, wherein, an output shaft of the torque motor is connected with the transmission screw and is used for driving the transmission screw to rotate, the sensor platform is connected on the transmission screw and is driven by the transmission screw to do linear motion along the transmission screw, one end of the force sensor is fixed on the sensor platform, the other end is connected with the tail end of the operating mechanism through a guy cable transmission mechanism and is used for detecting the load force of the operating mechanism, the displacement sensor is fixed on the sensor platform and is used for detecting the displacement of the operating mechanism, the force sensor and the displacement sensor are both connected with the main control board and are used for sending a detection result to the main control board, the main control board comprises a signal conditioning module, an A/D converter, a DSP controller and a PWM driver which are connected, the DSP controller is further connected with a displacement sensor and a main control computer, the PWM driver is further connected with a torque motor, the DSP controller receives the force signal and the displacement signal after conditioning and sends the displacement signal to the main control computer, the main control computer receives the displacement signal and then combines airplane flight parameters, an aircraft yaw angle and control system performance parameters to calculate required model force in real time and transmit the required model force back to the DSP controller, and after receiving the return signal, the DSP controller compares the load force detected by the force sensor with the model force and simultaneously calculates the deviation force into the required torque and drives the torque motor to load the torque through the PWM driver so as to drive the transmission screw rod to rotate, so that the load force detected by the force sensor tends to be consistent with the model force, and real-time accurate loading of the load force of the control mechanism is realized.

Preferably, the DSP controller module is connected with the force sensor and the displacement sensor through a data acquisition circuit, is connected with the main control computer through a serial port communication circuit, is connected with the torque motor through a motor driving circuit, and is also connected with a safety protection circuit.

Further preferably, the DSP controller core and the I/O adopt a dual-power supply system designed by a linear voltage stabilizing element to supply power.

Further preferably, the DSP controller is a TMS320F28335 chip.

Further preferably, the A/D converter is an ADS1110 chip with 16-bit resolution.

More preferably, the torque motor is a dc torque motor.

More preferably, the driving chip of the PWM driver is DRV 8432.

the utility model provides a general electric control load system can simulate the analog system of general aircraft at the feedback force of driving the in-process, adopts the accurate reduction of a whole set of mechanical structure realization load power that changes, can be used for simulating the output power of each condition of the different mechanical properties of different aircraft. The system adopts a torque motor as an actuating mechanism, sensor signals are transmitted to a DSP controller after signal conditioning and A/D conversion, PID control is adopted, and accurate loading of load feedback force can be completed by controlling the torque motor.

The utility model provides a general electric control load system, rational in infrastructure, the commonality is strong, can simulate the control rod pedal push rod isodynamic characteristic of aircraft to can be according to pneumatic load real-time adjustment, the lifelike reduction of different flight states.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and embodiments:

Fig. 1 is a schematic structural diagram of a general electric control load system provided by the present invention;

Fig. 2 is a control block diagram of the general electric control load system provided by the present invention;

FIG. 3 is a hardware block diagram of the universal electrically operated load system provided by the present invention;

FIG. 4 is a power supply circuit diagram of the DSP controller;

FIG. 5 is a reset circuit diagram of the DSP controller;

FIG. 6 is a JTAG peripheral circuit diagram of a DSP controller;

FIG. 7 is a circuit diagram of the I2C communication between the DSP controller and the A/D converter;

FIG. 8 is a force signal amplification circuit diagram;

FIG. 9 is a block diagram of a PWM driver;

Fig. 10 is a safety protection circuit diagram.

Detailed Description

The invention will be further explained below with reference to specific embodiments, without limiting the invention.

As shown in fig. 1 and 2, the present invention provides a general electric control load system, including: a displacement sensor 1, a force sensor 2, a torque motor 3, a drive screw 4, a sensor platform 5, a main control board and a main control computer, wherein, an output shaft of the torque motor 3 is connected with the drive screw 4 and is used for driving the drive screw 4 to rotate, the sensor platform 5 is connected with the drive screw 4 and is driven by the drive screw 4 to do linear motion along the drive screw 4, one end of the force sensor 2 is fixed on the sensor platform 5, the other end is connected with the tail end of an operating mechanism (not shown in the figure) through a guy cable drive mechanism 6 and is used for detecting the load force of the operating mechanism, the displacement sensor 1 is fixed on the sensor platform 5 and is used for detecting the displacement of the operating mechanism, the force sensor 2 and the displacement sensor 1 are both connected with the main control board and are used for sending the detection result to the main control board, the main control board comprises, A DSP controller and a PWM driver, wherein, the signal conditioning module is also connected with the force sensor, the DSP controller is also connected with the displacement sensor and the main control computer, the PWM driver is also connected with the torque motor, the DSP controller receives the conditioned force signal and displacement signal, and sends the displacement signal to the main control computer, the main control computer receives the displacement signal and then combines the flight parameter, the yaw angle and the performance parameter of the control system to calculate the required model force in real time and transmit the model force back to the DSP controller, the DSP controller compares the load force detected by the force sensor with the model force after receiving the return signal, meanwhile, the deviation force is resolved into the required torque and the torque motor is driven to load the torque through the PWM driver, and then the transmission lead screw is driven to rotate, so that the load force detected by the force sensor is consistent with the model force, and the real-time accurate loading of the load force of the control mechanism is realized.

When an operating mechanism (an operating lever or pedals) is operated, a displacement sensor and a force sensor respectively sense displacement and force signals of the operating mechanism, the signals are conditioned by a signal conditioning circuit and then transmitted to a DSP controller through an A/D (analog/digital) conversion circuit, the DSP controller collects information of the sensors, sends the displacement information to a main control computer, receives model force data calculated by the main control computer, adjusts the output torque of a torque motor according to a PID (proportion integration differentiation) regulation rule with the current real load force and the model force, and achieves vivid simulation of force sense.

as shown in fig. 3, the DSP controller module is connected to the force sensor and the displacement sensor through a data acquisition circuit, connected to the main control computer through a serial port communication circuit, and connected to the torque motor through a motor driving circuit, and the motor driving circuit is further connected to a safety protection circuit.

Fig. 4 shows that the dual power supply system designed by linear voltage stabilizing elements is used for supplying power for the DSP controller core and the I/O, and has the advantages of simple hardware circuit, small voltage harmonics, etc. in this embodiment, an AMS1117 series voltage stabilizing chip is selected, AMS1117 is a forward low-voltage drop voltage stabilizing element, and under a working current of 1A, the voltage drop is 1.2V, and the current limiting protection and the overheating protection are integrated inside, and the accuracy can reach 1%.

fig. 5 is a reset circuit of the DSP controller, where the chip has strict requirements on the state of the external reset pin when the DSP controller is powered on and off. In this embodiment, the TPS3307-18 power monitors are selected to monitor the core voltage 1.8V and the I/O voltage 3.3V, respectively, so as to ensure that the DSP is kept in a reset state if the core voltage and the I/O voltage do not reach the threshold value during the power-on process of the chip.

Fig. 6 shows JTAG peripheral circuits of the DSP controller of the present embodiment.

The displacement signal is obtained by adopting a photoelectric encoder, the DSP controller adopts a TMS320F28335 chip, an enhanced orthogonal coding pulse (eQEP) module is arranged in the chip, the data of the encoder can be directly obtained, and the eQEP module can obtain high-precision direction, position and speed information and is fully utilized in a high-performance motor control and position control system.

The actual force signal is acquired by a torque sensor, the output signal is an analog signal, the analog signal needs to be subjected to A/D conversion and converted into a signal which can be recognized by a computer, and then further analysis and processing can be carried out, but the precision of a 12-bit A/D converter arranged in a DSP controller cannot meet the requirement of the system, and an external expansion A/D conversion link is needed. The utility model discloses the AD conversion chip of chooseing for use is 16 ADS1110 chips of bit resolution ratio, and the demand that this system accuracy was gathered is satisfied in the communication of the compatible I2C serial ports of this chip. The ADS1110 chip has 8 models, and every model all has unique I2C address, and the I2C address is 1001xxx, and wherein xxx uses EDx as the sign on the encapsulation by the default setting of producer, and wherein x is the address variable, the utility model discloses choose ED 0.

Fig. 7 is an I2C communication circuit of a DSP controller and a/D converter, in which an I2C line is composed of two lines of an SDA line and an SCL line, the SDA transferring data, the SCL providing a clock. Because the devices on the I2C bus are all connected to ground, the bus is always in a low state, but these devices cannot drive the bus high. Therefore, the bus needs to be pulled up through a pull-up resistor, so that when no device is used to change the bus into a low level, the bus is in a high level, in the system, the SDA line and the SCL line are respectively connected with a 4.7K pull-up resistor, the ADS1110 is provided with a fully differential input end, the system needs to collect a single-ended signal, so that the input end is connected into a single-ended mode, the Vin-end is grounded, the Vin + is a signal input end, and the range of the single-ended signal is 0-2.048V.

for the force sensor, the output voltage range is 0-20mV, and an amplifying circuit needs to be designed, so that a 0-20mV signal is converted into a 0-2V signal and then is transmitted to the ADS 1110. In the acquisition system, the precision and stability of the amplification circuit are critical, and the precision of the amplification circuit determines the precision of data acquisition. The utility model discloses in use high accuracy instrumentation amplifier AD620 to design voltage amplification circuit for amplifying the chip, AD620 is that a precision is high, with little, convenient to use's amplifying chip, only needs to select appropriate amplification resistance, alright realize 1-1000 times signal amplification within range. The AD620 has the characteristics of low noise, low power consumption, low input bias voltage, low power supply current and the like, so that the AD620 has wide application in the aspects of medical treatment, microcomputers and handheld devices.

Force signal amplifier circuit is as shown in fig. 8, wherein R102 is the gain configuration resistance of enlarging, the utility model discloses well selection 500 ohm's high accuracy low temperature floats the resistance, it is 100 times to set up circuit amplification gain, C20, C21 are filter capacitance, C21 is ceramic capacitor, select 0.1uF usually, come the high frequency interference in the filtering signal, C20 is electrolytic capacitor, through the stable effect test analysis of output data when using electrolytic capacitor of equidimension not, 10uF withstand voltage 25V's electrolytic capacitor has finally been selected. The chip amplified signal is filtered by the capacitors C20 and C21, and then the signal is transmitted to the ADS 1110.

The torque motor is used as an actuating mechanism, a direct current torque motor is selected, the driving capability of the controller can only drive some small-voltage and small-current devices, and the direct current torque motor needs to be controlled by designing a corresponding motor driving circuit.

Fig. 9 is a structural diagram of a PWM driver, where the PWM driver mainly utilizes the switching characteristics of a high-power transistor, a DSP controller outputs a PWM wave of a certain frequency to control the on/off of the high-power transistor, and the duty ratio of the PWM wave is adjusted to change the on/off time ratio of the high-power transistor, so as to change the average voltage output by a power conversion circuit, thereby controlling the magnitude of the torque output by a torque motor. When the PWM wave passes through the driving circuit to drive the transistors Q2 and Q3 to be turned off and the transistors Q1 and Q4 to be turned on, the direction of the current flowing through the torque motor is from left to right in the drawing, so that the torque motor can be controlled to output torque in one direction; when the transistors Q1 and Q4 are driven by the PWM wave to be turned off and the transistors Q2 and Q3 are driven to be turned on, the current flowing through the torque motor is from right to left in the figure, the torque motor can be controlled to output torque in the other direction, and therefore the polarity and the magnitude of the torque output by the torque motor can be flexibly controlled by the PWM wave through the PWM driver. The diodes D1-D4 are also important parts of the power conversion circuit, and the fast recovery diode is selected in the embodiment. When the motor is to be reversed, a back electromotive force higher than the power supply can be generated, the triode can be damaged, and the diode provides a channel for the feedback energy of the torque motor. Meanwhile, the diode is also a freewheeling diode, the motor coil can store energy when the diode works, and the energy needs to be consumed in a continuous current mode when the diode stops working so as to avoid damaging a circuit.

In the working process of the PWM driver, the transistor often generates heat seriously, and the damage of the transistor occurs occasionally, which adversely affects the safety performance of the system. The embodiment of the utility model provides an adopt DRV8432 as PWM motor drive chip, this chip is designed by the TI company, and built-in H bridge drive circuit, the performance is high, very accords with the needs of this system drive circuit design. DRV8432 has four half-bridges, each of which has a corresponding PWM control signal input terminal and a corresponding gate drive control circuit, and can independently control each of the half-bridges, and the voltages at the half-bridges can be different, so that a chip can simultaneously drive motors with different power supply voltages.

The working mode of the DRV8432 is configured by three pins M3, M2 and M1. In this embodiment, M3, M2, and M1 are configured as M3M2M1 ═ 010, and at this time, the chip operates in the parallel H-bridge current limiting mode. A, B half bridges in the DRV8432 are connected in parallel to form a half bridge, the half bridge is controlled by a PWM _ A signal, a C, D half bridge is connected in parallel to form another half bridge, the half bridge is controlled by a PWM _ B signal, and meanwhile, a PWM _ C end and a PWM _ D end are grounded, so that the driving capability of the chip is stronger in the parallel H-bridge mode; the resistor R1 connected between the pin OC _ ADJ and the ground is an overcurrent threshold setting resistor, the resistor R1 is selected to be 39K, and the current is limited to 6.9A. C3, C4, C7 and C8 are bootstrap capacitors, the bootstrap capacitors in the system are selected to be 100nF, and the energy storage of the capacitors can meet the requirement that a driving circuit can normally work under the driving of PWM waves with the switching frequency of 10KHz to 500 KHz.

Fig. 10 is a diagram showing a configuration of a safety protection circuit.

The serial communication adopts a relatively common RS232 interface. The advantages of the USB bus are fully exerted by adopting the connection mode, so that the main control computer can be connected with more RS-232 peripherals through the USB interface, the transmission efficiency is improved, the real plug-and-play is realized, and the USB bus is very convenient.

The embodiments of the present invention are written in a progressive manner, emphasizing the differences of the various embodiments, and similar parts can be referred to each other.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (7)

1. A universal electrically operated load system, comprising: the displacement sensor, a force sensor, a torque motor, a transmission screw, a sensor platform, a main control board and a main control computer, wherein, an output shaft of the torque motor is connected with the transmission screw and is used for driving the transmission screw to rotate, the sensor platform is connected on the transmission screw and is driven by the transmission screw to do linear motion along the transmission screw, one end of the force sensor is fixed on the sensor platform, the other end is connected with the tail end of the operating mechanism through a guy cable transmission mechanism and is used for detecting the load force of the operating mechanism, the displacement sensor is fixed on the sensor platform and is used for detecting the displacement of the operating mechanism, the force sensor and the displacement sensor are both connected with the main control board and are used for sending a detection result to the main control board, the main control board comprises a signal conditioning module, an A/D converter, a DSP controller and a PWM driver which are connected, the DSP controller is further connected with a displacement sensor and a main control computer, the PWM driver is further connected with a torque motor, the DSP controller receives the force signal and the displacement signal after conditioning and sends the displacement signal to the main control computer, the main control computer receives the displacement signal and then combines airplane flight parameters, an aircraft yaw angle and control system performance parameters to calculate required model force in real time and transmit the required model force back to the DSP controller, and after receiving the return signal, the DSP controller compares the load force detected by the force sensor with the model force and simultaneously calculates the deviation force into the required torque and drives the torque motor to load the torque through the PWM driver so as to drive the transmission screw rod to rotate, so that the load force detected by the force sensor tends to be consistent with the model force, and real-time accurate loading of the load force of the control mechanism is realized.

2. the universal electrically operated load system according to claim 1, wherein: the DSP controller module is connected with the force sensor and the displacement sensor through a data acquisition circuit, is connected with the main control computer through a serial port communication circuit, is connected with the torque motor through a motor driving circuit, and is also connected with a safety protection circuit.

3. The universal electrically operated load system according to claim 1, wherein: the DSP controller core and the I/O adopt a dual-power supply system designed by a linear voltage stabilizing element to supply power.

4. The universal electrically operated load system according to claim 1, wherein: the DSP controller is a TMS320F28335 chip.

5. The universal electrically operated load system according to claim 1, wherein: the A/D converter is an ADS1110 chip with 16-bit resolution.

6. The universal electrically operated load system according to claim 1, wherein: the torque motor is a direct current torque motor.

7. The universal electrically operated load system according to claim 1, wherein: the driving chip of the PWM driver is DRV 8432.