WO2024060987A1 - 一种集成齿轮游标编码器的旋转作动器及控制方法 - Google Patents

一种集成齿轮游标编码器的旋转作动器及控制方法 Download PDF

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Publication number
WO2024060987A1
WO2024060987A1 PCT/CN2023/116966 CN2023116966W WO2024060987A1 WO 2024060987 A1 WO2024060987 A1 WO 2024060987A1 CN 2023116966 W CN2023116966 W CN 2023116966W WO 2024060987 A1 WO2024060987 A1 WO 2024060987A1
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WIPO (PCT)
Prior art keywords
gear
vernier
main gear
circuit module
chip
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PCT/CN2023/116966
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English (en)
French (fr)
Inventor
胡华智
胡海辉
卢兴捷
Original Assignee
亿航智能设备（广州）有限公司
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Publication of WO2024060987A1 publication Critical patent/WO2024060987A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/24—Transmitting means
    • B64C13/38—Transmitting means with power amplification
    • B64C13/50—Transmitting means with power amplification using electrical energy
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information

Definitions

  • the present invention is in the field of aircraft equipment, and more specifically, relates to a rotary actuator integrating a gear vernier encoder and a control method.
  • the actuator is a servo drive device used for position or angle control. It is widely used in aircraft and other equipment for operations such as aircraft rudder control.
  • EMA rotating electromechanical actuators
  • Single encoder solution It consists of permanent magnet synchronous motor, multi-turn angle encoder, gearbox, limit switch, rudder arm and other components.
  • the controller controls the motor to rotate and then drives the rudder arm to rotate through the reducer. After the system is powered off, the backup battery is used to maintain the encoder count. Due to the risk of motor position loss due to battery self-discharge, the reliability is low and the maintenance cost is high;
  • Dual encoder solution It consists of permanent magnet synchronous motor, rotor angle encoder, output shaft angle encoder, output end loop shaft, gearbox, rudder arm and other components.
  • the controller controls the motor to rotate and then drives the rudder arm to rotate through the reducer.
  • the reducer output flange drives the output end angle encoder to rotate through the output end loop shaft.
  • This type of actuator does not require a backup battery, but due to the use of the output end loop shaft, it has the disadvantages of complex manufacturing and large size.
  • the prior art discloses a zero-position setting device for an electromechanical servo actuator using an encoder.
  • the setting device is generally rectangular in shape, and its upper end is provided with a handle; its lower end is provided with a bottom surface that is in contact with the setting device.
  • a parallel rectangular plate, a keyboard is arranged on the rectangular plate, and a display is arranged on the front end surface corresponding to the keyboard;
  • the setting device is composed of a host computer, a power supply, and a controller, and the setting device acts on the electromechanical servo Actuator;
  • the host computer includes: a processor, a human-computer interaction interface and a digital board; the digital board can send and receive controller instructions;
  • the electromechanical actuator includes an encoder, a motor and a lead screw;
  • the controller includes a digital bus interface 1, a digital bus interface 3, a DSP and a drive circuit;
  • the encoder is provided with a digital bus interface 4, and the power supply is provided with a data bus interface 2;
  • the DSP inside the controller is responsible for the digital bus Interface 1 and digital bus interface 3 send and receive data in both directions, and the DSP transmits the processed power tube opening signal to the drive circuit;
  • digital bus interface 3 receives data from digital bus interface 4 and is used to read the internal values of the encoder
  • the drive circuit send data to write zero-bit data to the FLASH area of the encoder; the drive circuit outputs the drive signal to the motor to control the movement of the motor.
  • the device has a complex structure and takes up a relatively large space. It requires external cables to provide power support to the device, and the maintenance cost is high.
  • the present invention provides a rotary actuator and a control method integrating a gear vernier encoder.
  • the rudder arm position can be calculated without the need for a battery to maintain counting or the installation of a loop shaft in the reducer, thereby significantly reducing costs and installation volume while meeting reliability requirements.
  • the technical solution adopted by the present invention is:
  • a rotary actuator with integrated gear vernier encoder comprising a permanent magnet synchronous motor, a gear vernier encoder, a gear box, a rudder arm, and a control circuit module;
  • the gear vernier encoder includes a main gear, a main gear magnet, a main gear magnetic encoding chip used to read the single-turn angle value of the main gear, and a vernier gear encoding chip used to read the single-turn angle value of the vernier gear.
  • the main gear is assembled at the end of the rotor shaft of the permanent magnet synchronous motor, the main gear is rotationally connected to the vernier gear through meshing, and the main gear magnet is installed on the The side of the main gear away from the rotor shaft, the vernier gear magnet is installed at the bottom of the vernier gear, the main gear encoding chip is arranged below the main gear magnet, and is electrically connected to the control circuit module; The vernier gear encoding chip is located under the vernier gear magnet and is electrically connected to the control circuit module;
  • the rudder arm is rotatably connected to the top of the gear box, and the bottom of the gear box is connected to the front end of the rotor shaft of the permanent magnet synchronous motor.
  • the rotary actuator When the rotary actuator is working, as the permanent magnet synchronous motor rotates, because there is a gear difference between the main gear and the vernier gear, the angle difference between the two gears is read through the main gear magnetic encoding chip and the vernier gear encoding chip, and the angle difference between the two gears is calculated. The number of rotations of the motor is obtained, and then the angle of the rudder arm is calculated through the gear vernier encoder to obtain the position of the rudder arm, thereby completing the control of the rudder surface.
  • the mounting shell is connected to the bottom of the gear box; the permanent magnet synchronous motor, gear vernier encoder, and control circuit module are all arranged in the mounting shell. inside; the bottom shell shown is connected to the bottom of the circuit board and the bottom of the mounting housing.
  • the gearbox is a harmonic reducer.
  • control circuit module includes a circuit module and a control chip; the control chip is electrically connected to the main gear magnetic encoding chip and the cursor gear encoding chip respectively, and receives the data sent by the main gear magnetic encoding chip and the cursor gear encoding chip.
  • the output end of the control chip is electrically connected to the input end of the circuit module, and the pulse width modulation signal output by the control chip is transmitted to the circuit module. At the same time, the circuit module feeds back the current information to the control chip. ;
  • the output end of the circuit module is electrically connected to the permanent magnet synchronous motor.
  • the number of teeth of the vernier gear is N+1, and the number of teeth of the main gear is N, where N is a positive integer greater than 1.
  • the circuit module includes an inverter circuit and a sampling circuit; the input end of the inverter circuit is connected to the output end of the control chip; the output end of the inverter circuit is connected to the sampling circuit.
  • the input end of the circuit is connected; the first output end of the sampling circuit is electrically connected to the control chip; the second output end of the sampling circuit is electrically connected to the permanent magnet synchronous motor.
  • a power module which provides power support for the permanent magnet synchronous motor, gear vernier encoder, and control circuit module.
  • control circuit module Based on the control method of a rotary actuator integrated with a gear vernier encoder, the control circuit module outputs a speed information based on the received control information and the position information fed back by the gear vernier encoder;
  • the control circuit module outputs a current information based on the speed information and the speed value fed back by the gear vernier encoder;
  • the control circuit module calculates the current value fed back by the current information, thereby outputting a set of direct-axis voltage Vd and quadrature-axis voltage Vq;
  • the three-phase alternating current is output to the permanent magnet synchronous motor to control the rotation of the permanent magnet synchronous motor;
  • the single-turn angle value of the main gear is read through the main gear magnetic encoding chip (45) and output to the control circuit module; the main gear (41) drives the vernier gear (42) to rotate, and the vernier gear magnet (46) rotates at the same time and turns the vernier gear (42)
  • the position is output to the control circuit module through the vernier gear magnetic encoding chip (46); the control circuit module calculates the number of rotations of the permanent magnet synchronous motor (3) and then obtains the angle of the rudder arm (1) to confirm the rudder arm (1) s position.
  • the control chip outputs a set of pulse width modulation signals PWM to the inverter circuit. Amplification processing is performed, and three-phase alternating current is output to the permanent magnet synchronous motor; at the same time, the sampling circuit feeds the collected three-phase alternating current information back to the control chip.
  • N master represents the number of teeth of the main gear
  • N nonius represents the number of teeth of the vernier gear
  • MOD represents the remainder function
  • ⁇ ReadMaster represents the single-turn angle read by the magnetic encoding chip of the main gear
  • ⁇ ReadNonius represents the single-turn angle read by the magnetic encoding chip of the cursor gear
  • ⁇ represents the single-turn angle difference read by the magnetic encoding chip of the main gear and the magnetic encoding chip of the vernier gear;
  • INT represents the numerical rounding function
  • n represents the number of rotations of the main gear, and the value range of n is n ⁇ [0,N nonius );
  • ⁇ CalcMaster represents the calculated multi-turn angle value of the main gear
  • the multi-turn angle value of the main gear is calculated, which is the rudder arm angle, and the number of rotations of the permanent magnet synchronous motor is also obtained.
  • the gear vernier encoder used in the rotary actuator integrated with the gear vernier encoder of the present invention does not need to be equipped with a backup battery, has a simple structural design, low assembly difficulty, and low cost. Compared with a multi-turn angle encoder with a battery or using an output terminal The loop axis is used as an actuator with dual encoders. This technical solution ensures reliability. Reduce cost and volume at the same time.
  • Figure 1 is an overall structural diagram of the rotary actuator integrated with a gear vernier encoder.
  • Figure 2 is a structural diagram of the gear vernier encoder.
  • Figure 3 is an external structural diagram of the rotary actuator integrated with a gear vernier encoder.
  • Figure 4 is a cross-sectional view of the rotary actuator integrated with a gear vernier encoder.
  • Figure 5 is a diagram showing the relationship between the number of rotations of the permanent magnet synchronous motor and the angle of the magnetic encoder in the embodiment
  • Figure 6 is a diagram showing the relationship between the number of rotation turns of the permanent magnet synchronous motor and the calculated number of turns in the embodiment
  • a rotary actuator with integrated gear vernier encoder includes a permanent magnet synchronous motor 3, a gear vernier encoder 4, a gear box 2, a steering arm 1, a control Circuit module 5;
  • the gear vernier encoder 4 includes a main gear 41, a main gear magnet 43, a main gear magnetic encoding chip 45 for reading the single-turn angle value of the main gear, and a main gear magnetic encoding chip 45 for reading the single-turn angle value of the cursor gear.
  • the main gear magnet 43 is installed on the side of the main gear 41 away from the rotor shaft, the vernier gear magnet 44 is installed on the bottom of the vernier gear 42, and the main gear encoding chip 45 is installed on the main gear.
  • the rudder arm 1 is rotatably connected to the top of the gear box 2, and the bottom of the gear box 2 is connected to the front end of the rotor shaft of the permanent magnet synchronous motor 3.
  • the base shell 6 and the mounting shell 7 are also included; the mounting shell 7 is connected to the bottom of the gear box 2; the permanent magnet synchronous motor 3, the gear vernier encoder 4, and the control circuit module 5 are all arranged inside the mounting shell 7; the bottom shell 6 shown is connected to the bottom of the circuit board and to the bottom of the mounting shell 7.
  • the gearbox 2 is a harmonic reducer.
  • control circuit module 5 includes a circuit module and a control chip; the control chip is electrically connected to the main gear magnetic encoding chip 45 and the cursor gear encoding chip 46 respectively, and receives the main gear magnetic encoding chip 45 and the cursor gear.
  • the encoding chip 46 sends the single-turn angle value of the main gear and the single-turn angle value of the cursor gear; at the same time, the control chip is used to receive control instructions from the flight control system;
  • the output end of the control chip is electrically connected to the input end of the circuit module, and the pulse width modulation signal output by the control chip is transmitted to the circuit module. At the same time, the circuit module feeds back the current information to the control chip. ;
  • the output end of the circuit module is electrically connected to the permanent magnet synchronous motor 3 .
  • the number of teeth of the vernier gear 42 is N+1, and the number of teeth of the main gear 41 is N, where N is a positive integer greater than 1.
  • the circuit module includes an inverter circuit and a sampling circuit; the input end of the inverter circuit is connected to the output end of the control chip; the output end of the inverter circuit is connected to the The input end of the sampling circuit is connected; the first output end of the sampling circuit is electrically connected to the control chip; the second output end of the sampling circuit is electrically connected to the permanent magnet synchronous motor 3 .
  • the control circuit module 5 is provided with a screw hole, and the bottom case 6 is provided with an internally threaded cylindrical pin, and screws pass through the screw hole and are spirally connected to the internally threaded cylindrical pin;
  • the shell 6 is also provided with buckles, and the bottom shell 6 and the installation housing 7 are connected through buckles.
  • a power module which provides power support for the permanent magnet synchronous motor 3, the gear vernier encoder 4, and the control circuit module 5.
  • the control circuit module outputs a speed information based on the received control information and the position information fed back by the gear vernier encoder;
  • the control circuit module outputs a current information based on the speed information and the speed value fed back by the gear vernier encoder;
  • the control circuit module calculates the current value fed back by the current information to output a set of direct axis Voltage Vd and quadrature axis voltage Vq;
  • the single-turn angle value of the main gear is read through the main gear magnetic encoding chip 45 and output to the control circuit module; the main gear 41 drives the cursor gear 42 to rotate, and the cursor gear magnet 46 rotates at the same time and outputs the position of the cursor gear 42 to the control circuit module through the cursor gear magnetic encoding chip 46; the control circuit module obtains the number of rotations of the permanent magnet synchronous motor 3 by calculation and then obtains the angle of the rudder arm 1 to confirm the position of the rudder arm 1.
  • the control chip After calculating the quadrature axis, direct axis voltage and the main gear magnetic encoding chip 45 to feed back the rotor position of the permanent magnet synchronous motor 3, the control chip outputs a set of pulse width modulation signals PWM to the inverter circuit for amplification processing, and outputs three The three-phase alternating current is supplied to the permanent magnet synchronous motor; at the same time, the sampling circuit feeds the collected three-phase alternating current information back to the control chip.
  • N master represents the number of main gear teeth
  • N nonius represents the number of vernier gear teeth
  • MOD represents the remainder function
  • ⁇ ReadMaster represents the single-turn angle read by the main gear magnetic encoding chip 45
  • ⁇ ReadNonius represents the single-turn angle read by the cursor gear magnetic encoding chip 46;
  • ⁇ represents the single-turn angle difference read by the main gear magnetic encoding chip 45 and the vernier gear magnetic encoding chip 46;
  • INT represents the numerical rounding function
  • n represents the number of rotations of the main gear, and the value range of n is n ⁇ [0,N nonius );
  • ⁇ CalcMaster represents the calculated multi-turn angle value of the main gear
  • the multi-turn angle value of the main gear is calculated, which is the rudder arm angle, and the number of rotations of the permanent magnet synchronous motor is also obtained.
  • a gear vernier encoder 4 composed of a 30-tooth main gear and a 31-tooth vernier gear is used , reading the single-turn angle values of the main gear 41 and the vernier gear 42 through the main gear magnetic encoding chip 45 and the vernier gear magnetic encoding chip 46 respectively;
  • N nonius N master +1 (1)
  • ⁇ CalcMaster n*360°+ ⁇ ReadMaster (6)
  • N master represents the number of main gear teeth
  • N nonius represents the number of vernier gear teeth
  • MOD represents the remainder function
  • ⁇ ReadMaster represents the single-turn angle read by the magnetic encoding chip of the main gear
  • ⁇ ReadNonius represents the single-turn angle read by the magnetic encoding chip of the cursor gear
  • ⁇ represents the single-turn angle difference read by the magnetic encoding chip of the main gear and the magnetic encoding chip of the vernier gear;
  • INT represents the numerical rounding function
  • n represents the number of rotations of the main gear, and the value range of n is n ⁇ [0,N nonius );
  • ⁇ CalcMaster represents the calculated multi-turn angle value of the main gear
  • the multi-turn angle value of the main gear calculated through equations (1) to (6) is the rudder arm angle; the calculation process is as follows:

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  • Automation & Control Theory (AREA)
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Abstract

本发明公开了一种集成齿轮游标编码器的旋转作动器及控制方法，涉及飞行器设备领域，包括永磁同步电机、齿轮游标编码器、齿轮箱、舵臂、控制电路模块；控制电路模块包括电路板；齿轮游标编码器包括主齿轮、主齿轮磁钢、主齿轮磁编码芯片、游标齿轮编码芯片、游标齿轮磁钢、游标齿轮；主齿轮装配在永磁同步电机的转子轴的底部，主齿轮通过啮合与游标齿轮转动连接，主齿轮磁钢装在主齿轮远离转子轴的一面，游标齿轮磁钢装在游标齿轮的底部，主齿轮编码芯片设在主齿轮磁钢与电路板之间，游标齿轮编码芯片设在游标齿轮磁钢与电路板之间；舵臂与齿轮箱的顶部转动连接，齿轮箱的底部通过永磁同步电机的转子轴的顶部和永磁同步电机连接。

Description

一种集成齿轮游标编码器的旋转作动器及控制方法 技术领域
本发明飞行器设备领域，更具体的，涉及一种集成齿轮游标编码器的旋转作动器及控制方法。
背景技术
作动器是一种用于位置或角度控制的伺服驱动装置，广泛用于飞行器等设备中，用于飞行器舵面控制等操作。
在中小型飞行器常用的旋转电动机械作动器(EMA)中，主要有一下两类：
1.单编码器方案：由永磁同步电机、多圈角度编码器、齿轮箱、限位开关、舵臂等部件组成，控制器控制电机旋转后通过减速器带动舵臂旋转，在系统断电后通过备用电池来维持编码器计数。由于电池自放电现象有电机位置丢失风险，故可靠性低、维护成本较高；
2.双编码器方案：由永磁同步电机、转子角度编码器、输出轴角度编码器、输出端回路轴、齿轮箱、舵臂等部件组成，控制器控制电机旋转后通过减速器带动舵臂旋转，减速器输出测法兰通过输出端回路轴带动输出端角度编码器旋转。此类作动器无需备用电池，但由于采用输出端回路轴，导致制造复杂、体积大等弊端。
现有技术公开了一种使用编码器的机电伺服作动器零位设置装置，所述设置装置整体呈矩形状，其上端设置有提手；其前端面下端设置有一与所述设置装置的底面平行的长方形板，所述长方形板面上设置有键盘，与所述键盘相对应的前端面上设置有显示器；所述设置装置由上位机、功率电源、控制器组成，设置装置作用于机电伺服作动器；上位机包括：处理器、人机交互界面和数字板卡；所述数字板卡可发送和接收控制器指令；所述机电作动器包括编码器、电机和丝杠；所述控制器包括数字总线接口1、数字总线接口3、DSP和驱动电路；所述编码器设置有数字总线接口4，所述功率电源设置有数据总线接口2；所述控制器内部的DSP负责数字总线接口1和数字总线接口3双向收发数据，DSP将处理后的功率管开管信号传递至驱动电路；数字总线接口3从数字总线接口4接收数据，用于读取编码器内部数值；数字总线接口3向数字总线接口 4发送数据，用于向编码器FLASH区域写入零位数据；驱动电路输出驱动信号给电机，控制电机运动。但装置结构复杂，占用的空间比较大，需要外接电缆给装置提供电力支持，维护成本高。
发明内容
本发明为克服上述现有技术中制造复杂，体积较大，维护成本高的问题，提供一种集成齿轮游标编码器的旋转作动器及控制方法，通过读取主齿轮与游标齿轮上的角度值，便可计算出舵臂位置，而无需电池维持计数或在减速器中加装回路轴，从而在满足可靠性要求下，大幅降低成本与安装体积。
为解决上述技术问题，本发明采用的技术方案是：
一种集成齿轮游标编码器的旋转作动器，包括永磁同步电机、齿轮游标编码器、齿轮箱、舵臂、控制电路模块；
所述的齿轮游标编码器包括主齿轮、主齿轮磁钢、用于读取主齿轮的单圈角度值的主齿轮磁编码芯片、用于读取游标齿轮的单圈角度值的游标齿轮编码芯片、游标齿轮磁钢、游标齿轮；所述的主齿轮装配在永磁同步电机的转子轴的末端，所述的主齿轮通过啮合与游标齿轮转动连接，所述的主齿轮磁钢装在所述的主齿轮远离转子轴的一面，所述的游标齿轮磁钢装在游标齿轮的底部，所述的主齿轮编码芯片设置在主齿轮磁钢的下方，且与控制电路模块电性连接；所述的游标齿轮编码芯片设在游标齿轮磁钢的下方，且与控制电路模块电性连接；
所述的舵臂与所述的齿轮箱的顶部转动连接，所述的齿轮箱的底部与所述的永磁同步电机的转子轴前端连接。
本发明的工作原理：
旋转作动器在工作时，随着永磁同步电机的旋转，因为主齿轮与游标齿轮存在齿轮差，通过主齿轮磁编码芯片和游标齿轮编码芯片读取两个齿轮的角度差值，通过计算得出电机旋转圈数，再通过齿轮游标编码器计算出舵臂角度，得到舵臂的位置，进而完成舵面控制。
优选地，还包括底壳、安装壳体；所述的安装壳体与所述的齿轮箱的底部连接；所述的永磁同步电机、齿轮游标编码器、控制电路模块均设置在安装壳体的内部；所示的底壳与所述的电路板的底部连接，且与安装壳体的底部连接。
优选地，所述的齿轮箱为谐波减速器。
优选地，所述的控制电路模块包括电路模块、控制芯片；所述的控制芯片分别与主齿轮磁编码芯片、游标齿轮编码芯片电性连接，接收主齿轮磁编码芯片、游标齿轮编码芯片发送的主齿轮的单圈角度值、游标齿轮的单圈角度值；同时所述的控制芯片用于接收飞控系统的控制指令；
所述的控制芯片的输出端与所述的电路模块的输入端电性连接，将控制芯片输出脉宽调制信号传输给所述的电路模块，同时所述的电路模块将电流信息反馈给控制芯片；
所述的电路模块的输出端与永磁同步电机电性连接。
优选地，所述的游标齿轮的齿数为N+1，所述的主齿轮的齿数为N，其中N为大于1的正整数。
进一步地，所述的电路模块包括逆变电路、采样电路；所述的逆变电路的输入端和所述的控制芯片的输出端连接；所述的逆变电路的输出端与所述的采样电路的输入端连接；所述的采样电路的第一输出端与所述的控制芯片电性连接；所述的采样电路的第二输出端和所述的永磁同步电机电性连接。
进一步地，还包括电源模块，所述的电源模块为所述的永磁同步电机、齿轮游标编码器、控制电路模块提供电力支持。
基于所述的一种集成齿轮游标编码器的旋转作动器的控制方法，所述的控制电路模块根据接收到的控制信息和齿轮游标编码器反馈的位置信息，输出一个速度信息；
所述的控制电路模块根据速度信息和齿轮游标编码器反馈的速度值，输出给一个电流信息；
所述的控制电路模块通过计算电流信息反馈的电流值，从而输出一组直轴电压Vd和交轴电压Vq；
通过计算交轴、直轴电压与主齿轮磁编码芯片(45)反馈永磁同步电机(3)的转子位置后，输出三相交流电给永磁同步电机，控制永磁同步电机转动；
通过主齿轮磁编码芯片(45)读取主齿轮的单圈角度值输出给控制电路模块；主齿轮(41)带动游标齿轮(42)转动，游标齿轮磁钢(46)同时转动并将游标齿轮(42)位置通过游标齿轮磁编码芯片(46)输出给控制电路模块；控制电路模块通过计算得到永磁同步电机(3)旋转圈数进而得到舵臂(1)的角度确认舵臂(1)的位置。
进一步地，通过计算交轴、直轴电压与主齿轮磁编码芯片(45)反馈永磁同步电机(3)的转子位置后，所述的控制芯片输出一组脉宽调制信号PWM给逆变电路进行放大处理，并输出三相交流电给永磁同步电机；同时，所述的采样电路将采集到的三相交流电信息反馈回控制芯片。
进一步地，所述的舵臂的角度的计算方法如下：通过主齿轮磁编码芯片和游标齿轮磁编码芯片分别读取主齿轮和游标齿轮的单圈角度值；
Nnonius＝Nmaster+1      (1)




θCalcMaster＝n*360°+θReadMaster      (6)
其中：
Nmaster表示主齿轮齿数；Nnonius表示游标齿轮齿数；
θmaster表示主齿轮多圈角度，即θmaster＝主齿轮旋转圈数*360°；θnonius表示游标齿轮多圈角度，即θnonius＝游标齿轮旋转圈数*360°；
MOD表示求余数函数；θReadMaster表示主齿轮磁编码芯片读到的单圈角度；θReadNonius表示游标齿轮磁编码芯片读到的单圈角度；
Δθ表示主齿轮磁编码芯片与游标齿轮磁编码芯片读到的单圈角度差；
INT表示数值向下取整函数；n表示主齿轮旋转圈数，n的取值范围为n∈[0,Nnonius)；
θCalcMaster表示计算的主齿轮多圈角度值；
通过式(1)～式(6)计算出主齿轮多圈角度值即为舵臂角度，同时也得到永磁同步电机的旋转圈数。
与现有技术相比，本发明的有益效果是：
本发明的集成齿轮游标编码器的旋转作动器采用的齿轮游标编码器无需装配备用电池，结构设计简单，装配难度小，成本低，相比于带电池的多圈角度编码器或使用输出端回路轴做双编码器的作动器，本技术方案在保证可靠性的 同时降低成本与体积。
附图说明
图1为所述的一种集成齿轮游标编码器的旋转作动器的整体结构图。
图2为所述的齿轮游标编码器的结构图。
图3为所述的一种集成齿轮游标编码器的旋转作动器的外部结构图。
图4为所述的一种集成齿轮游标编码器的旋转作动器的剖视图。
图5为实施例中永磁同步电机旋转圈数与磁编码器角度关系图；
图6为实施例中永磁同步电机旋转圈数与计算的圈数关系图；
其中：1、舵臂；2、齿轮箱；3、永磁同步电机；4、齿轮游标编码器；41、主齿轮；42、游标齿轮；43、主齿轮磁钢；44、游标齿轮磁钢；45、主齿轮磁编码芯片；46、游标齿轮磁编码芯片；5、控制电路模块；6、底壳；7、安装壳体。
具体实施方式
下面通过具体实施例，并结合附图，对本发明的技术方案作进一步的具体描述：
实施例1
在本实施例中，如图1、图2所示，一种集成齿轮游标编码器的旋转作动器，包括永磁同步电机3、齿轮游标编码器4、齿轮箱2、舵臂1、控制电路模块5；
所述的齿轮游标编码器4包括主齿轮41、主齿轮磁钢43、用于读取主齿轮的单圈角度值的主齿轮磁编码芯片45、用于读取游标齿轮的单圈角度值的游标齿轮编码芯片46、游标齿轮磁钢44、游标齿轮42；所述的主齿轮41装配在永磁同步电机3的转子轴的末端，所述的主齿轮41通过啮合与游标齿轮42转动连接，所述的主齿轮磁钢43装在所述的主齿轮41远离转子轴的一面，所述的游标齿轮磁钢44装在游标齿轮42的底部，所述的主齿轮编码芯片45设置在主齿轮磁钢43的下方，且与控制电路模块5电性连接；所述的游标齿轮编码芯片46设在游标齿轮磁钢44的下方，且与控制电路模块5电性连接；
所述的舵臂1与所述的齿轮箱2的顶部转动连接，所述的齿轮箱2的底部与所述的永磁同步电机3的转子轴前端连接。
具体的，如图3、图4所示，还包括底壳6、安装壳体7；所述的安装壳体 7与所述的齿轮箱2的底部连接；所述的永磁同步电机3、齿轮游标编码器4、控制电路模块5均设置在安装壳体7的内部；所示的底壳6与所述的电路板的底部连接，且与安装壳体7的底部连接。
具体的，所述的齿轮箱2为谐波减速器。
具体的，所述的控制电路模块5包括电路模块、控制芯片；所述的控制芯片分别与主齿轮磁编码芯片45、游标齿轮编码芯片46电性连接，接收主齿轮磁编码芯片45、游标齿轮编码芯片46发送的主齿轮的单圈角度值、游标齿轮的单圈角度值；同时所述的控制芯片用于接收飞控系统的控制指令；
所述的控制芯片的输出端与所述的电路模块的输入端电性连接，将控制芯片输出脉宽调制信号传输给所述的电路模块，同时所述的电路模块将电流信息反馈给控制芯片；
所述的电路模块的输出端与永磁同步电机3电性连接。
在本实施例中，所述的游标齿轮42的齿数为N+1，所述的主齿轮41的齿数为N，其中N为大于1的正整数。
更具体的，所述的电路模块包括逆变电路、采样电路；所述的逆变电路的输入端和所述的控制芯片的输出端连接；所述的逆变电路的输出端与所述的采样电路的输入端连接；所述的采样电路的第一输出端与所述的控制芯片电性连接；所述的采样电路的第二输出端和所述的永磁同步电机3电性连接。
所述的控制电路模块5上设有螺孔，所述的底壳6上设有内螺纹圆柱销，螺钉穿过所述的螺孔与所述的内螺纹圆柱销螺旋连接；所述的底壳6上还设有卡扣，所述的底壳6和安装壳体7通过卡扣连接。
更具体的，还包括电源模块，所述的电源模块为所述的永磁同步电机3、齿轮游标编码器4、控制电路模块5提供电力支持。
实施例2
基于实施例1所述的一种集成齿轮游标编码器的旋转作动器的控制方法，
所述的控制电路模块根据接收到的控制信息和齿轮游标编码器反馈的位置信息，输出一个速度信息；
所述的控制电路模块根据速度信息和齿轮游标编码器反馈的速度值，输出给一个电流信息；
所述的控制电路模块通过计算电流信息反馈的电流值，从而输出一组直轴 电压Vd和交轴电压Vq；
通过计算交轴、直轴电压与主齿轮磁编码芯片45反馈永磁同步电机3的转子位置后，输出三相交流电给永磁同步电机，控制永磁同步电机转动；
通过主齿轮磁编码芯片45读取主齿轮的单圈角度值输出给控制电路模块；主齿轮41带动游标齿轮42转动，游标齿轮磁钢46同时转动并将游标齿轮42位置通过游标齿轮磁编码芯片46输出给控制电路模块；控制电路模块通过计算得到永磁同步电机3旋转圈数进而得到舵臂1的角度确认舵臂1的位置。
通过计算交轴、直轴电压与主齿轮磁编码芯片45反馈永磁同步电机3的转子位置后，所述的控制芯片输出一组脉宽调制信号PWM给逆变电路进行放大处理，并输出三相交流电给永磁同步电机；同时，所述的采样电路将采集到的三相交流电信息反馈回控制芯片。
所述的舵臂1的角度的计算方法如下：通过主齿轮磁编码芯片45和游标齿轮磁编码芯片46分别读取主齿轮41和游标齿轮42的单圈角度值；
Nnonius＝Nmaster+1      (1)




θCalcMaster＝n*360°+θReadMaster      (6)
其中：
Nmaster表示主齿轮齿数；Nnonius表示游标齿轮齿数；
θmaster表示主齿轮多圈角度，即θmaster＝主齿轮旋转圈数*360°；θnonius表示游标齿轮多圈角度，即θnonius＝游标齿轮旋转圈数*360°；
MOD表示求余数函数；θReadMaster表示主齿轮磁编码芯片45读到的单圈角度；θReadNonius表示游标齿轮磁编码芯片46读到的单圈角度；
Δθ表示主齿轮磁编码芯片45与游标齿轮磁编码芯片46读到的单圈角度差；
INT表示数值向下取整函数；n表示主齿轮旋转圈数，n的取值范围为 n∈[0,Nnonius)；
θCalcMaster表示计算的主齿轮多圈角度值；
通过式(1)～式(6)计算出主齿轮多圈角度值即为舵臂角度，同时也得到永磁同步电机的旋转圈数。
实施例3
基于实施例2所述的一种集成齿轮游标编码器的旋转作动器的控制方法，在本实施例中，使用30个齿的主齿轮和31个齿的游标齿轮组成的齿轮游标编码器4，通过主齿轮磁编码芯片45和游标齿轮磁编码芯片46分别读取主齿轮41和游标齿轮42的单圈角度值；
Nnonius＝Nmaster+1      (1)




θCalcMaster＝n*360°+θReadMaster      (6)
其中：
Nmaster表示主齿轮齿数；Nnonius表示游标齿轮齿数；
θmaster表示主齿轮多圈角度，即θmaster＝主齿轮旋转圈数*360°；θnonius表示游标齿轮多圈角度，即θnonius＝游标齿轮旋转圈数*360°；
MOD表示求余数函数；θReadMaster表示主齿轮磁编码芯片读到的单圈角度；θReadNonius表示游标齿轮磁编码芯片读到的单圈角度；
Δθ表示主齿轮磁编码芯片与游标齿轮磁编码芯片读到的单圈角度差；
INT表示数值向下取整函数；n表示主齿轮旋转圈数，n的取值范围为n∈[0,Nnonius)；
θCalcMaster表示计算的主齿轮多圈角度值；
通过式(1)～式(6)计算主齿轮多圈角度值即为舵臂角度；计算流程如下：
S1：主齿轮齿数Nmaster＝30，由式1得游标齿轮齿数Nnonius＝31；
S2：假设主齿轮旋转10.1圈，则主齿轮多圈角度θmaster＝10.1*360°＝3636°，由式(2)得游标齿轮多圈角度
S3：由式(3)得，主齿轮磁编码芯片读到的单圈角度θReadMaster＝36°，游标齿轮磁编码芯片读到的单圈角度θReadNonius＝278.71°；
S4：由式(4)得主齿轮磁编码芯片与游标齿轮磁编码芯片读到的单圈角度差Δθ＝117.29°；
S5：由式(5)得，主齿轮旋转圈数n＝10；
S6：由式(6)得，计算的主齿轮多圈角度值θCalcMaster＝10*360°+36°＝3636°，即θCalcMaster等于θmaster，因此可通过齿轮游标编码器计算出舵臂的角度。
如图5所示，当永磁同步电机旋转时，可得到主齿轮与游标齿轮的角度关系。
如图6所示，当永磁同步电机旋转时，通过计算主齿轮与游标齿轮的角度差，可得出当前电机旋转圈数，可计算出舵臂的角度。
显然，本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。

Claims (10)

  1. 一种集成齿轮游标编码器的旋转作动器，其特征在于，包括永磁同步电机(3)、齿轮游标编码器(4)、齿轮箱(2)、舵臂(1)、控制电路模块(5)；
    所述的齿轮游标编码器(4)包括主齿轮(41)、主齿轮磁钢(43)、用于读取主齿轮的单圈角度值的主齿轮磁编码芯片(45)、用于读取游标齿轮的单圈角度值的游标齿轮编码芯片(46)、游标齿轮磁钢(44)、游标齿轮(42)；所述的主齿轮(41)装配在永磁同步电机(3)的转子轴的末端，所述的主齿轮(41)通过啮合与游标齿轮(42)转动连接，所述的主齿轮磁钢(43)装在所述的主齿轮(41)远离转子轴的一面，所述的游标齿轮磁钢(44)装在游标齿轮(42)的底部，所述的主齿轮编码芯片(45)设置在主齿轮磁钢(43)的下方，且与控制电路模块(5)电性连接；所述的游标齿轮编码芯片(46)设在游标齿轮磁钢(44)的下方，且与控制电路模块(5)电性连接；
    所述的舵臂(1)与所述的齿轮箱(2)的顶部转动连接，所述的齿轮箱(2)的底部与所述的永磁同步电机(3)的转子轴前端连接。
  2. 根据权利要求1所述的一种集成齿轮游标编码器的旋转作动器，其特征在于，还包括底壳(6)、安装壳体(7)；所述的安装壳体(7)与所述的齿轮箱(2)的底部连接；所述的永磁同步电机(3)、齿轮游标编码器(4)、控制电路模块(5)均设置在安装壳体(7)的内部；所示的底壳(6)与所述的电路板的底部连接，且与安装壳体(7)的底部连接。
  3. 根据权利要求1所述的一种集成齿轮游标编码器的旋转作动器，其特征在于，所述的齿轮箱(2)为谐波减速器。
  4. 根据权利要求1所述的一种集成齿轮游标编码器的旋转作动器，其特征在于，所述的控制电路模块(5)包括电路模块、控制芯片；所述的控制芯片分别与主齿轮磁编码芯片(45)、游标齿轮编码芯片(46)电性连接，接收主齿轮磁编码芯片(45)、游标齿轮编码芯片(46)发送的主齿轮的单圈角度值、游标齿轮的单圈角度值；同时所述的控制芯片用于接收飞控系统的控制指令；
    所述的控制芯片的输出端与所述的电路模块的输入端电性连接，将控制芯片输出脉宽调制信号传输给所述的电路模块，同时所述的电路模块将电流信息反馈给控制芯片；
    所述的电路模块的输出端与永磁同步电机(3)电性连接。
  5. 根据权利要求1所述的一种集成齿轮游标编码器的旋转作动器，其特征在于，所述的游标齿轮(42)的齿数为N+1，所述的主齿轮(41)的齿数为N，其中N为大于1的正整数。
  6. 根据权利要求4所述的一种集成齿轮游标编码器的旋转作动器，其特征在于，所述的电路模块包括逆变电路、采样电路；所述的逆变电路的输入端和所述的控制芯片的输出端连接；所述的逆变电路的输出端与所述的采样电路的输入端连接；所述的采样电路的第一输出端与所述的控制芯片电性连接；所述的采样电路的第二输出端和所述的永磁同步电机(3)电性连接。
  7. 根据权利要求2所述的一种集成齿轮游标编码器的旋转作动器，其特征在于，还包括电源模块，所述的电源模块为所述的永磁同步电机(3)、齿轮游标编码器(4)、控制电路模块(5)提供电力支持。
  8. 基于权利要求1～7任一项所述的一种集成齿轮游标编码器的旋转作动器的控制方法，其特征在于：
    所述的控制电路模块根据接收到的控制信息和齿轮游标编码器反馈的位置信息，输出一个速度信息；
    所述的控制电路模块根据速度信息和齿轮游标编码器反馈的速度值，输出给一个电流信息；
    所述的控制电路模块通过计算电流信息反馈的电流值，从而输出一组直轴电压Vd和交轴电压Vq；
    通过计算交轴、直轴电压与主齿轮磁编码芯片(45)反馈永磁同步电机(3)的转子位置后，输出三相交流电给永磁同步电机，控制永磁同步电机转动；
    通过主齿轮磁编码芯片(45)读取主齿轮的单圈角度值输出给控制电路模块；主齿轮(41)带动游标齿轮(42)转动，游标齿轮磁钢(46)同时转动并将游标齿轮(42)位置通过游标齿轮磁编码芯片(46)输出给控制电路模块；控制电路模块通过计算得到永磁同步电机(3)旋转圈数进而得到舵臂(1)的角度确认舵臂(1)的位置。
  9. 根据权利要求8所述的一种集成齿轮游标编码器的旋转作动器的控制方法，其特征在于：通过计算交轴、直轴电压与主齿轮磁编码芯片(45)反馈永磁同步电机(3)的转子位置后，所述的控制芯片输出一组脉宽调制信号PWM 给逆变电路进行放大处理，并输出三相交流电给永磁同步电机；同时，所述的采样电路将采集到的三相交流电信息反馈回控制芯片。
  10. 根据权利要求9所述的一种集成齿轮游标编码器的旋转作动器的控制方法，其特征在于，所述的舵臂(1)的角度的计算方法如下：通过主齿轮磁编码芯片(45)和游标齿轮磁编码芯片(46)分别读取主齿轮(41)和游标齿轮(42)的单圈角度值；
    Nnonius＝Nmaster+1        (1)




    θCalcMaster＝n*360°+θReadMaster      (6)
    其中：
    Nmaster表示主齿轮齿数；Nnonius表示游标齿轮齿数；
    θmaster表示主齿轮多圈角度，即θmaster＝主齿轮旋转圈数*360°；θnonius表示游标齿轮多圈角度，即θnonius＝游标齿轮旋转圈数*360°；
    MOD表示求余数函数；θReadMaster表示主齿轮磁编码芯片(45)读到的单圈角度；θReadNonius表示游标齿轮磁编码芯片(46)读到的单圈角度；
    Δθ表示主齿轮磁编码芯片(45)与游标齿轮磁编码芯片(46)读到的单圈角度差；
    INT表示数值向下取整函数；n表示主齿轮旋转圈数，n的取值范围为n∈[0,Nnonius)；
    θCalcMaster表示计算的主齿轮多圈角度值；
    通过式(1)～式(6)计算出主齿轮多圈角度值即为舵臂角度，同时也得到永磁同步电机的旋转圈数。
PCT/CN2023/116966 2022-09-19 2023-09-05 一种集成齿轮游标编码器的旋转作动器及控制方法 WO2024060987A1 (zh)

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