CN106452205A - Electric actuation system and control method thereof - Google Patents
Electric actuation system and control method thereof Download PDFInfo
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- CN106452205A CN106452205A CN201610656558.4A CN201610656558A CN106452205A CN 106452205 A CN106452205 A CN 106452205A CN 201610656558 A CN201610656558 A CN 201610656558A CN 106452205 A CN106452205 A CN 106452205A
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- signal
- steering wheel
- circuit
- actuation system
- electric actuation
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides an electric actuation system comprising a digital controller, first to fourth power supply transformation circuits and first to fourth steering engines. The digital controller acquires the input current signals, the rotor displacement signals and the rotor angle signals of the first to fourth steering engines and integrally computes the driving signals of the switching devices in the first to fourth power supply transformation circuits by using a vector control method and transmits the driving signals to the first to fourth power supply transformation circuits through an isolation circuit. The first to fourth power supply transformation circuits supply driving electric energy to the first to fourth steering engines. Four steering engines are integrally controlled by using one digital controller so that high-performance position servo control can be realized, the power density of the system can be enhanced, miniaturization of the system can be facilitated and the reliability and the rapidity of the system can be guaranteed.
Description
Technical field
The present invention is relevant electric actuation system, and in particular to integrated control mode electric actuation system.
Background technology
Electric actuation system (Electro Mechanical Actuator, EMA), be applied to Aeronautics and Astronautics, military affairs,
The full name of servo-control system in the fields such as machinery, it cither indirectly or directly controls target by controlling the operation of executing agency
Motion, thus reach the purpose of operator.European and American developed countries with the U.S. as representative, substantially real the nineties in last century
Through engineering approaches application on aerospace flight vehicle for the existing EMA.Electric actuation system is to realize the crucial portion that aerial vehicle trajectory controls
Part, by accepting flight controller instruction, four rudder faces of control aircraft, it is achieved dive, roll, climb, the flight of lower degradation
Mode.Each rudder surface control system is made up of a steering wheel mechanism, and then four steering wheel mechanism one aircraft completing of composition
Rudder face electric actuation system.Using single DSP control separate unit steering wheel structure, it is independent that i.e. whole electric actuation system comprises four sets
DSP and steering wheel.During work, action command is divided into four direction by host computer, is sent respectively to four steering gear systems, a DSP
Control a steering wheel motion, reach to control the effect of flight path by four coordinative roles.One is system architecture and hardware electricity
Road is complicated；Two is that four controllers are difficult to ensure that real time synchronization, and then reliability is difficult to ensure that.In addition, traditional electric power does
Dynamic system uses the mode of single controller (DSP) control separate unit steering wheel, it is achieved the SERVO CONTROL to steering wheel, is unfavorable for following aviation
Steering wheel in AEROSPACE APPLICATION occasion will towards miniaturization, lightweight, in high precision, high efficiency direction develops.
Content of the invention
The present invention proposes the electric actuation system of a kind of four steering wheels of single controller centralized Control, it is achieved that control system
System simplify with integrated, and provide a kind of centerized fusion algorithm realize electric power is done in system four steering wheels high-precision
Degree position servo control, the program that solves easily is overflowed and is run the problem flying.Additional aspects of the present invention and advantage part will be rear
The description in face illustrates also have part can be apparent from from describe, or can obtain in the practice of the invention.
The present invention provides a kind of electric actuation system, including a digitial controller, multiple power converting circuit, multiple rudder
Machine, described digitial controller gathers the status signal of each steering wheel described, and it is described to use vector control method centralized calculation to go out
The driving signal of power converting circuit breaker in middle device, gives each described power converting circuit through isolation circuit transmission, described
Power converting circuit is respectively described steering wheel and provides driving electric energy.
In one embodiment of the present invention, described electric actuation system includes first to fourth power converting circuit and first
To the 4th steering wheel, described first to fourth power converting circuit is respectively described first to fourth steering wheel and provides driving electric energy.
In one embodiment of the present invention, digitial controller includes digit chip and logic chip, described digit chip meter
Exporting to logic chip after calculating driving signal, logic chip is the plurality of through isolation circuit output after carrying out logical operation again
Power converting circuit.
In one embodiment of the present invention, described power converting circuit is bridge-type inverter.
In one embodiment of the present invention, described steering wheel include permagnetic synchronous motor, rotary transformer, displacement transducer with
And roller screw, the displacement signal of institute displacement sensors detection permagnetic synchronous motor, institute's displacement sensors one end with described
Steering wheel bottom is fixing to be connected, and the other end is connected with described ball-screw, and overall is parallel with steering wheel, when described steering wheel moves,
Described ball-screw produces displacement, and the movable end of institute's displacement sensors moves therewith, and then output rotor displacement signal.
The rotor angle signal of described rotary transformer detection permagnetic synchronous motor.
In one embodiment of the present invention, described digitial controller gathers respectively to rotate described in one by a decoding circuit and becomes
The rotor angle signal of depressor output, all described decoding circuits receive identical clock input signal.
In one embodiment of the present invention, described decoding circuit provides pumping signal, an institute for described rotary transformer
Stating decoding circuit provides pumping signal through overdriving amplifying circuit rotary transformer described at least two.
In one embodiment of the present invention, described digitial controller uses the mode of data/address bus to read described decoding circuit
Output signal.
The present invention also provides a kind of electric actuation system control method, uses the described electric actuation system of testing circuit detection
The input current signal of middle motor, is changed into current signal in rest frame through clark conversion, in conjunction with turning of detecting
Sub-angle signal, carries out park transformation calculations and goes out current signal id and iq in rotating coordinate system, uses id and iq as in electric current
The value of feedback of ring；Use the rotor displacement signal of motor in the described electric actuation system of testing circuit detection, in conjunction with rotor displacement
Signal reference value, calculates reference value iq* of current signal iq in rotating coordinate system through position control, and current signal id ties
Closing reference value id* and calculating rotating coordinate system breaker in middle control reference signal ud through the first current regulator, iq and iq* passes through
Second current regulator calculates rotating coordinate system breaker in middle control reference signal uq, in conjunction with rotor angle signal, and passes through
Park inverse transformation calculates rotating coordinate system breaker in middle control reference signal, produces power conversion electricity through drive signal generator
The driving signal of road breaker in middle device, controls the input electric energy of motor in described steering wheel.In one embodiment of the present invention, described
Drive signal generator uses space vector based SPWM modulator approach to determine the dutycycle that switching signal drives.
Beneficial effect, the present invention uses a digitial controller to realize the centralized Control of electric actuation system, it is simple to electric power
Every steering wheel the synchronized Coordinative Control in actuating system, circuit structure simply easily realizes, improves the power density of system.
For the features described above of invention and advantage can be become apparent, special embodiment below, and coordinate institute's accompanying drawings to make
Describe in detail as follows.
Brief description
Fig. 1 is embodiment of the present invention block diagram.
Fig. 2 is the schematic diagram of a specific embodiment of the present invention.
Fig. 3 is steering wheel schematic diagram.
Fig. 4 is the specific embodiment of position signal acquisition of the present invention.
Fig. 5 is position signalling read schemes flow chart.
Fig. 6 is the control program figure of electric actuation system of the present invention.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
The embodiment of the present invention provides a kind of electric actuation system and control method thereof, uses centerized fusion scheme, uses
One digitial controller four steering wheel of control, it is ensured that the reliability of system, rapidity, and improve the power density of system.With
Under the example that can actually implement according to this as the present invention especially exemplified by embodiment.In addition, in place of all possibility, at graphic and embodiment
Middle assembly/component/the step using identical label, is to represent same or like parts.
Fig. 1 is embodiment of the present invention block diagram, and described electric actuation system includes digitial controller the 11st, the first steering wheel the 121st,
Two steering wheels the 122nd, the 3rd steering wheel 123 and the 4th steering wheel 124, the first power converting circuit the 131st, second source translation circuit the 132nd,
Three power converting circuits the 133rd, the 4th power converting circuit 134, described digitial controller 11 controls described first steering wheel the 121st,
Two steering wheels the 122nd, the 3rd steering wheel 123 and the 4th steering wheel 124, described first to fourth power converting circuit be respectively described first to
4th steering wheel provides and drives power supply, and described digitial controller gathers the status signal of described first to fourth steering wheel, described state
Signal preferably has input current signal, rotor displacement signal and rotor angle signal, and exports first to fourth power conversion
The driving signal of circuit breaker in middle device, it is achieved centerized fusion scheme, improves the power density of electric actuation system.
It is illustrated in figure 2 the present invention one specific embodiment, it is preferred that described first to fourth power converting circuit is bridge-type
Inverter circuit, the driving electric current letter by first to fourth sampling circuit samples first to fourth steering wheel for the described digitial controller
Number i and the rotor displacement signal L of steering wheel, by the rotor angle signal of steering wheel described in the second sampling circuit samples, described numeral
Controller calculates the driving signal of described first to fourth power converting circuit, through isolation circuit transmission give described first to
4th power converting circuit, drives turning on and off of switching device therein, thus regulates the driving electric current of its output, reach
Purpose to control steering wheel.
In particular, the digitial controller 21 of the present invention includes digit chip and logic chip, described digit chip meter
Calculate driving signal after export to logic chip, logic chip carry out logical operation again after through isolation circuit export to first to
4th power converting circuit.Described digit chip can be DSP28335, and described logic chip can be CPLD, as example,
The ePWM module multipotency of single DSP28335 sends 12 tunnel independence pwm signals, is only capable of driving two steering wheels, and drives four rudders
Machine needs 12 to independent PWM drive signal, i.e. 24 road pwm signals.Therefore DSP is combined with CPLD, increases pwm signal quantity
In addition, drive signal to improve the stability of driving after carrying out logical operation by logic controller.
Described steering wheel is mainly combined rotary transformer the 3202nd, displacement transducer 3203 by sine-wave permanent magnet synchronous motor 3201
And roller screw 3204 frame for movement composition.Institute's displacement sensors 3203 detects the displacement letter of permagnetic synchronous motor 3201
Number, illustrating, the voltage-type displacement transducer that displacement transducer 3203 is powered for 15V, output signal is 0～15V voltage letter
Number, the displacement of its 0～75mm corresponding.Institute's displacement sensors 3203 one end and described steering wheel bottom are fixing to be connected, the other end and
Described ball-screw 3204 connects, and overall is parallel with steering wheel, and when described steering wheel moves, described ball-screw 3204 produces position
Moving, the movable end of institute's displacement sensors 3203 moves therewith, and then output rotor displacement signal.Described rotary transformer
3202 for detecting the anglec of rotation of permagnetic synchronous motor, and Fig. 4 show the hardware connection of described rotation transformation 3202 device parallel port and shows
It is intended to.The clock signal that crystal oscillator produces carries out frequency dividing by chip NB3N551 and obtains four tunnels same frequency clock signal, and this both can guarantee that
The driving force of clock signal can guarantee that again four rotations become the synchronism of decoding circuit work.Each steering wheel comprises one and rotates change
Depressor, described electric actuation system comprises four rotary transformers, through four decoding circuits, such as ADS1200, to four just
The rotor-position of string ripple permagnetic synchronous motor quick and precisely reads.Two of which rotary transformer shares one group of excitatory letter
Number, then feed back respective sine and cosine analog signal and to corresponding decoding circuit, decoding circuit, sine and cosine analog signal is converted to
Corresponding 12 bit binary number signals.Which decreases hardware circuit component number, is conducive to improving the work(of controller
Rate density.Perform rapidity in order to improve the real-time of transmission of data and digitial controller program by four decoding circuits
12 position datawire one group of data/address bus of composition.Then digitial controller enables signal sequence by CS and RD and chooses corresponding decoding electricity
Road, reads 12 bit data by parallel port mode, and after digit chip data are processed, order obtains the rotor angle of four motors
Signal, in order to in vector control algorithm, digit chip reads the program circuit of rotor angle signal as shown in Figure 5.CS1=
The rotor angle signal of the rotary transformer of 0, RD1=1 reading the first steering wheel, CS1=1, RD1=0, CS2=0, RD2=1 read
Taking the rotor angle letter of the rotary transformer of the second steering wheel, CS2=1, RD2=0, CS3=0, RD3=1 read the 3rd steering wheel
The rotor angle letter of rotary transformer, CS3=1, RD3=0, CS4=0, RD4=1 read the rotary transformer of the 4th steering wheel
Rotor angle is believed.
Described rotary transformer needs excitation input can produce signal output, and the present invention uses two rotary transformers
Sharing one group of excitation amplifying circuit, the first excitation amplifying circuit includes the first positive pole amplifying circuit and the first negative pole amplifying circuit,
First positive pole amplifying circuit amplifies the electric energy of the first excitation electric energy positive pole input, and is supplied to the first steering wheel and the rotation of the second steering wheel
Changing excitation rotor one end of depressor, the first negative pole amplifying circuit amplifies the electric energy of the first excitation electric energy negative pole input, and provides
The other end to the excitation rotor of the rotary transformer of the first steering wheel and the second steering wheel.Equally, the second excitation amplifying circuit includes
First positive pole amplifying circuit and the first negative pole amplifying circuit, the first positive pole amplifying circuit amplifies the first excitation electric energy positive pole input
Electric energy, and it is supplied to excitation rotor one end of the rotary transformer of the 3rd steering wheel and the 4th steering wheel, the first negative pole amplifying circuit is put
The electric energy of big first excitation electric energy negative pole input, and it is supplied to the excitation rotor of the rotary transformer of the 3rd steering wheel and the 4th steering wheel
The other end.Described excitation amplifying circuit is that an operational amplifier combines resistance and the proportional integral amplifying circuit of electric capacity composition.
The mode that two rotary transformers of the present invention share one group of exciting circuit decreases hardware circuit unit device
Number of packages amount, thus further increase power density.The structure that position is read simultaneously improves the real-time that position is read, and subtracts
Few digitial controller reads the execution time of motor position information.
The signal of displacement transducer and rotary transformer output is changed after the first sample circuit and the second sample circuit
Become the voltage signal that can bear of digitial controller the data processing unit being sent to digitial controller.Use in digitial controller
The data gathering are processed by AD conversion module, and analog quantity is converted to the digital quantity that control system is capable of identify that, simultaneously right
Signal carries out Data Control and processes the control realizing on software, and the drive control letter of out-put supply translation circuit breaker in middle device
Number, controlling the output electric current of power converting circuit, thus control the rotating speed of motor in steering wheel.The present invention, especially exemplified by embodiment, makes
Realize the generation of drive control signal PWM ripple by the ePWM module in DSP28335.
Fig. 6 is the block diagram of the position servo control algorithm of separate unit steering wheel.Controller uses the method for vector controlled, to system
Carry out double-closed-loop control, i.e. inner ring electric current loop and outer shroud position ring.Testing circuit detect motor current signal i (ia, ib,
Ic) and rotor angle signal θ, it is changed into current signal i α and i β in rest frame through clark conversion, in conjunction with rotor
Position signalling θ, carries out PARK transformation calculations and goes out current signal id, iq in rotating coordinate system, uses id and iq as current inner loop
Value of feedback.The displacement signal L of testing circuit detecting position displacement sensor, as Displacement Feedback value bound site shifting signal reference value
L*, through position control, adoption rate adjuster calculates reference value iq* of current signal iq in rotating coordinate system, this reality
Execute example preferred id*=0, id and id* and calculate rotating coordinate system breaker in middle control reference signal ud through the first current regulator,
Iq and iq* calculates rotating coordinate system breaker in middle control reference signal uq, described current regulator through the second current regulator
Adoption rate integral controller, in conjunction with rotor-position signal θ, and calculates rotating coordinate system breaker in middle through Park inverse transformation
Control reference signal u α and u β, through the switching signal of the raw power regulator breaker in middle device of drive signal generator, controls institute
State the input current of motor in steering wheel.Described drive signal generator uses SVPWM method (space vector based SPWM) to determine and opens
The dutycycle that OFF signal drives.
The present invention has extraordinary effect：Achieve with the independent position servo control to four steering wheels for the controller
System, it is ensured that the reliability of system, rapidity, and improve the power density of system.Wherein double based on vector control strategy
Closed loop controlling structure (outer shroud position ring, inner ring electric current loop) can meet high performance position servo control and require, reaches essence simultaneously
The purpose of letter software algorithm, it is ensured that individual digit controller can the position servo control algorithm of built-in four steering wheels.
Although the present invention is disclosed above with embodiment, so it is not limited to the present invention, any art
Middle tool usually intellectual, without departing from the spirit and scope of the present invention, when a little change and retouching can be made, therefore the present invention
Protection domain when being as the criterion depending on the defined person of appended claims.
Claims (10)
1. electric actuation system, it is characterised in that include a digitial controller, multiple power converting circuit, multiple steering wheel, described
Digitial controller gathers the status signal of each steering wheel described, and uses vector control method centralized calculation to go out described power conversion
The driving signal of circuit breaker in middle device, gives each described power converting circuit, described power conversion through isolation circuit transmission
Circuit is respectively described steering wheel and provides driving electric energy.
2. electric actuation system as claimed in claim 1, it is characterised in that described electric actuation system includes first to fourth electricity
Source translation circuit and first to fourth steering wheel, described first to fourth power converting circuit is respectively described first to fourth steering wheel
There is provided and drive electric energy.
3. electric actuation system as claimed in claim 1, it is characterised in that described digitial controller includes digit chip and logic
Chip, described digit chip exports to described logic chip after calculating driving signal, and described logic chip carries out logic fortune again
It is supplied to described power converting circuit through isolating circuit after calculation.
4. electric actuation system as claimed in claim 1, it is characterised in that described power converting circuit is bridge-type inverter.
5. electric actuation system as claimed in claim 1, it is characterised in that described steering wheel includes permagnetic synchronous motor, rotates change
Depressor, displacement transducer and roller screw, the displacement signal of institute's displacement sensors detection permagnetic synchronous motor, described displacement
Sensor one end is fixing with described steering wheel bottom to be connected, and the other end is connected with described ball-screw, and overall is parallel with steering wheel, when
During the motion of described steering wheel, described ball-screw produces displacement, and the movable end of institute's displacement sensors moves therewith, and then defeated
Go out rotor displacement signal, the rotor angle signal of described rotary transformer detection permagnetic synchronous motor.
6. electric actuation system as claimed in claim 4, it is characterised in that described digitial controller is by a decoding circuit respectively
Gathering the rotor angle signal of rotary transformer output described in one, all described decoding circuits receive identical clock input letter
Number.
7. electric actuation system as claimed in claim 5, it is characterised in that described decoding circuit provides for described rotary transformer
Pumping signal, a described decoding circuit provides excitation letter through overdriving amplifying circuit rotary transformer described at least two
Number.
8. electric actuation system as claimed in claim 5, it is characterised in that described digitial controller uses the mode of data/address bus
Read the output signal of described decoding circuit.
9. the control method of electric actuation system, it is characterised in that use electricity in the described electric actuation system of testing circuit detection
The input current signal of machine, is changed into current signal in rest frame through clark conversion, in conjunction with the rotor angle detecting
Degree signal, carries out park transformation calculations and goes out current signal id and iq in rotating coordinate system, uses id and iq as current inner loop
Value of feedback；Use the rotor displacement signal of motor in the described electric actuation system of testing circuit detection, in conjunction with rotor displacement signal
Reference value, calculates reference value iq* of current signal iq in rotating coordinate system through position control, and current signal id combines ginseng
Examining value id* and calculating rotating coordinate system breaker in middle control reference signal ud through the first current regulator, iq and iq* is through second
Current regulator calculates rotating coordinate system breaker in middle control reference signal uq, in conjunction with rotor angle signal, and through Park
Inverse transformation calculates rotating coordinate system breaker in middle control reference signal, produces in power converting circuit through drive signal generator
The driving signal of switching device, controls the input electric energy of motor in described steering wheel.
10. the control method of electric actuation system as claimed in claim 8, it is characterised in that described drive signal generator makes
Determine the dutycycle that switching signal drives by space vector based SPWM modulator approach.
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| CN201610656558.4A CN106452205A (en) | 2016-08-09 | 2016-08-09 | Electric actuation system and control method thereof |
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| CN201610656558.4A CN106452205A (en) | 2016-08-09 | 2016-08-09 | Electric actuation system and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107395075A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Spaceborne drive control device based on LMD18200 chips |
| CN107612431A (en) * | 2017-09-28 | 2018-01-19 | 中国科学院长春光学精密机械与物理研究所 | The control method and control system of a kind of electric steering engine |
| CN109500816A (en) * | 2018-12-03 | 2019-03-22 | 江苏莱宝电力股份有限公司 | Robot actuating system and its control method |
| CN110311597A (en) * | 2019-07-30 | 2019-10-08 | 南京航空航天大学 | A kind of centrifugal electro-mechanical actuator rest frame space-time decoupling method |
| CN114499035A (en) * | 2020-10-26 | 2022-05-13 | 北京机械设备研究所 | Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107395075A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Spaceborne drive control device based on LMD18200 chips |
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| CN109500816A (en) * | 2018-12-03 | 2019-03-22 | 江苏莱宝电力股份有限公司 | Robot actuating system and its control method |
| CN110311597A (en) * | 2019-07-30 | 2019-10-08 | 南京航空航天大学 | A kind of centrifugal electro-mechanical actuator rest frame space-time decoupling method |
| CN114499035A (en) * | 2020-10-26 | 2022-05-13 | 北京机械设备研究所 | Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor |
| CN114499035B (en) * | 2020-10-26 | 2024-01-23 | 北京机械设备研究所 | Electric steering engine system directly driven by outer rotor permanent magnet synchronous motor |
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