CN104401483B - A kind of electromechanical servo system - Google Patents
A kind of electromechanical servo system Download PDFInfo
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- CN104401483B CN104401483B CN201410643375.XA CN201410643375A CN104401483B CN 104401483 B CN104401483 B CN 104401483B CN 201410643375 A CN201410643375 A CN 201410643375A CN 104401483 B CN104401483 B CN 104401483B
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Abstract
The present invention provides a kind of electromechanical servo system, belong to electro-mechanical arts, the problems such as installing space is narrow and small, structure adaptability is poor can not be met for solving existing electromechanical servo system, the system that the present invention is provided includes a control driver and three electromechanical servo actuator；The input of the control driver is connected with the upper computer control system of current electromechanical servo system by RS422 buses, and outfan and three electromechanical servo actuator connect respectively；The control driver is used for receiving the control instruction that the upper computer control system of current electromechanical servo system is sent, and the phase current and angular position of rotation according to the servomotor of the linear motion displacement signal and each electromechanical servo action device of each electromechanical servo action device of collection, realize closed loop control to three electromechanical servo actuator.The electromechanical servo system controls 3 electromechanical servo actuator of driver control using 1, with high integration, small volume, lightweight advantage.
Description
Technical field
The present invention relates to field of electromechanical technology, particularly relates to a kind of electromechanical servo system.
Background technology
Electromechanical coupling system is the actuator of flight control system, by receiving the instruction of control system, produces straight
Line or rotary motion, promote the rudder face of aircraft to produce operating torque, realize the thruster vector control of aircraft.Electromechanics is watched
Dress system has the characteristics of simple structure, dynamic characteristic are good, assembling maintainability is good, manipulates control field in rudder face and obtains widely
Application.
But, there is oil leak in existing Hydrauservo System and structure adaptability is poor, it is difficult to the problems such as maintenance.And it is existing
Some electromechanical servo system complex structures, installing space are narrow and small, the big reliability of weight is not high enough, and wherein adopt drive control more
With " one-to-one " scheme, it is unfavorable for system compact and lightweight, it is difficult to meet the installation and dynamic characteristic requirement of servosystem.
Therefore, it is badly in need of the servosystem that a kind of installation that disclosure satisfy that the manipulation of narrow installation space rudder face and dynamic characteristic are required.
Content of the invention
In order to solve, existing electromechanical servo system complex structure, installing space be narrow and small, weight is big, and drive control one can only be dragged
One, it is unfavorable for that system compact and light-weighted problem, the present invention provide a kind of electromechanical servo system, the electromechanics that the present invention is provided
Servosystem solves prior art using 1 control 3 electromechanical servo actuator of driver control with high integration
The problems referred to above of presence.
A kind of electromechanical servo system that the present invention is provided, including a control driver and three electromechanical servo actuator；
The input of the control driver is connected with the upper computer control system of current electromechanical servo system by RS422 buses, defeated
Go out end and three electromechanical servo actuator connect respectively；The control driver is used for receiving current electromechanical servo system
The control instruction that upper computer control system is sent, gathers the linear motion displacement signal and each electromechanics of each electromechanical servo action device
The phase current of the servomotor of servo action device, servomotor angular position of rotation, realize to three electromechanical servo actuator
Closed loop control.
Wherein, each described electromechanical servo actuator includes servomotor, ball-screw, guiding mechanism, displacement of the lines sensing
Device, rotary transformer, housing, bolt assembly, lug component, limit swinging mechanism；One side shaft end of the servomotor and the rolling
Ballscrew connects, and another side shaft end is provided with the rotary transformer；The lug component, limit swinging mechanism are mounted on the rotation
Change the outside of depressor, and the radially alignment for swinging mechanism and lug component being limited in electromechanical servo actuator；The guiding
Mechanism has a cylindrical gathering sill, and a side axle of the ball-screw is arranged in the gathering sill of the guiding mechanism, in institute
When stating servomotor rotation, the ball-screw is moved in the gathering sill of the guiding mechanism；The bolt assembly is installed on
The outside shaft end of the guiding mechanism；The linear movement pick-up is fixedly connected with the ball-screw；The servomotor, rolling
Ballscrew, guiding mechanism, linear movement pick-up, rotary transformer, bolt assembly, lug component are may be contained within the housing；
The control driver gathers the angular position of rotation of the servomotor by the rotary transformer, and by the displacement of the lines
The linear motion displacement signal of electromechanical servo actuator described in sensor acquisition.
Wherein, the ball-screw is the fixed interior circulation ball-screw of single nut, and by increasing steel ball size pretension.
Wherein, the linear movement pick-up using straight line, duplex, contact, with centre tapped synthesis transmembrane potential meter；Institute
State potentiometric brush assembly of electric to be fixed on the nut of the ball-screw, two resistance plates installed in the housing two
Side.
Wherein, direct-connected by little surplus interference fit flat key between the servomotor and ball-screw.
Wherein, the limit swinging mechanism is that oscillating bearing limits pendulum device, including little journal stirrup；Described limit swinging mechanism little journal stirrup and
The big journal stirrup of the lug component be arranged in parallel.
Wherein, the control driver includes communication module and three motor control drive modules, each described motor control
The input of drive module processed is connected with the communication module, and outfan is connected with an electromechanical servo action device；The communication
Module is realized being connected with the communication of the upper computer control system of current electromechanical servo system by RS422 buses, and total by CAN
The data exchange with the motor control drive module realized by line；Each described motor control drive module is used for current electromechanical
Under the control of the upper computer control system of servosystem, the phase of the servomotor of the electromechanical servo action device being connected with itself is gathered
The linear motion displacement signal of electric current, angular position of rotation and electromechanical servo actuator, by SVPWM space vector control methods
6 road pwm control signals are obtained, and 6 road pwm control signal is exported to the electromechanical servo action device being connected with itself, with
Realize electric current, the closed loop control of speed of the position to the electromechanical servo action device and servomotor.
Wherein, the motor control drive module includes：CAN interface circuit, DSP and peripheral circuit, current sense
Device, memory circuitry, signal processing circuit, A/D translation circuits, rotation become decoding circuit, Switching Power Supply translation circuit；The DSP
And peripheral circuit is connected with the communication module by the CAN interface circuit；The memory circuitry and the DSP and
Peripheral circuit connects；The outfan of the DSP and peripheral circuit connects electromechanical servo action device to be controlled；The current sense
Device is used for 2 phase currents of the servomotor of the electromechanical servo action device that collection is connected with the DSP and peripheral circuit；The electric current
The outfan of the linear movement pick-up of the electromechanical servo action device of the outfan of sensor and the DSP and peripheral circuit connection
It is connected with the input of the signal processing circuit, the signal processing circuit is used for the phase to currently received servomotor
The linear motion displacement signal of electric current and electromechanical servo action device is supplied to the A/D translation circuits and carries out after carrying out signal processing
A/D is converted；The outfan of the A/D translation circuits connects the DSP and peripheral circuit；The rotation becomes the input of decoding circuit
The rotary transformer outfan of the electromechanical servo action device that connection is connected with the DSP and peripheral circuit, the rotation become decoding electricity
The outfan on road is connected with the DSP and peripheral circuit；The control that the DSP and peripheral circuit are sent according to upper computer control system
The linear motion displacement signal of system instruction and the electromechanical servo action device being connected with itself for receiving, the mutually electricity of servomotor
Stream, the angular position of rotation of servomotor, by SVPWM space vector control methods obtain 6 road pwm control signals and export to
The electromechanical servo action device of itself connection；The Switching Power Supply translation circuit controls to need to supply in drive module with current motor respectively
All part connections of electricity, provide power supply for them.
Wherein, the DSP in the DSP and peripheral circuit is TMS320F2407A chips.
Wherein, the motor control drive module also includes：Current foldback circuit using tetra- road comparators of LM339；Institute
The input for stating current foldback circuit is connected with the outfan of the current sensor, the outfan of the current foldback circuit with
The DSP and peripheral circuit connection；The current foldback circuit is used for the servo electricity for comparing to determine the current sensor collection
In 2 phase currents of machine whether at least a phase current exceed corresponding predetermined threshold, if so, then export low level, the DSP and
Peripheral circuit cuts off the output of 6 road pwm control signals when the current foldback circuit exports low level.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
The above-mentioned electromechanical servo system that the present invention is provided is using 1 control 3 electromechanical servo actuator of driver control, collection
High into degree is changed, and by the position in reasonable selection electromechanical servo actuator between each building block and optimization design part
Relation is put, the volume of whole servosystem is effectively reduced, is improve reliability, the electromechanical servo system is watched relative to existing
Dress system simple structure, safeguards easily, small volume, weight reduce 20% than existing system, and reliability is high, can realize 1
3 highly integrated property is dragged to require.
Description of the drawings
Fig. 1 is a kind of electromechanical servo system structural representation provided in an embodiment of the present invention；
Top views of the Fig. 2 for electromechanical servo actuator；
A-A sectional views of the Fig. 3 for Fig. 2；
Fig. 4 is the preferred real-time architecture schematic diagram for controlling driver 1 in Fig. 1；
Fig. 5 is the preferred real-time architecture schematic diagram of the motor control drive module 14 in Fig. 4；
Control principle of the driver to electromechanical servo actuator is controlled for the present invention in the electromechanical servo system that Fig. 6 is provided
Figure；
Another kind preferably real-time architecture schematic diagrams of the Fig. 7 for motor control drive module 14.
[description of reference numerals]
1st, driver is controlled；
2nd, electromechanical servo actuator；
3rd, upper computer control system；
4th, servomotor；
5th, ball-screw；
6th, guiding mechanism；
7th, linear movement pick-up；
8th, rotary transformer；
9th, steering wheel housing；
10th, bolt assembly；
11st, lug component；
12nd, swinging mechanism is limited；
13rd, communication module；
14th, motor control drive module；
15th, CAN interface circuit；
16th, DSP and peripheral circuit；
17th, current sensor；
18th, memory circuitry；
19th, signal processing circuit；
20th, A/D translation circuits；
21st, rotation becomes decoding circuit；
22nd, Switching Power Supply translation circuit；
23rd, current foldback circuit.
Specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
If Fig. 1 is a kind of electromechanical servo system structural representation provided in an embodiment of the present invention, as shown in fig. 1, this is
System includes a control driver 1 and three electromechanical servo actuator 2.Wherein, the input of control driver 1 passes through RS422
Bus is connected with the upper computer control system 3 of current electromechanical servo system, controls the outfan and three electromechanical servos of driver 1
Actuator 2 connects respectively；Control driver 1 is used for receiving the control that the upper computer control system 3 of current electromechanical servo system is sent
System instruction, gathers the linear motion displacement signal and the servomotor of each electromechanical servo action device 2 of each electromechanical servo action device 2
Phase current, the angular position of rotation of servomotor, realize closed loop control to three electromechanical servo actuator 2.
Fig. 2 show the top view of electromechanical servo actuator, A-A sectional views of the Fig. 3 for Fig. 2.As shown in Figures 2 and 3, excellent
Selection of land, electromechanical servo actuator include servomotor 4, ball-screw 5, guiding mechanism 6, linear movement pick-up 7, rotary transformer
8th, steering wheel housing 9, bolt assembly 10, lug component 11, limit swinging mechanism 12.
Wherein, as shown in figures 2-3, the shaft end of servomotor 4 is connected with ball-screw 5, and another side shaft end is installed
There is rotary transformer 8；Lug component 11, limit swinging mechanism 12 are installed on the outside of rotary transformer 8, and limit swinging mechanism 12 and journal stirrup
Radially alignment of the component 11 in electromechanical servo actuator；Guiding mechanism 6 has a cylindrical gathering sill, a left side for ball-screw 5
Side axle is arranged in the gathering sill of guiding mechanism 6, when servomotor 4 rotates, gathering sill of the ball-screw 5 in guiding mechanism 6
Interior motion；Bolt assembly 10 is installed on the outside shaft end of guiding mechanism 6, i.e., bolt assembly 10 is installed on guiding as illustrated in the drawing
The left side shaft end of mechanism 6；Linear movement pick-up 7 is fixedly connected with ball-screw 5；Servomotor 4, ball-screw 5, guiding mechanism
6th, linear movement pick-up 7, rotary transformer 8, bolt assembly 10, lug component 11 are may be contained within steering wheel housing 9.When using figure
During preferred electromechanical servo actuator shown in 2-3, the control driver 1 in the electromechanical servo system that the present invention is provided is by rotation
Transformator 8 gathers the angular position of rotation of servomotor 4, and gathers the straight line of electromechanical servo actuator 2 by linear movement pick-up 7
Moving displacement signal, now, controls to be additionally provided with the current sense for collection with the phase current of servomotor 4 in driver 1
Device.
Cause the rotation of itself as servomotor 4 is rotated, it is therefore desirable to shaping-orientation mechanism, existing fully digesting and assimilating
Have on the experiential basis of product, devise the guiding mechanism based on rolling bearing, i.e., foregoing guiding mechanism 6 is with a circle
Cylindricality gathering sill, this side axle of ball-screw 5 are arranged in the gathering sill of guiding mechanism 6, and this kind of guiding mechanism principle is
Reduce frictional force by rolling to be oriented to, simultaneously because the bearing outer ring face of cylinder and gathering sill end contact, mechanical property is good, knot
Structure is simple, the problem of the aspect such as effectively solving rolling friction.
Preferably, ball-screw 5 is the fixed interior circulation ball-screw of single nut, by increasing firm bulb diameter pretension.Rolling
The features such as ballscrew transmission has transmission efficiency, long working life, high transmission accuracy.Miniaturization precision drive ball-screw
Develop difficult point be axial gap adjustment in limited installation space, the selection of ball-screw material, material heat treatment process technology,
Raceway process technology.
Preferably, linear movement pick-up 7 using straight line, duplex, contact, with centre tapped synthesis transmembrane potential meter；Electricity
The brush assembly of electric of position meter is fixed on the nut of ball-screw 5, and two resistance plates are installed in the both sides of steering wheel housing 9.Line position
The above-mentioned built-in manner of displacement sensor relative to existing electromechanical servo system in external compare substantially increase reliability and
Machine volume is effectively reduced, and sensor brush carrier is fixed on ball-screw nut, simplify mounting structure.
Connection request gapless between servomotor 4 and ball-screw 5, transmitting torque, the technological approaches of realization have spiral shell
The modes such as stricture of vagina connection, bonded, hot charging, the present invention are compared in terms of assembling, reliability etc. to the connected mode of the two
Analysis, between servomotor 4 and ball-screw 5 by the direct-connected this side of being preferable to carry out of little surplus interference fit flat key
Formula.
As the steering wheel housing 9 for rotarily driving electromechanical servo actuator 2 of servomotor 4 is rotated, it is therefore desirable to set
Meter prevents rotation mechanism for wind from limiting swinging mechanism.Generally can using directly connecting firmly, oscillating bearing limit pendulum, universal be hinged.Due to straight
Connect attachment and be unfavorable for dynamic balance when being laterally subjected to displacement, the dimensional space that universal hinge connection takes is larger, is unfavorable for pacifying
Dress, it is preferable that it is that oscillating bearing limits pendulum device to limit swinging mechanism 12 in the system that the present invention is provided, including little journal stirrup；Limit swinging mechanism
12 little journal stirrup and the big journal stirrup of lug component 11 be arranged in parallel, play a part of anti-torsion.
Fig. 4 is the preferred real-time architecture schematic diagram for controlling driver 1 in Fig. 1, controls driver and drags by the way of 3 using 1, by
1 control 3 electromechanical servo action device 2 of driver drives, as shown in Figure 4, control control driver 1 includes communication module 13
With three motor control drive modules 14, the input of each motor control drive module 14 is connected with communication module 13, is exported
End is connected with an electromechanical servo action device 2.
Wherein, communication module 13 is realized and the upper computer control system 3 of current electromechanical servo system by RS422 buses
Communication connection, and the data exchange with motor control drive module 14 is realized by CAN.Each motor control drive module
14 are used under the control of the upper computer control system 3 of current electromechanical servo system, gather the electromechanical servo being connected with itself and move
Make the linear motion of the phase current, the angular position of rotation of servomotor 4 and the electromechanical servo actuator 2 of the servomotor 4 of device 2
Displacement signal, obtains 6 road pwm control signals by SVPWM space vector control methods, and will export after 6 road pwm control signals
To the electromechanical servo action device 2 being connected with itself, to realize position and the electricity of servomotor to the electromechanical servo action device 2
Stream, the closed loop control of speed.
Fig. 5 is the preferred real-time architecture schematic diagram of the motor control drive module 14 in Fig. 4, as shown in Figure 5, motor control
Drive module processed 14 includes：CAN interface circuit 15, DSP and peripheral circuit 16, current sensor 17, memory circuitry 18,
Signal processing circuit 19, A/D translation circuits 20, rotation become decoding circuit 21, Switching Power Supply translation circuit 22 etc..
Wherein, DSP and peripheral circuit 16 are connected with communication module 13 by CAN interface circuit 15；Memory circuitry
18 are connected with DSP and peripheral circuit 16；The outfan of DSP and peripheral circuit 16 connects electromechanical servo action device to be controlled.Open
Close power converting circuit 22 to control respectively in drive module 14, to need all parts that powers to be connected with current motor, provide for them
Power supply.
As previously described, current sensor, current sensor 17 and DSP and peripheral circuit are provided with control driver 1
The servomotor 4 of the 16 electromechanical servo action devices for being connected connects, for gathering 2 phase currents of the servomotor 4.Current sense
The outfan and DSP of device 17 and peripheral circuit 16 connection electromechanical servo action device linear movement pick-up 7 outfan with
The input connection of signal processing circuit 19, signal processing circuit 19 be used for the phase current of currently received servomotor 4 and
The linear motion displacement signal of electromechanical servo action device 2 is supplied to A/D translation circuits 20 and carries out A/D changes after carrying out signal processing
Change；The outfan connection DSP of A/D translation circuits 20 and peripheral circuit 16.
Rotation becomes the rotation of the electromechanical servo action device that the input connection of decoding circuit 21 is connected with DSP and peripheral circuit 16
The outfan of transformator 8, rotation are become the outfan of decoding circuit 21 and are connected with DSP and peripheral circuit 16.Rotation becomes decoding circuit 21 and uses
Angular position of rotation parameter in the servomotor 4 for gathering the electromechanical servo action device by rotary transformer 8.
DSP and the control instruction that is sent according to upper computer control system of peripheral circuit 16 and being connected with itself of receiving
The linear motion displacement signal of electromechanical servo action device, the phase current of servomotor, the angular position of rotation of servomotor, pass through
SVPWM space vector control methods are obtained 6 road pwm control signals and are exported to the electromechanical servo action device being connected with itself with reality
The now closed loop control to the electromechanical servo action device.
Preferably, the DSP in DSP and peripheral circuit 16 is TMS320F2407A chips.
Control principle of the driver to electromechanical servo actuator is controlled for the present invention in the electromechanical servo system that Fig. 6 is provided
Figure.Wherein, the stator current i for being exported by current sensor measurement invertera、ib, digital quantity i is converted into through A/DA
And iB, and utilize formula iC=-(iA+iB) calculate iC.Pass sequentially through Clarke conversion again and Park becomes the electric current i that changes commandersA、iB、iCBecome
Change DC component i in rotating coordinate system intosq、isd, isq、isdAmount of negative feedback as electric current loop.Measured using rotary transformer
The mechanical corner displacement θ of motorm, and convert thereof into electrical angle θeWith rotating speed n.Wherein, electrical angle θeFor participating in Park changes
Change the calculating with inverse transformation.Given angle nrefExport after position control regulation with linear movement pick-up collection displacement signal
Given rotating speed nref, nrefWith the deviation of speed feedback amount n through speed regulator, which is exported as the electric current for being used for direct torque
Q axle reference components isqref.isqrefAnd isdref(equal to zero) and current feedback amount isq、isdDeviation after rheonome,
The phase voltage component V of Odq rotating coordinate system is exported respectivelysqrefAnd Vsdref.VsqrefAnd VsdrefPass through Park inverse transformation change types again
The component V of the stator phase voltage vector of O α β rectangular coordinate systemssαrefAnd Vsβref.Component V when stator phase voltage vectorsαref、
VsβrefWhen known to the sector number being located with which, it is possible to using voltage space vector technology, pwm control signal is produced
Control inverter.
Preferably, as shown in fig. 7, motor control drive module 14 also includes：Protected using the excessively stream of tetra- road comparators of LM339
Protection circuit 23；The input of current foldback circuit 23 is connected with the outfan of current sensor 17, current foldback circuit 23 defeated
Go out end to be connected with DSP and peripheral circuit 16；Current foldback circuit 23 is used for the servo electricity for comparing to determine the collection of current sensor 17
In 2 phase currents of machine 4, at least whether a phase current exceedes corresponding predetermined threshold, if so, then exports low level, DSP and outer
Enclose the output that circuit 16 cuts off 6 road pwm control signals when current foldback circuit 23 exports low level.Through verification experimental verification, firmly
Part design protection is feasible, reliable, the phenomenon for burning out the pipe in circuit does not occur.
In such scheme, electromechanical servo system is using 1 control 3 electromechanical servo actuator of driver control, integrated journey
Degree is high, and is closed by the position in reasonable selection electromechanical servo actuator between each building block and optimization design part
System, effectively reduces the volume of whole servosystem, improves reliability.The electromechanical servo system is relative to existing servo system
System simple structure, safeguards easily, small volume, weight reduce 20% than existing system, and reliability is high, can realize that 1 drags 3 height
Integration requires therefore, there is advantage than existing electromechanical servo system, practical.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of electromechanical servo system, it is characterised in that including a control driver and three electromechanical servo actuator；
Upper computer control system of the input of the control driver by RS422 buses with current electromechanical servo system connects
Connect, outfan and three electromechanical servo actuator connect respectively；The control driver is used for receiving current electromechanical servo
The control instruction that the upper computer control system of system is sent, gather each electromechanical servo action device linear motion displacement signal and
The phase current of the servomotor of each electromechanical servo action device, the angular position of rotation of servomotor, realize watching three electromechanics
Take the closed loop control of actuator；
Each described electromechanical servo actuator includes that servomotor, ball-screw, guiding mechanism, linear movement pick-up, rotation become
Depressor, housing, bolt assembly, lug component, limit swinging mechanism；
One side shaft end of the servomotor is connected with the ball-screw, and another side shaft end is provided with the rotary transformer；
The lug component, limit swinging mechanism are mounted on the outside of the rotary transformer, and the limit swinging mechanism and lug component exist
The radially alignment of electromechanical servo actuator；The guiding mechanism has a cylindrical gathering sill, the side of the ball-screw
Axle is arranged in the gathering sill of the guiding mechanism, and when the servomotor rotates, the ball-screw is in the Guiding machine
Motion in the gathering sill of structure；The bolt assembly is installed on the outside shaft end of the guiding mechanism；The linear movement pick-up with
The ball-screw is fixedly connected；The servomotor, ball-screw, guiding mechanism, linear movement pick-up, rotary transformer,
Bolt assembly, lug component are may be contained within the housing；
The control driver gathers the angular position of rotation of the servomotor by the rotary transformer, and passes through the line
Displacement transducer gathers the linear motion displacement signal of the electromechanical servo actuator.
2. electromechanical servo system as claimed in claim 1, it is characterised in that the ball-screw is that single nut is fixed interior to follow
Ring ball-screw, and by increasing steel ball size pretension.
3. electromechanical servo system as claimed in claim 1, it is characterised in that the linear movement pick-up using straight line, duplex,
Contact, with centre tapped synthesis transmembrane potential meter；The potentiometric brush assembly of electric is fixed on the nut of the ball-screw
On, two resistance plates are installed in the both sides of the housing.
4. electromechanical servo system as claimed in claim 1, it is characterised in that pass through between the servomotor and ball-screw
Little surplus interference fit flat key is direct-connected.
5. electromechanical servo system as claimed in claim 1, it is characterised in that the limit swinging mechanism is oscillating bearing limit pendulum dress
Put, including little journal stirrup；The little journal stirrup of limit swinging mechanism and the big journal stirrup of the lug component be arranged in parallel.
6. the electromechanical servo system as described in any one of claim 1 to 5, it is characterised in that the control driver includes leading to
News module and three motor control drive modules, the input of each motor control drive module are connected with the communication module
Connect, outfan is connected with an electromechanical servo action device；
The communication module is realized connecting with the communication of the upper computer control system of current electromechanical servo system by RS422 buses
Connect, and the data exchange with the motor control drive module is realized by CAN；
Each described motor control drive module is used under the control of the upper computer control system of current electromechanical servo system, adopts
The phase current of servomotor of the electromechanical servo action device that collection is connected with itself, the angular position of rotation of servomotor and electromechanics are watched
The linear motion displacement signal of actuator is taken, 6 road pwm control signals are obtained by SVPWM space vector control methods, and by institute
State 6 road pwm control signals to export to the electromechanical servo action device being connected with itself, to realize the position to the electromechanical servo action device
Put and servomotor electric current, the closed loop control of speed.
7. electromechanical servo system as claimed in claim 6, it is characterised in that the motor control drive module includes：CAN is total
Interface circuit, DSP and peripheral circuit, current sensor, memory circuitry, signal processing circuit, A/D translation circuits, rotation become
Decoding circuit, Switching Power Supply translation circuit；
The DSP and peripheral circuit are connected with the communication module by the CAN interface circuit；The memory circuitry
It is connected with the DSP and peripheral circuit；The outfan of the DSP and peripheral circuit connects electromechanical servo action device to be controlled；
The current sensor is used for the servomotor of the electromechanical servo action device that collection is connected with the DSP and peripheral circuit
2 phase currents；The line position of the electromechanical servo action device of the outfan of the current sensor and the DSP and peripheral circuit connection
The outfan of displacement sensor is connected with the input of the signal processing circuit, and the signal processing circuit is used for currently connecing
The linear motion displacement signal of the phase current of the servomotor of receipts and electromechanical servo action device is supplied to institute after carrying out signal processing
Stating A/D translation circuits carries out A/D conversion；The outfan of the A/D translation circuits connects the DSP and peripheral circuit；
The rotation becomes the rotation of the electromechanical servo action device that the input connection of decoding circuit is connected with the DSP and peripheral circuit
Transformator outfan, the rotation are become the outfan of decoding circuit and are connected with the DSP and peripheral circuit；
The DSP and the peripheral circuit control instruction that is sent according to upper computer control system and the machine being connected with itself for receiving
The linear motion displacement signal of electric servo action device, the phase current of servomotor, the angular position of rotation of servomotor, pass through
SVPWM space vector control methods are obtained 6 road pwm control signals and are exported to the electromechanical servo action being connected with itself
Device；
The Switching Power Supply translation circuit controls to need all parts that powers to be connected in drive module respectively with current motor, is it
Power supply is provided.
8. electromechanical servo system as claimed in claim 7, it is characterised in that the DSP in the DSP and peripheral circuit is
TMS320F2407A chips.
9. electromechanical servo system as claimed in claim 7, it is characterised in that the motor control drive module also includes：Adopt
Current foldback circuit with tetra- road comparators of LM339；The input of the current foldback circuit is defeated with the current sensor
Go out end connection, the outfan of the current foldback circuit is connected with the DSP and peripheral circuit；The current foldback circuit is used for
In 2 phase currents of the servomotor for comparing to determine current sensor collection whether at least a phase current exceed corresponding pre-
Determine threshold value, if so, then export low level, the DSP and peripheral circuit cut-out 6 when the current foldback circuit exports low level
The output of road pwm control signal.
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|---|---|---|---|---|
| CN106438550B (en) * | 2016-09-09 | 2018-02-13 | 北京精密机电控制设备研究所 | A kind of hydraulic servo actuating system |
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