CN105242678B - A kind of steering gear swaying suppression circuit and steering gear system - Google Patents
A kind of steering gear swaying suppression circuit and steering gear system Download PDFInfo
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- CN105242678B CN105242678B CN201510577363.6A CN201510577363A CN105242678B CN 105242678 B CN105242678 B CN 105242678B CN 201510577363 A CN201510577363 A CN 201510577363A CN 105242678 B CN105242678 B CN 105242678B
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Abstract
The invention provides a kind of steering gear swaying suppression circuit and steering gear system, steering gear system includes feedback circuit and the adder being sequentially connected, signal amplifying and conditioning circuit, jitter suppression circuit, signal transacting and power amplification circuit and Servo-controller；The input of feedback circuit connects the output end of Servo-controller, and the first input end of adder is used for the servos control signal for receiving outside, and the second input of adder is connected to the output end of feedback circuit；Jitter suppression circuit includes amplifier, the first one-way conduction element, the second one-way conduction element, electric capacity, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance and the 6th resistance.The present invention while interference signal is effectively filtered out also can suppression circuit input resistance-capacitance circuit well self-oscillation, in rudder system of the high bandwidth requirement with large inertia, this effect inhibits the shake of steering wheel well, so as to ensure the stability of system.
Description
Technical field
The invention belongs to servos control field, more particularly, to a kind of steering gear swaying suppression circuit and steering gear system.
Background technology
In recent years, with flight attack weapon system attack precision and the continuous improvement of mobility requirement, match therewith
The accuracy of the rudder servo-drive system of set and the requirement more and more higher of stability.The performance requirement of current rudder system is just towards big used
Amount, the direction of high frequency band are developed.
Current rudder servo-drive system still has many using analog circuit control harmonic decelerator and DC MOTOR CONTROL,
Its control method is relatively easy and control theory relative maturity.But under conditions of high frequency band, large inertia, the performance of steering wheel is past
It is past to there are some difficult points when meeting overall system requirement.In the rudder system of heavy load inertia, system high-frequency is met
The problem of easily there is steering gear swaying while band performance.By the analysis to steering gear swaying mechanism, its main cause is substantially divided
For three aspects：(1) rotary inertia of rudder face is bigger than normal；(2) torsional rigidity of decelerator is relatively low；(3) control algolithm needs to improve.
But the rotary inertia of rudder face can not change according to system requirements, the torsional rigidity of decelerator is due to manufacturing process and processing
The reason for level, can not there is lifting by a relatively large margin in a short time, and existing control algolithm is typically calculated using simple PID control
Method, and general pid algorithm can not further lifting system stability margin, possibly can not have in heavy load inertia rudder system
Effect suppresses steering gear swaying, thus by improving control algolithm to suppress steering gear swaying is a kind of feasible effective method.
The steering gear swaying suppressing method typically now used mainly uses increase system stiffness and adjustment control parameter to drop
Start with terms of low rudder system bandwidth.
The content of the invention
For the defect of prior art, it is an object of the invention to provide a kind of steering gear swaying suppression circuit, it is intended to solves
The problem of heavy load inertia steering wheel is shaken when step response is tested.
The invention provides a kind of steering gear swaying suppression circuit, including it is amplifier, the first one-way conduction element, second unidirectional
Breakover element, electric capacity, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance and the 6th resistance；Described 5th
One end of resistance is as the input of steering gear swaying suppression circuit, and the other end of the 5th resistance is connected to the input of amplifier
Negative terminal；One end of the electric capacity is connected to the signal input part of the amplifier by the first resistor, the electric capacity it is another
One end is connected to the signal input part of amplifier by the second resistance；One end of the first one-way conduction element with it is described
The other end connection of electric capacity, the other end of the first one-way conduction element and one end of electric capacity are connected；Described second unidirectionally leads
One end of logical element and one end of electric capacity are connected, and the other end of the second one-way conduction element and the other end of electric capacity are connected；
One end of the 3rd resistor is connected with the other end of the electric capacity, and the other end of the 3rd resistor passes through the 4th resistance
It is connected to the output end of the amplifier；Feedback end of the connection end of the 3rd resistor and the 4th resistance also with the amplifier
Connection；The input negative terminal of the amplifier passes through the 6th resistance eutral grounding, the power supply negative terminal connection -15V electricity of the amplifier
Source, the ground terminal ground connection of the amplifier, the power positive end connection+15V power supplys of the amplifier.
Further, the first one-way conduction element is the first diode D1, the negative electrode conduct of the first diode D1
One end of the first one-way conduction element, the anode of the first diode D1 is used as the another of the first one-way conduction element
One end；The second one-way conduction element is the second diode D2；The negative electrode of the second diode D2 is single as described second
To one end of breakover element, the anode of the second diode D2 as the second one-way conduction element the other end.
Further, during work, when there is self-excitation interference signal into the signal of steering gear swaying suppression circuit in input,
Preferentially by electric capacity C1 and resistance R3, and the first one-way conduction element and the second one-way conduction element can do self-excitation
Signal de-emphasis or elimination are disturbed, so that the self-excitation interference in output signal is inhibited.
In the present invention, due to the presence of steering gear swaying suppression circuit input end capacitor parallel diode, the delayed meeting of circuit
Weaken, while interference signal is effectively filtered out also can suppression circuit input resistance-capacitance circuit well self-oscillation, in height
In the rudder system of bandwidth requirement and large inertia, this effect inhibits the shake of steering wheel well, so as to ensure the stabilization of system
Property.
Present invention also offers a kind of steering gear system, including feedback circuit, and be sequentially connected adder, signal amplification
Modulate circuit, jitter suppression circuit, signal transacting and power amplification circuit and Servo-controller；The input connection institute of feedback circuit
The output end of Servo-controller is stated, the first input end of adder is used for the servos control signal for receiving outside, the second of adder
Input is connected to the output end of the feedback circuit；Characterized in that, the jitter suppression circuit is above-mentioned steering gear swaying
Suppression circuit.
By the contemplated above technical scheme of the present invention, compared with prior art, due to employing in the controls
A kind of active correction or lag circuit with overshoot damping function, can suppress steering wheel while steering wheel dynamic property is ensured and tremble
It is dynamic.
Brief description of the drawings
Fig. 1 is the theory diagram of steering gear system provided in an embodiment of the present invention；
Fig. 2 is the circuit diagram of steering gear swaying suppression circuit provided in an embodiment of the present invention；
Fig. 3 is that electric rudder system is applying the forward and backward step respective waveforms figure of the jitter suppression circuit of the invention provided, its
In (a) do not increase the step respective waveforms figure before steering gear swaying suppression circuit；(b) the steering gear swaying suppression that the present invention is provided is added
Step respective waveforms figure after circuit processed.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention realizes a kind of steering gear swaying suppression circuit；Analog circuit control and using harmonic speed reducer as subtracting
In the rudder system of fast mechanism, because the harmonic speed reducer rigidity of certain model is relatively low, after steering wheel and rudder face assembling, in high frequency
Under the conditions of sound, large inertia, the disturbance torque that air rudder face is formed in motion process is easy to cause rudder face to be shaken.Steering wheel is adding
Larger angular acceleration is needed to have during speed and deceleration, in the case where rudder face rotary inertia is certain, the production of rudder face inertia
Raw disturbance torque becomes big therewith.When rudder system responds step signal, steering wheel by accelerating, at the uniform velocity, moderating process deflects into
After desired locations, the position error signal after control voltage and rudderpost feedback voltage subtract each other is zero, because decelerator rigidity is relatively low,
Under the effect of rudder face inertia, steering wheel output shaft may proceed to deflect certain angle forward, cause and the coaxial mounted angle of output shaft
Spend sensor feedback voltage and be more than control voltage, so as to regenerate position error signal.When this position error signal is more than rudder
When machine starts position error signal determined by voltage, steering wheel can accelerate to rotate toward opposite direction, and by that analogy, steering wheel drives
Rudder piece sweeping action within the specific limits, forms jitter phenomenon.
The present invention carries out circuit design by theory analysis, realizes series active correction or lag link in systems, to increase
The phase margin of adding system, improves the relative stability of system, it is ensured that rudder system also can be real in the case where rigidity allowance is not enough
Existing system is stable and performance is up to standard.
Watched the present invention relates to a kind of based on analog circuit control and use harmonic speed reducer as the rudder control of reducing gear
Dress system, belongs to electromechanical control field.By a kind of circuit design with very strong practicality and versatility, reach and filter out control
The effect of self-excitation interference signal present in signal processed and low frequency small magnitude interference signal, solves be based on to a certain extent
Analog circuit controls and used harmonic speed reducer as the rudder system of reducing gear in the poor situation of steering wheel transmission mechanism rigidity
Under by self-excitation interference or the problem of steering wheel is easily shaken during similar interference signal.
The invention provides a kind of steering gear swaying suppression circuit with very strong practicality and versatility；The steering gear swaying
Suppression circuit is a kind of improved active correction or lag circuit, and its input is connected with rudder feedback error signal, output end
Correction or lag circuit input end electric capacity two ends a pair of reverse silicon diodes in parallel are connected to thick film computing circuit, diode is utilized
The characteristic for constituting bleed-off circuit with electric capacity filters out the small magnitude interference signal of low frequency so that what system self-excitation was produced causes steering wheel to be trembled
Dynamic signal is filtered out, so as to suppress steering gear swaying.
Compared with normal lagging circuit, a kind of steering gear swaying suppression circuit can effectively suppress control system from exciting
Swing.I.e. by modeling and simulating, increase a kind of special lagging circuit in systems, by increasing low frequency small-signal filter function, make
The self-excitation signal produced inside circuit system is filtered out when by this circuit, so as to suppress steering wheel because system self-excitation signal causes
Shake, the stability of a system is had a certain upgrade.
The present invention is in the rudder system using analog circuit control+harmonic speed reducer+DC MOTOR CONTROL, in system position
The signal of ring output end after steering gear swaying suppression circuit as electric current loop input signal.When the output signal of position ring
During change, by steering gear swaying suppression circuit, signal produces the effect of delayed and filtering and calibration, simultaneously because steering gear swaying suppresses
The presence of circuit input end electric capacity parallel diode, the delayed of circuit can weaken, and also can while interference signal is effectively filtered out
The self-oscillation of good suppression circuit input resistance-capacitance circuit, in the rudder system of high bandwidth requirement and large inertia, this work
With the shake of steering wheel is inhibited well, so as to ensure the stability of system.
The present invention by adding the simple circuit with very strong practicality and versatility in controlling circuit in rudder system,
It just can effectively suppress the shake of steering wheel.
For the further description present invention.Embodiments of the invention are made further specifically below in conjunction with the accompanying drawings
It is bright.
Fig. 1 shows the theory diagram of steering gear system provided in an embodiment of the present invention, for convenience of description, illustrate only with
The related part of the embodiment of the present invention, details are as follows：
Steering gear system includes adder 1, signal amplifying and conditioning circuit 2, and jitter suppression circuit 3, signal transacting and power are put
Big circuit 4, Servo-controller 5 (mainly including motor and speed reducer structure) and feedback circuit 6；Signal amplifying and conditioning circuit 2 is main
For receiving rudder system control signal and being filtered and nurse one's health, obtained signal is reached into signal transacting and power amplification circuit
4, jitter suppression circuit 3 is used to suppress self-excitation interference signal and useful signal is followed；Signal transacting and power amplification circuit 4 are main
It will nurse one's health and filtered signal carry out power amplification and drives the servomotor in Servo-controller 5 to carry out corresponding sports, servo
Steering wheel 5 drives output shaft to be moved by reducing gear and motor movement, and feedback circuit 6 is used for the fortune for sensing steering wheel output shaft
Position is moved, and position signalling is fed back into signal amplifying and conditioning circuit 2 and forms closed-loop control system.
Wherein, signal amplifying and conditioning circuit 2 is main by following circuit and filter circuit to constitute, the control that its input is received
After the filtered circuit of signal processed, by the transmission for following circuit realiration signal.
In embodiments of the present invention, jitter suppression circuit 3 includes amplification module 31, differential circuit 32 and leadage circuit 33；
The main function of amplification module 31 is that the signal received is carried out to scale operation and then the component as output signal, differential electricity
The main component carried out input signal after differential signal as output signal in road 32, leadage circuit 33 is main by input signal
The interference signal such as self-oscillation component handled, reach the effect for weakening and eliminating.Amplify mould in jitter suppression circuit
Block 31 and differential circuit 32 are connected in parallel, and its input and output side is connected respectively, and leadage circuit 33 is then embedded in differential circuit 32.
It is parallel to pass through amplification module 31 and differential circuit 32 after input signal enters jitter suppression circuit, when there is self-excitation in signal
During interference signal, this kind of signal can be preferential by differential circuit 32, now leadage circuit 33 can by such signal de-emphasis or elimination,
So that in output signal self-excitation interference etc. cause steering gear swaying interference be inhibited in addition eliminate.
Fig. 2 shows the physical circuit figure for the jitter suppression circuit that one embodiment of the invention is provided, and in fig. 2, ek0 is
The input end signal point of circuit, C1 is the input end capacitor of steering gear swaying suppression circuit, and electric capacity C1 and R3 constitutes a differential electricity
Road, D1, D2 are a pair of backward diodeds in parallel therewith, and predominantly C1 two ends electric charge provides a quick bleed-off circuit, and N1 is
Operational amplifier, operational amplifier N includes 8 ports, and the 1st port is A roads signal output part, and the 2nd port inputs for A roads signal
Negative terminal, the 3rd port is A roads signal input positive terminal, and the 4th port is power supply negative terminal, and the 5th port is B roads signal input positive terminal,
6th port is B roads signal input negative terminal, and the 7th port is B roads signal output part, and the 8th port is power supply anode, for control
The computing of signal, which is realized, provides carrier, and ek1 is the output end of steering gear swaying suppression circuit.When circuit input end signal is small magnitude
During low frequency signal, when passing through the loop that C1 and D1, D2 are constituted due to signal, the electric charge at C1 two ends can quickly move through diode and enter
Row is released, hence in so that the filter effect enhancing of differential circuit, is weakened so that the work(of the system of elimination self-excitation signal conduction with reaching
Energy.According to the component annexation shown in Fig. 2, the electric capacity and resistance value of usual circuit are selected according to needed for specific system,
For universal, the electric capacity of larger capacitance, a pair of input parallel connection should be selected when the interference signal amplitude for needing to filter out is larger
Backward dioded should have fast guiding function.
Specifically, the jitter suppression circuit includes amplifier N1, the first one-way conduction element D1, the second one-way conduction element
D2, electric capacity C1, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R01 and the 6th resistance
R02；Wherein, the 5th resistance R01 one end is used as the input of steering gear swaying suppression circuit, the 5th resistance R01 other end company
It is connected to amplifier N1 the 2nd end (input negative terminal)；Electric capacity C1 one end is connected to amplifier N1 signal by first resistor R1
Input, the electric capacity C1 other end is connected to amplifier N1 signal input part by second resistance R2；First one-way conduction member
Part D1 one end is connected with the electric capacity C1 other end, and the first one-way conduction element D1 other end is connected with electric capacity C1 one end；
Second one-way conduction element D2 one end is connected with electric capacity C1 one end, the second one-way conduction element D2 other end and electric capacity C1
The other end connection；3rd resistor R3 one end is connected with the electric capacity C1 other end, and the 3rd resistor R3 other end passes through the 4th
Resistance R4 is connected to amplifier N1 the 7th end (output end)；3rd resistor R3 and the 4th resistance R4 connection end also with amplifier
N1 the 6th end (feedback end) connection；Amplifier N1 the 3rd end (input positive terminal) is grounded by the 6th resistance R02, amplifier N1's
1st end does not connect vacantly, amplifier N1 the 4th end (power supply negative terminal) connection -15V power supplys, and amplifier N1 the 5th end (ground terminal) connects
Ground, amplifier N1 the 8th end (power positive end) connection+15V power supplys.
As one embodiment of the present of invention, the first one-way conduction element D1 and the second one-way conduction element D2 can be two
Pole pipe, diode D1 negative electrode and diode D2 anode are connected to the electric capacity C1 other end；Diode D1 anode and two poles
Pipe D2 negative electrode is connected to electric capacity C1 one end.
For further description jitter suppression circuit provided in an embodiment of the present invention, its work is described in detail in conjunction with accompanying drawing 2
Make process as follows：
After the error signal e k0 that small magnitude containing low frequency and self-excitation are disturbed flows through R01 resistance, its interference signal is passed through
After the differential circuit that R1, C1 are constituted, it is gathered in the electric charge at C1 two ends and can quickly move through diode and released, the signal after filter
Into operational amplifier, by comprehensive magnification, the error signal needed for generation controls being deflected according to normal angled for steering wheel, from
And suppress steering wheel well and shaken caused by system self-excitation and interference signal.
In embodiments of the present invention, signal transacting and power amplification circuit 4 are main by thick film circuit, optical coupling isolator, drive
The dynamic composition such as H bridges power amplifier and peripheral circuit, realization is isolated with control signal, and produces the adjustable PWM of dutycycle
Signal, motor is rotated.Wherein, thick film circuit can use model HMK60A circuit realiration.
In embodiments of the present invention, Servo-controller 5 includes motor, harmonic speed reducer and angular transducer etc..Motor turns
Move, drive output shaft and angular transducer to rotate by decelerator, while angular transducer sensitivity output angle feedback signal.
In embodiments of the present invention, feedback circuit 6 includes operational amplifier, isolated amplifier etc., and angular transducer is quick
The feedback signal of sense, feeds back to group amplifier, so as to realize system closed loop.
Steering gear system provided in an embodiment of the present invention is in the rotary inertia of rudder face and the torsional rigidity of decelerator certain
In the case of, after series active correction or lag circuit, in process of the test, jitter phenomenon substantially weakens, jitter amplitude and
Frequency is substantially reduced and electric current is without saltus step.It can be seen that good inhibiting effect is played to steering gear swaying,
For the advantage of further description steering gear system provided in an embodiment of the present invention, Fig. 3 gives certain electronic rudder
System is in the forward and backward step respective waveforms figure of the jitter suppression circuit provided using the present invention, wherein (a) does not increase steering gear swaying
Step respective waveforms figure before suppression circuit；(b) step added after the steering gear swaying suppression circuit that the present invention is provided is corresponding
Oscillogram；The steering gear swaying suppression circuit that the present invention is provided as seen from the figure can effectively suppress the shake of electric steering engine.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (4)
1. a kind of steering gear swaying suppression circuit, it is characterised in that including amplifier N1, the first one-way conduction element, second unidirectional
Breakover element, electric capacity C1, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R01 and the 6th
Resistance R02；
One end of the 5th resistance R01 is used as the input of steering gear swaying suppression circuit, the other end of the 5th resistance R01
It is connected to amplifier N1 input negative terminal；
One end of the electric capacity C1 is connected to the signal input part of the amplifier N1, the electric capacity by the first resistor R1
The C1 other end is connected to amplifier N1 signal input part by the second resistance R2；
One end of the first one-way conduction element D1 is connected with the other end of the electric capacity C1, the first one-way conduction element
The other end be connected with electric capacity C1 one end；
One end of the second one-way conduction element is connected with electric capacity C1 one end, the other end of the second one-way conduction element
It is connected with the electric capacity C1 other end；
One end of the 3rd resistor R3 is connected with the other end of the electric capacity C1, and the other end of the 3rd resistor R3 passes through institute
State the output end that the 4th resistance R4 is connected to the amplifier N1；
Feedback end of the connection end of the 3rd resistor R3 and the 4th resistance R4 also with the amplifier N1 is connected；
The input positive terminal of the amplifier N1 is grounded by the 6th resistance R02, and the connection of the power supply negative terminal of the amplifier N1-
15V power supplys, the ground terminal ground connection of the amplifier N1, the power positive end connection+15V power supplys of the amplifier N1.
2. steering gear swaying suppression circuit as claimed in claim 1, it is characterised in that the first one-way conduction element is first
Diode D1, the first diode D1 negative electrode are used as one end of the first one-way conduction element, first diode
D1 anode as the first one-way conduction element the other end；
The second one-way conduction element is the second diode D2；The negative electrode of the second diode D2 is unidirectional as described second
One end of breakover element, the anode of the second diode D2 as the second one-way conduction element the other end.
3. steering gear swaying suppression circuit as claimed in claim 1, it is characterised in that during work, when input to steering gear swaying suppression
When there is self-excitation interference signal in the signal of circuit processed, preferentially by electric capacity C1 and resistance R3, and first one-way conduction member
Self-excitation interference signal can be weakened or eliminated by part and the second one-way conduction element, so that the self-excitation in output signal is dry
Disturb and be inhibited.
4. a kind of steering gear system, including feedback circuit (6), and be sequentially connected adder (1), signal amplifying and conditioning circuit
(2), jitter suppression circuit (3), signal transacting and power amplification circuit (4) and Servo-controller (5)；The input of the feedback circuit
The output end of the end connection Servo-controller (5), the first input end of the adder (1) is used for the servos control for receiving outside
Signal, the second input of the adder (1) is connected to the output end of the feedback circuit (6)；Characterized in that, described tremble
Dynamic suppression circuit (3) is the steering gear swaying suppression circuit described in claim any one of 1-3.
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| CN201510577363.6A CN105242678B (en) | 2015-09-11 | 2015-09-11 | A kind of steering gear swaying suppression circuit and steering gear system |
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| CN201510577363.6A CN105242678B (en) | 2015-09-11 | 2015-09-11 | A kind of steering gear swaying suppression circuit and steering gear system |
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| CN105242678B true CN105242678B (en) | 2017-10-31 |
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| CN201510577363.6A Active CN105242678B (en) | 2015-09-11 | 2015-09-11 | A kind of steering gear swaying suppression circuit and steering gear system |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106773905B (en) * | 2016-11-24 | 2019-02-05 | 中国船舶重工集团公司第七一六研究所 | A kind of disappeared based on power supply timing trembles the switching value output circuit of control |
| CN106843092A (en) * | 2017-04-12 | 2017-06-13 | 北京建中数字科技有限公司 | Steering engine for unmanned plane jitter suppression method, suppressor and unmanned plane |
| CN107589737A (en) * | 2017-09-29 | 2018-01-16 | 兰州飞行控制有限责任公司 | A kind of steering wheel circuit that can control shake |
| CN109696825B (en) * | 2017-10-23 | 2022-04-15 | 深圳市优必选科技有限公司 | Control response method and device of steering engine and steering engine |
| CN109839964B (en) * | 2017-11-29 | 2022-05-10 | 深圳市优必选科技有限公司 | Steering engine control method and terminal equipment |
| CN111113427B (en) * | 2019-12-31 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Steering engine state control method and device for robot, robot and storage medium |
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