CN219554752U - Rotary actuator for aircraft - Google Patents

Abstract

The utility model provides a rotary actuator for an aircraft, which relates to the technical field of actuators, wherein a motor, a motor rotor position encoder, a planetary reducer and a non-contact magnetic encoder are all arranged in a shell, an output shaft of the planetary reducer extends out of the shell to be connected with a magnetic ring, the component arrangement integration of the rotary actuator is realized from a component distribution arrangement layer, the space is saved, the motor rotor position encoder is used for replacing a traditional state encoder, the problem of low response precision of the actuator caused by large motor rotation pulsation is avoided, the planetary reducer is used for replacing a traditional multi-stage parallel shaft gear reducer, the backlash is small, the overload performance is good, the non-contact magnetic encoder is used for replacing a potentiometer, the defects of easiness in ageing and temperature influence are avoided, and the stability is better.

Description

Rotary actuator for aircraft

Technical Field

The utility model relates to the technical field of actuators, in particular to a rotary actuator for an aircraft.

Background

The actuator is a servo driving device for controlling the position or the angle, and is used for applying control force to a control object according to a determined control rule and widely applied to equipment such as aircrafts and the like. The aircraft controls the flight state by utilizing the rotation of each wing, such as the rotation of an elevating wing, a front edge flap and a rudder, and sometimes, the main wing is folded by utilizing a rotating mechanism to reduce the occupied space of the aircraft, such as a carrier-based aircraft. The actuators that turn these airfoils are called rotary actuators.

The rotary actuator for the aircraft belongs to a transmission device in an aircraft pneumatic system and is used for rotary transmission of important components such as lifting wings, rudders and landing gears of the aircraft, as shown in fig. 1, when the rotary actuator rotates left and right, a connecting rod is driven to complete the control surface lifting action, and the aircraft control surface lifting control is realized, so that the aircraft has high requirements on the safety of the rotary actuator.

With the development of aircraft, the requirements for high load, high maneuver and high stability are also increasing. When the existing rotary actuator receives a position instruction sent by an aircraft controller, the controller in the rotary actuator controls a motor to rotate, the motor drives a rudder arm to rotate to a target angle after being subjected to multi-stage parallel shaft gear reduction, and the potentiometer is driven to rotate when the rudder arm rotates and feeds back the current rudder arm position to a steering engine controller through a voltage signal. On the one hand, the arrangement of the motor, the reducer and the potentiometer in the rotary actuator is scattered, the occupied space is large, the integration level is low, the rotation torque pulsation of the motor is large, and the rotation response precision is low; on the other hand, the actuator generally adopts a multistage parallel shaft gear reducer, and the reduction gear has the advantages of rapid abrasion, large tooth gap and poor stability, and cannot meet the requirements of high-performance aircrafts.

Disclosure of Invention

The utility model provides a rotary actuator for an aircraft, which aims to solve the problems of large space occupation and low integration level of an existing actuator for the aircraft.

In order to achieve the technical effects, the technical scheme of the utility model is as follows:

a rotary actuator for an aircraft, comprising: the motor, the motor rotor position encoder, the planetary reducer and the non-contact magnetic encoder are all arranged in the shell, the motor rotor position encoder is positioned at one end of the motor, the other end of the motor is connected with an input shaft of the planetary reducer, an output shaft of the planetary reducer extends out of the shell to be connected with the magnetic ring, the magnetic ring is connected with the flange, the flange is fixed on a shaft of a rudder arm and rotates along with the rudder arm, and the non-contact magnetic encoder faces the magnetic ring and is arranged on the planetary reducer.

In this technical scheme, with motor, motor rotor position encoder, planetary reducer and non-contact magnetic encoder all set up in a casing, stretch out the casing with the connection magnetic ring through planetary reducer's output shaft, it integrates to realize the part arrangement of rotary actuator from the part distribution setting level, save space, and replace traditional state encoder with motor rotor position encoder, avoid the problem that the actuator response precision that the motor rotation pulsation caused greatly is low, replace traditional multistage parallel shaft gear reducer with planetary reducer, the backlash is little, overload performance is good, and replace the potentiometre with non-contact magnetic encoder, avoid easy ageing, easily receive the drawback of temperature influence, stability is better, satisfy the demand of aircraft high load, high maneuver, high stability requirement.

Preferably, the motor is a permanent magnet synchronous motor, so that the defects of high temperature rise, weak overload performance and the like of a hollow cup motor adopted in the traditional actuator are overcome, and the overload performance is higher.

Preferably, the motor rotor position encoder comprises a movable position component and a fixed detection component, wherein the movable position component is connected to a rotor of the motor, and the fixed detection component is connected to a stator of the motor so as to detect the movable position component by the fixed detection component, thereby avoiding the problem of large torque pulsation in the traditional mode.

Preferably, the fixed detection component is a hall sensor.

Preferably, the non-contact magnetic encoder is a position encoder, so that the defects of easy aging and easy temperature influence are avoided, and the stability is better.

Preferably, the non-contact magnetic encoder comprises a fixed disc and a plurality of sensing components, wherein the fixed disc is arranged at one end of the planetary reducer and surrounds an output shaft of the planetary reducer, the plurality of sensing components are arranged on the fixed disc in a scattered manner, and the scattered arrangement of the sensing components ensures the sufficiency of the sensing components for detecting the rotation of the magnetic ring.

Preferably, the sensing component is a hall sensor for detecting magnetic field changes caused by rotation of the magnetic ring.

Preferably, the motor rotor position encoder further comprises an actuator circuit board, and the actuator circuit board is electrically connected with the motor, the non-contact magnetic encoder and the motor rotor position encoder respectively.

Preferably, the actuator circuit board collects the rotation angle data of the motor rotor detected by the motor rotor position encoder, sends a rotation signal to the motor, and collects the rudder arm rotation angle data detected by the non-contact magnetic encoder to obtain the current swing angle of the rudder arm.

Preferably, the actuator circuit board is also arranged in the shell, so that the rotary actuator is more integrated, and space is saved.

Compared with the prior art, the technical scheme of the utility model has the beneficial effects that:

the utility model provides a rotary actuator for an aircraft, which is characterized in that a motor, a motor rotor position encoder, a planetary reducer and a non-contact magnetic encoder are all arranged in a shell, an output shaft of the planetary reducer extends out of the shell to be connected with a magnetic ring, the component arrangement integration of the rotary actuator is realized from a component distribution arrangement layer, the space is saved, the motor rotor position encoder is used for replacing a traditional state encoder, the problem of low response precision of the actuator caused by large motor rotation pulsation is avoided, the planetary reducer is used for replacing a traditional multistage parallel shaft gear reducer, the backlash is small, the overload performance is good, the non-contact magnetic encoder is used for replacing a potentiometer, the defects of easy aging and easy temperature influence are avoided, and the stability is better.

Drawings

FIG. 1 is a schematic view of an actuator controlled aircraft control surface as set forth in the background of the utility model;

FIG. 2 is a schematic view showing the overall structure of a rotary actuator for an aircraft according to an embodiment of the present utility model;

fig. 3 shows a schematic cross-sectional view of a rotary actuator for an aircraft according to an embodiment of the present utility model.

Wherein, 1-shell; 2-an electric motor; 3-motor rotor position encoder; 4-planetary reducer; a 5-contactless magnetic encoder; 51-a fixed disk; 52-a sensing component; 6-a magnetic ring; 7-a flange plate; 8-actuator circuit board.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;

for better illustration of the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent actual dimensions;

it will be appreciated by those skilled in the art that some well known descriptions in the figures may be omitted.

The technical scheme of the utility model is further described below with reference to the accompanying drawings and examples.

The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;

example 1

As shown in fig. 2 and 3, the present embodiment provides a rotary actuator for an aircraft, including: the motor rotor position encoder 3, the planetary reducer 4, the non-contact magnetic encoder 5, the magnetic ring 6 and the flange 7 are all arranged in the housing 1, the motor 2, the motor rotor position encoder 3, the planetary reducer 4 and the non-contact magnetic encoder 5 are arranged at one end of the motor 2, the other end of the motor 2 is connected with the input shaft of the planetary reducer 4, the output shaft of the planetary reducer 4 extends out of the housing 1 to be connected with the magnetic ring 6, M in FIG. 3 represents the output shaft of the planetary reducer 4, the magnetic ring 6 is connected with the flange 7, the flange 7 is fixed on the shaft of a rudder arm and rotates along with the rudder arm, the non-contact magnetic encoder 5 faces the magnetic ring 6 and is arranged on the planetary reducer 4.

In this embodiment, as shown in fig. 3, the motor 2, the motor rotor position encoder 3, the planetary reducer 4 and the non-contact magnetic encoder 5 are all disposed in a housing 1, and then the output shaft of the planetary reducer 3 extends out of the housing 1 to be connected with the magnetic ring 5, so that the component arrangement integration of the rotary actuator is realized from the component distribution setting level, the space is saved, the motor rotor position encoder 3 is used for replacing the conventional state encoder, the problem of low response precision of the actuator caused by large motor rotation pulsation is avoided, the planetary reducer 4 is used for replacing the conventional multi-stage parallel shaft gear reducer, the backlash is small, the overload performance is good, the non-contact magnetic encoder 5 is used for replacing the potentiometer, the defects of easy aging and easy temperature influence are avoided, and the stability is better.

The rotary actuator provided in this embodiment further includes an actuator circuit board 8, the actuator circuit board 8 is also disposed in the housing 1, and the actuator circuit board 8 is electrically connected to the motor 2, the non-contact magnetic encoder 5, and the motor rotor position encoder 3, respectively.

The actuator circuit board 8 collects the rotation angle data of the motor rotor detected by the motor rotor position encoder 3, sends a rotation signal to the motor 2, and the actuator circuit board 8 collects the rudder arm rotation angle data detected by the non-contact magnetic encoder 5 to obtain the current swing angle of the rudder arm.

After receiving a control command sent by the flight control, the actuator calculates a control command value in a position loop and outputs a speed command to a speed loop after the position value fed back by the non-contact magnetic encoder 5; after calculating a speed command and a speed value fed back by the non-contact magnetic encoder 5 in the speed loop, outputting a current command to the current loop; the current loop calculates the current command and the current value fed back by the sampling circuit, so as to output a set of direct-axis voltage Vd and quadrature-axis voltage Vq for coordinate transformation. In the coordinate transformation, the AC-DC shaft voltage and the rotor position fed back by the motor rotor position encoder 3 are calculated and then output to an inverter circuit for a group of pulse width modulation signals PWM; in the inverter circuit, a pulse width modulation signal PWM is amplified by the inverter circuit to output three-phase alternating current to the motor 2; in a sampling circuit, collecting the current value of three-phase alternating current and feeding back to a current loop; the motor 2 rotates under the excitation of three-phase alternating current, and the motor rotor position encoder 3 can acquire the rotor position in real time and output the rotor position to the control loop; the planetary reducer 4 drives the flange 7 to rotate after reducing the rotating speed of the motor 2; the non-contact magnetic encoder 5 collects the position information of the flange 7 and feeds back the position information to the position loop, and the position information is differentiated and then used as the speed feedback of the speed loop.

Example 2

In the embodiment, the defects of quick temperature rise, weak overload performance and the like of the hollow cup motor in the traditional actuator are considered, and the motor 2 adopts a permanent magnet synchronous motor.

Example 3

The present embodiment proposes a rotary actuator for an aircraft, including: the motor rotor position encoder 3, the planetary reducer 4, the non-contact magnetic encoder 5, the magnetic ring 6 and the flange 7 are all arranged in the housing 1, the motor 2, the motor rotor position encoder 3, the planetary reducer 4 and the non-contact magnetic encoder 5 are arranged at one end of the motor 2, the other end of the motor 2 is connected with the input shaft of the planetary reducer 4, the output shaft of the planetary reducer 4 extends out of the housing 1 to be connected with the magnetic ring 6, M in FIG. 3 represents the output shaft of the planetary reducer 4, the magnetic ring 6 is connected with the flange 7, the flange 7 is fixed on the shaft of a rudder arm and rotates along with the rudder arm, the non-contact magnetic encoder 5 faces the magnetic ring 6 and is arranged on the planetary reducer 4.

In this embodiment, the motor rotor position encoder 3 includes a movable position member connected to the rotor of the motor 2 and a fixed detection member connected to the stator of the motor 2.

The motor rotor position encoder 3 is used for detecting the rotation position (namely the current rotation angle of the spindle) of the motor 2, and the motor rotor position encoder 3 is matched with the motor 2 to form a servo motor, so that the rotation precision is high.

The motor rotor position encoder 3 in the conventional actuator is mostly a hall state encoder, and has the defects of large torque pulsation, low control precision and the like by using 6-step square wave control, and is now changed into a magnetic encoder with higher precision, and a space vector control algorithm is used, in this embodiment, the motor rotor position encoder 3 comprises two parts, namely a movable position part and a fixed detection part, the movable position part is connected to a rotor (or a shell of the motor 2) of the motor 2, the fixed detection part is connected to a stator (or a shell of the motor), the fixed detection part can detect the rotation angle of the movable position part, in this embodiment, the fixed detection part is a hall sensor, can detect the magnetic field change caused by the rotation of the magnetic ring 5, and can detect the rotation angle of the rudder arm relative to the shell 1 according to the magnetic field change.

Example 4

In this embodiment, the non-contact magnetic encoder 5 is a position encoder, referring to fig. 1, the non-contact magnetic encoder 5 includes a fixed disc 51 and a plurality of sensing components 52, the fixed disc 51 is disposed at one end of the planetary reducer 4, the fixed disc is disposed around an output shaft of the planetary reducer 4, and the plurality of sensing components 52 are disposed on the fixed disc 51 in a dispersed manner. The non-contact magnetic encoder 5 detects rudder arm rotation angle data of the aircraft, and can obtain the swing angle of the current rudder arm, and further obtain the deflection angle of the control surface.

In the present embodiment, the sensing member 52 is a hall sensor for detecting a change in magnetic field caused by rotation of the magnet ring 6.

In actual implementation, after receiving a control command sent by the flight control, the rotary actuator calculates a control command value in a position loop and outputs a speed command to a speed loop after a position value fed back by the non-contact magnetic encoder 5; after calculating a speed command and a speed value fed back by the non-contact magnetic encoder 5 in the speed loop, outputting a current command to the current loop; the current loop calculates the current command and the current value fed back by the sampling circuit, so as to output a set of direct-axis voltage Vd and quadrature-axis voltage Vq for coordinate transformation. In the coordinate transformation, the alternating-direct axis voltage and the rotor position fed back by a motor end encoder are calculated and then output to an inverter circuit for a group of pulse width modulation signals PWM; in the inverter circuit, a pulse width modulation signal PWM is amplified by the inverter circuit and three-phase alternating current is output to the permanent magnet synchronous motor; in a sampling circuit, collecting the current value of three-phase alternating current and feeding back to a current loop; the permanent magnet synchronous motor rotates under the excitation of three-phase alternating current, and the motor end encoder can acquire the rotor position in real time and output the rotor position to the control loop; the planetary reducer is used for driving the output flange plate to rotate after reducing the rotating speed of the motor; the output end encoder collects the position information of the output flange plate and feeds the position information back to the position ring, and the position information is differentiated and then is used as the speed feedback of the speed ring.

It should be noted that, in the embodiment of the present utility model, directional indications such as up, down, left, right, front, and rear are referred to, and the directional indication is merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture such as that shown in the drawings, and if the specific posture is changed, the directional indication is changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and are not intended to limit the scope of the utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. A rotary actuator for an aircraft, comprising: the novel steering wheel comprises a shell (1), a motor (2), a motor rotor position encoder (3), a planetary reducer (4), a non-contact magnetic encoder (5), a magnetic ring (6) and a flange plate (7), wherein the motor (2), the motor rotor position encoder (3), the planetary reducer (4) and the non-contact magnetic encoder (5) are all arranged in the shell (1), the motor rotor position encoder (3) is positioned at one end of the motor (2), the other end of the motor (2) is connected with an input shaft of the planetary reducer (4), an output shaft of the planetary reducer (4) extends out of the shell (1) to be connected with the magnetic ring (6), the magnetic ring (6) is connected with the flange plate (7), the flange plate (7) is fixed on the shaft of a steering wheel arm and rotates along with the steering wheel, and the non-contact magnetic encoder (5) faces the magnetic ring (6) and is arranged on the planetary reducer (4).

2. The rotary actuator for an aircraft according to claim 1, characterized in that the motor (2) is a permanent magnet synchronous motor.

3. The rotary actuator for an aircraft according to claim 1, characterized in that the motor rotor position encoder (3) comprises a movable position part connected to the rotor of the motor (2) and a fixed detection part connected to the stator of the motor (2).

4. A rotary actuator for an aircraft according to claim 3, wherein the stationary detection member is a hall sensor.

5. Rotary actuator for an aircraft according to claim 1, characterized in that the non-contact magnetic encoder (5) is a position encoder.

6. The rotary actuator for an aircraft according to claim 5, wherein the non-contact magnetic encoder (5) comprises a fixed disc (51) and a plurality of sensing components (52), the fixed disc (51) is arranged at one end of the planetary reducer (4), the fixed disc is arranged around an output shaft of the planetary reducer (4), and the plurality of sensing components (52) are arranged on the fixed disc (51) in a scattered manner.

7. The rotary actuator for an aircraft according to claim 6, wherein the sensor member (52) is a hall sensor for detecting a change in a magnetic field caused by rotation of the magnetic ring (6).

8. A rotary actuator for an aircraft according to claim 3, further comprising an actuator circuit board (8), the actuator circuit board (8) being electrically connected to the motor (2), the non-contact magnetic encoder (5), and the motor rotor position encoder (3), respectively.

9. The rotary actuator for an aircraft according to claim 8, wherein the actuator circuit board (8) collects rotation angle data of the motor rotor detected by the motor rotor position encoder (3), sends a rotation signal to the motor (2), and the actuator circuit board (8) collects rudder arm rotation angle data detected by the non-contact magnetic encoder (5), so as to obtain the current rudder arm swing angle.

10. Rotary actuator for an aircraft according to claim 8, characterized in that the actuator circuit board (8) is also arranged in the housing (1).