CN104600901A - Four-redundant electromechanical servo mechanism - Google Patents
Four-redundant electromechanical servo mechanism Download PDFInfo
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- CN104600901A CN104600901A CN201310530174.4A CN201310530174A CN104600901A CN 104600901 A CN104600901 A CN 104600901A CN 201310530174 A CN201310530174 A CN 201310530174A CN 104600901 A CN104600901 A CN 104600901A
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- gear wheel
- output shaft
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- remaining
- brushless electric
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention belongs to electromechanical servo mechanisms of flight control systems and particularly discloses a four-redundant electromechanical servo mechanism. The four-redundant electromechanical servo mechanism comprises four brushless motors, a four-redundant displacement sensor, four overload shearing mechanisms, four pinions, a large gear, a harmonic reducer, an output shaft and four servo controllers. The four brushless motors are uniformly distributed on the same circumference; the four-redundant displacement sensor is arranged in the center of the circumference. The four-redundant electromechanical servo mechanism achieves integrated design fully depending on a mechanical structure.
Description
Technical field
The invention belongs to the electromechanical coupling system in flight control system, be specifically related to a kind of four remaining electromechanical coupling systems.
Background technology
Servomechanism is the important component part of flight control system, and aerospace flight vehicle is widely used.Because aerospace applications has very high requirement to reliability, such as manned space flight is 97% to the reliability requirement of carrier rocket, is assigned to servo-drive subsystem, and unit RELIABILITY INDEX is close to 0.9999.For high reliability request, the simple reliability improving servomechanism is difficult to the reliability requirement meeting system, therefore, carries out to servomechanism the focus that redundancy design becomes research.Redundancy technology forms system by increasing some functions same unit or adopt the system that many covers are identical, and its essence is a kind of technology utilizing unnecessary resource to improve to exchange system reliability for.Wherein when certain or multiple component failure, remaining parts still can ensure many redundant techniques that systemic-function is complete.
In the technology of existing electromechanical coupling system, the redundancy technology mode of machinery and electrical bond that adopts realizes more, and remaining is generally no more than three, does not also have the four remaining electromechanical coupling systems that can mechanical structure be relied on completely to realize.
Summary of the invention
A kind of mechanical type structure that relies on completely is the object of the present invention is to provide to realize four remaining electromechanical coupling systems of integrated design.
Realize the technical scheme of the object of the invention: a kind of four remaining electromechanical coupling systems, it comprises brushless electric machine, four remaining displacement transducers, overload separation mechanism, pinion, gear wheel, harmonic speed reducer, output shaft and servo controller, gear wheel external engagement four pinions, each pinion is connected with the driven shaft of an overload separation mechanism all separately, the driving shaft of each overload separation mechanism is connected with the output shaft of a brushless electric machine all separately, and the input of each brushless electric machine is connected with the output of a servo controller all separately; The output of gear wheel is connected with harmonic speed reducer, and harmonic speed reducer exports just wheel and is connected with the input of output shaft, and the output of output shaft is connected with the input of four remaining displacement transducers.
Four described pinions are uniformly distributed along the circumference of gear wheel.
The output of described output shaft is positioned at the centre bore of gear wheel, and output shaft is coaxial with gear wheel.
By decelerator sleeve connection between the output of described gear wheel and harmonic speed reducer.
Advantageous Effects of the present invention is:
(1) the present invention relies on mechanical structure to realize four redundancy designs completely, overload separation mechanism is installed between brushless electric machine output shaft and gear drive, can by the size of pressing force of the spring adjustment overload torque in adjustment overload separation mechanism, when the stuck fault of generation motor, can isolate this channel failure, protect whole electromechanical coupling system, improve reliability, and the rated power of every platform motor is designed to 50% of system nominal power output, when wherein occur a road, two-way or three tunnel faults time, still can normally work;
(2) four-way motor is evenly arranged in a circumferential direction, by four cover pinions and a set of gear wheel gear motion, four-way power output is synthesized, four remaining displacement transducers are arranged on the center of four brushless electric machines, effectively utilize space, achieve the integrated design of electromechanical coupling system.
Accompanying drawing explanation
Fig. 1 is the theory diagram of a kind of four remaining electromechanical coupling systems provided by the present invention;
Fig. 2 is the cutaway view of a kind of four remaining electromechanical coupling systems provided by the present invention;
Fig. 3 is the right view of Fig. 2.
In figure: 1. brushless electric machine, 2. four remaining displacement transducers, 3. overload separation mechanism, 4. right shell body, 5. pinion, 6. gear wheel, 7. harmonic speed reducer, 8. output shaft, 9. servo controller, 10. interface, 11. left shells, 12. end caps, 13. decelerator sleeves, 14. harmonic speed reducers export just wheel, 15. harmonic speed reducer inputs just wheel, 16. reducing sleeves.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As depicted in figs. 1 and 2, a kind of four remaining electromechanical coupling systems provided by the invention comprise: brushless electric machine 1, four remaining displacement transducers 2, overload separation mechanism 3, right shell body 4, pinion 5, gear wheel 6, harmonic speed reducer 7, output shaft 8, servo controller 9, interface 10, left shell 11, end cap 12, decelerator sleeve 13.Pinion 5, overload separation mechanism 3, brushless electric machine 1, servo controller 9 have four respectively.The excircle of gear wheel 6 is engaged with four pinions 5, four pinions 5 are uniformly distributed along the circumference of gear wheel 6, the central through hole place of each pinion 5 all connects the driven shaft of an overload separation mechanism 3 each via key, the output shaft interference fit of the driving shaft of overload separation mechanism 3 and a brushless electric machine 1, and connect with pin.Clutch and spring is had in overload separation mechanism 3, overload torque can be regulated by the thrust of regulating spring, when there is stuck fault in brushless electric machine 1, overload torque reaches threshold value, clutch separately, drive driving shaft to be separated with driven shaft, thus by the disconnecting between brushless electric machine 1 and pinion 5, this branch road is isolated.
The central hole of gear wheel 6 is connected by screw one end of decelerator sleeve 13, the other end of decelerator sleeve 13 is connected by screw harmonic speed reducer 7, harmonic speed reducer exports just wheel 7 and is connected by screw the input of output shaft 8, harmonic speed reducer 7 by the rotation transmission of gear wheel 6 to output shaft 8.The output of output shaft 8 runs through the centre bore of gear wheel 6.The output of output shaft 8 and the input of four remaining displacement transducers 2 are by reducing sleeve 16 interference fit, and output shaft 8 drives the input of four remaining displacement transducers 2 to rotate.Four remaining displacement transducer 2 inside comprise four inner branch roads, each inner branch road is connected with the signal feedback end of a servo controller 9 all separately, the positional information of output shaft 8 is passed to servo controller 9 with the form of voltage signal by four remaining displacement transducers 2, and four inner branch roads are parallel connection and output signal identical.When one of them, two, three inner branch roads break down time, still can ensure to have at least an inner branch road correctly to deliver the positional information of output shaft 8.
The output of servo controller 9 is connected by holding wire with the input of brushless electric machine 1, and servo controller 9 controls rotating speed and the direction of brushless electric machine 1, and current signal and Hall voltage are then fed back to servo controller 9 by brushless electric machine 1.Every platform servo controller 9 accepts externally fed and command signal, and outwards exports the state of brushless electric machine 1 and four remaining displacement transducers 2.Servo controller 9, brushless electric machine 1, overload separation mechanism 3, pinion 5, gear wheel 6, harmonic speed reducer 7, output shaft 8, four remaining displacement transducer 2 constitute a complete close loop control circuit.
The left end of output shaft 8 is connected by screw the right-hand member of interface 10, the outer cover of interface 10 and output shaft 8 has end cap 12, one end of end cap 12 is connected by screw left shell 11, left shell 11 is enclosed within the outside of harmonic speed reducer 7, the right-hand member of left shell is connected by screw the left end of right shell body 4, and four groups of pinions 5, overload separation mechanisms 3 are all positioned at right shell body 4.
As shown in Figure 3, in order to make full use of space, four brushless electric machines 1 are circumferentially evenly being arranged, and four remaining displacement transducers 2 are arranged in the center of this circumference, this arrangement mode makes compact conformation, achieves the integrated design of electromechanical coupling system in small size.
The course of work of the present invention is as follows: when four brushless electric machines 1 all normally work, the moment of brushless electric machine 1 is passed to pinion 5 by overload separation mechanism 3, moment is synthesized on gear wheel 6 by four pinions 5, gear wheel 6 is moved by harmonic speed reducer 7 driver output axle 8, the position signalling of output shaft 8 is exported to servo controller 9 by four remaining displacement transducers 2, forms feedback between brushless electric machine 1 and servo controller 9.The rated power of every platform brushless electric machine is 50% of system nominal power output, therefore every platform brushless electric machine 1 need use its power of 50%, can ensure that system is run with rated output power.
In four brushless electric machines 1 a certain when there is the stuck fault of non-motor, overload separation mechanism 3 can not cut off this branch road, servo controller 9 cuts off the power electricity of this brushless electric machine 1 and controls electricity, this branch road can by other normal branch road brought into motion, produce frictional resistance, therefore only exist as a very little load.
During the stuck fault of a certain generation motor in four brushless electric machines 1, overload separation mechanism 3 is by this branch road of mechanical cutting, namely the disconnecting between brushless electric machine 1 and pinion 5, servo controller 9 cuts off the power electricity of this brushless electric machine 1 and controls electricity, now remaining branch road normally works, and the stuck infinitely great load brought of motor is isolated.When there being the stuck fault of two branch road generation motors, every platform motor 100% output motor rated power of normal work, system still can work under nominal power.
In conjunction with the accompanying drawings and embodiments the present invention is explained in detail above, but the present invention is not limited to above-described embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from present inventive concept.The content be not described in detail in the present invention all can adopt prior art.
Claims (4)
1. a remaining electromechanical coupling system, it is characterized in that: it comprises brushless electric machine (1), four remaining displacement transducers (2), overload separation mechanism (3), pinion (5), gear wheel (6), harmonic speed reducer (7), output shaft (8) and servo controller (9), gear wheel (6) external engagement four pinions (5), each pinion (5) is connected with the driven shaft of an overload separation mechanism (3) all separately, the driving shaft of each overload separation mechanism (3) is connected with the output shaft of a brushless electric machine (1) all separately, the input of each brushless electric machine (1) is connected with the output of a servo controller (9) all separately, the output of gear wheel (6) is connected with harmonic speed reducer (7), and harmonic speed reducer exports just wheel (14) and is connected with the input of output shaft (8), and the output of output shaft (8) is connected with the input of four remaining displacement transducers (2).
2. a kind of four remaining electromechanical coupling systems according to claim 1, is characterized in that: four described pinions (5) are uniformly distributed along the circumference of gear wheel (6).
3. a kind of four remaining electromechanical coupling systems according to claim 2, is characterized in that: the output of described output shaft (8) is positioned at the centre bore of gear wheel (6), and output shaft (8) is coaxial with gear wheel (6).
4. a kind of four remaining electromechanical coupling systems according to claim 3, is characterized in that: the output of described gear wheel (6) is connected by decelerator sleeve (13) with between harmonic speed reducer (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310530174.4A CN104600901B (en) | 2013-10-31 | 2013-10-31 | A kind of four remaining electromechanical coupling systems |
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| CN201310530174.4A CN104600901B (en) | 2013-10-31 | 2013-10-31 | A kind of four remaining electromechanical coupling systems |
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| CN104600901A true CN104600901A (en) | 2015-05-06 |
| CN104600901B CN104600901B (en) | 2017-08-18 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841605A (en) * | 2016-04-25 | 2016-08-10 | 北京青云航空仪表有限公司 | Quad redundant angular displacement sensor |
| CN106763007A (en) * | 2017-02-17 | 2017-05-31 | 北京航空航天大学 | Integrated electricity hydrostatic servo control mechanism |
| CN107725705A (en) * | 2017-09-30 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of double remaining electromechanical actuators of linear antiseize |
| CN110701249A (en) * | 2019-08-27 | 2020-01-17 | 中国航空工业集团公司西安飞行自动控制研究所 | Parallel type dual-redundancy electric steering engine based on overrunning clutch |
| CN112762816A (en) * | 2020-12-25 | 2021-05-07 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN113734427A (en) * | 2021-07-28 | 2021-12-03 | 北京精密机电控制设备研究所 | Unmanned aerial vehicle dual-redundancy front wheel turning servo system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2306100Y (en) * | 1997-08-18 | 1999-02-03 | 北京市电加工研究所 | Rotary servo machining device for numerically controlled linear cutting machine tool |
| JP2007325479A (en) * | 2006-06-05 | 2007-12-13 | Apm Corp | Multi-driving motor |
| GB0618902D0 (en) * | 2006-09-25 | 2006-11-01 | Airbus Uk Ltd | Actuator |
| CN101702372A (en) * | 2009-09-10 | 2010-05-05 | 保定天威集团有限公司 | Assembling platform for large power transformer servo control coil |
| CN101875398B (en) * | 2009-10-30 | 2013-01-23 | 湖北航达科技有限公司 | Multi-redundancy rotary motor-driven mechanism for driving airplane exhaust valve |
| CN102001094B (en) * | 2010-10-21 | 2012-06-27 | 北京航空航天大学 | Reliable joint control-driven component and control method thereof |
| CN102653066A (en) * | 2011-03-04 | 2012-09-05 | 张家港市九鼎机械有限公司 | Integrated transmission case for machine tool |
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- 2013-10-31 CN CN201310530174.4A patent/CN104600901B/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841605A (en) * | 2016-04-25 | 2016-08-10 | 北京青云航空仪表有限公司 | Quad redundant angular displacement sensor |
| CN106763007A (en) * | 2017-02-17 | 2017-05-31 | 北京航空航天大学 | Integrated electricity hydrostatic servo control mechanism |
| CN106763007B (en) * | 2017-02-17 | 2018-01-26 | 北京航空航天大学 | The electric hydrostatic servo control mechanism of integration |
| CN107725705A (en) * | 2017-09-30 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of double remaining electromechanical actuators of linear antiseize |
| CN107725705B (en) * | 2017-09-30 | 2020-06-09 | 北京精密机电控制设备研究所 | Linear anti-jamming dual-redundancy electromechanical actuator |
| CN110701249A (en) * | 2019-08-27 | 2020-01-17 | 中国航空工业集团公司西安飞行自动控制研究所 | Parallel type dual-redundancy electric steering engine based on overrunning clutch |
| CN112762816A (en) * | 2020-12-25 | 2021-05-07 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN112762816B (en) * | 2020-12-25 | 2022-07-05 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN113734427A (en) * | 2021-07-28 | 2021-12-03 | 北京精密机电控制设备研究所 | Unmanned aerial vehicle dual-redundancy front wheel turning servo system |
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| CN104600901B (en) | 2017-08-18 |
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