CN107302212B - A kind of control method of sustained overload protection electric steering engine - Google Patents
A kind of control method of sustained overload protection electric steering engine Download PDFInfo
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- CN107302212B CN107302212B CN201710515799.1A CN201710515799A CN107302212B CN 107302212 B CN107302212 B CN 107302212B CN 201710515799 A CN201710515799 A CN 201710515799A CN 107302212 B CN107302212 B CN 107302212B
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- steering engine
- electric steering
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- reference value
- rudder
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
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- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of control methods of sustained overload protection electric steering engine; include: S1, electric steering engine are using c position ring corrective loop as control system; use the angular displacement output quantity of electric steering engine for position feed back signal, the motor of the pwm signal driving electric steering engine exported after being resolved according to control rotates；S2, increase setting current sensor in the control system of electric steering engine, acquire the current signal of electric steering engine；S3, when the obtained current signal of sampling is greater than the current reference value of electric steering engine component, close the power output of electric steering engine；S4, the power output of electric steering engine is closed when the current signal that sampling obtains is greater than load current reference value, and rudder feedback is greater than rudder feedback reference value in conjunction with rudder instruction and deviation information.The present invention can effectively improve the safety of steering engine, realize defencive function of the steering engine under lasting heavy load, avoid failure of the steering engine under lasting heavy load, prevent damage of the component under high current operating condition.
Description
Technical field
The present invention relates to a kind of control methods of electric steering engine, in particular to one kind to have protection in sustained overload
The electric steering engine control method of function, belongs to electric steering engine control technology.
Background technique
Requirement with the development of aeronautical and space technology to flourish with various advanced weaponries, for steering engine overall performance
Also higher and higher, thus promote steering engine constantly to reduce towards volume mass, bearing capacity constantly enhances, control performance constantly mentions
High direction is developed.And electric steering engine is by groups such as brshless DC motor, turbine and worm transmission mechanism, potentiometer and digital control implements
At；The characteristics such as it is facilitated with simple and reliable, good manufacturability, working service, the energy is single, low in cost, easily controllable cause
Extensive concern and further investigation, and be widely used in aerospace field.
With the diversified demand of electric steering engine purposes, need to develop the electric steering engine of low cost and miniaturization.Due at
Sheet and volumetric constraint, so that the load capacity of electric steering engine is limited accordingly.Steering engine is during the work time, it is understood that there may be long
The biggish operating condition of time load, if high-power output for a long time at this time, prolonged high current may cause motor and first device
The damage of part leads to the failure of electric steering engine.
Based on the foregoing, it is desirable to propose a kind of electric steering engine control method in sustained overload with defencive function,
The safety for improving electric steering engine, prevents the damage of motor and component under high current operating condition.
Summary of the invention
The object of the present invention is to provide a kind of control methods of sustained overload protection electric steering engine, effectively improve the peace of steering engine
Quan Xing realizes defencive function of the steering engine under lasting heavy load, avoids failure of the steering engine under lasting heavy load, prevent component
Damage under high current operating condition.
To achieve the above object, the present invention provides a kind of control method of sustained overload protection electric steering engine, comprising following
Step:
S1, electric steering engine use position ring corrective loop as control system, using the angular displacement output quantity of electric steering engine
Motor for position feed back signal, the pwm signal driving electric steering engine exported after being resolved according to control rotates, it is ensured that control system
Stable state accuracy and performance of dynamic tracking；
S2, increase setting electric current inner looping in the control system of electric steering engine, i.e., acquired by setting current sensor
The current signal of electric steering engine；
S3, when the obtained current signal of sampling is greater than the current reference value of electric steering engine component, close electric steering engine
Power output, prevent electric current continue it is excessive caused by component damage；
S4, in conjunction with rudder instruction and deviation information, when the obtained current signal of sampling is greater than load current reference value, and rudder is anti-
When feedback is greater than rudder feedback reference value, the power output of electric steering engine is closed, steering engine caused by continuing heavy load is protected to fail.
In the S3, comprising the following steps:
S31, judge to sample the current reference value whether obtained electric steering engine current signal is greater than electric steering engine component；
If so, executing S32；If it is not, executing S4；
S32, the power output for closing electric steering engine, that is, the pwm signal for updating output is 0, and the retention time is control solution
Two doubling times calculated restart later and make the pwm signal control resolving value of output.
In the S4, comprising the following steps:
Whether S41, the electric steering engine current signal for judging that sampling obtains are greater than load current reference value, that is, judge IC(x)
≥IC0It is whether true, wherein IC(x) the electric steering engine current signal obtained for present sample, IC0To load current reference value；If
It is to execute S42；If it is not, executing S43；
S42, judge whether rudder feedback is greater than rudder feedback reference value, the rudder feedback reference value is by calculating rudder instruction ginseng
It examines value to obtain with deviation Reference value, that is, judges DZ(x)>DZCAnd e (x) < eCIt is whether true, wherein DZIt (x) is current electric steering engine
Input instruction, DZCFor rudder instruction references value, e (x) is the deviation of current electric steering engine, eCFor deviation Reference value；If so, holding
Row S32；If it is not, executing S43；
S43, overload protection is jumped out, makes the pwm signal control resolving value of output.
In the S32, when the pwm signal of electric steering engine output is 0, its equivalent is less than by setting worm screw lead angle
Angle of friction reaches turbine and worm transmission self-locking function so that electric steering engine keeps current rudder face position and limits its free movement,
Realize the steering engine tracking continued under heavy load state.
The load current reference value IC0, rudder instruction references value DZCAnd deviation Reference value eCBy electric steering engine
Face load test obtains.
In conclusion the control method of sustained overload protection electric steering engine provided by the present invention, using current sensor
Steering engine current signal is acquired, in conjunction with rudder instruction and deviation information, controls the power output of electric steering engine, and certainly using turbine and worm
Lock function realization continues the steering engine tracking under heavy load state, effectively improves the safety of steering engine, realizes that steering engine is continuing to bear greatly
Defencive function under carrying, avoids failure of the steering engine under lasting heavy load, prevents damage of the component under high current operating condition, into
Without will cause steering engine because of bulky, higher cost caused by heavy load demand.
Detailed description of the invention
Fig. 1 is the control principle block diagram of the electric steering engine control system in the present invention；
Fig. 2 is the flow chart of the control method of the sustained overload protection electric steering engine in the present invention；
Fig. 3 is the flow chart of the electric steering engine ground load test in the present invention；
Fig. 4 is the software implementation process figure of the electric steering engine control method in the present invention.
Specific embodiment
Below in conjunction with FIG. 1 to FIG. 4, the preferred embodiment that the present invention will be described in detail.
The present invention provides a kind of control method of sustained overload protection electric steering engine comprising the steps of:
S1, electric steering engine use traditional position ring corrective loop as control system, using the angular displacement of electric steering engine
Output quantity is position feed back signal, PWM (Pulse Width Modulation, the pulse width exported after being resolved according to control
Modulation) signal driving electric steering engine motor rotation, it is ensured that the stable state accuracy and performance of dynamic tracking of control system；
S2, increase setting electric current inner looping in the control system of electric steering engine, i.e., acquired by setting current sensor
The current signal of electric steering engine；
S3, when the obtained current signal of sampling is greater than the current reference value of electric steering engine component, close electric steering engine
Power output, with prevent electric current continue it is excessive caused by component damage；
S4, in conjunction with rudder instruction and deviation information, when the obtained current signal of sampling is greater than load current reference value, and rudder is anti-
When feedback is greater than rudder feedback reference value, the power output of electric steering engine is closed, to protect steering engine caused by continuing heavy load to fail.
As shown in Figure 1, for the control principle block diagram of the electric steering engine control system in invention.Electric steering engine is using traditional
Position ring corrective loop is as control system, including control circuit and power circuit.Its concrete operating principle are as follows: firstly, DSP
(Digital Signal Process, Digital Signal Processing) controller receives command signal, is sent to DA (digital-to-analogue) acquisition electricity
Road (not shown) generates dummy instruction, and passes through operational amplifier circuit with position feed back signal and form rudder deviation, via AD (modulus)
Acquisition Circuit is sent to dsp controller.Then, dsp controller completes signal processing and control resolves, the pwm signal warp of output
Power driving circuit is sent to by buffering/isolation circuit, so that the motor of electric steering engine be driven to rotate, realizes the control of electric steering engine
System.And the present invention is on this basis, increases setting current sensor and passes through after filtering for acquiring the current signal of electric steering engine
AD Acquisition Circuit feeds back to dsp controller.
As shown in Fig. 2, in the S3, comprising the following steps:
S31, judge to sample the current reference value whether obtained electric steering engine current signal is greater than electric steering engine component；
If so, executing S32；If it is not, executing S4；
S32, the power output for closing electric steering engine, that is, the pwm signal for updating output is 0, and the retention time is control solution
Two doubling times calculated restart later and make the pwm signal control resolving value of output.
As shown in Fig. 2, in the S4, comprising the following steps:
Whether S41, the electric steering engine current signal for judging that sampling obtains are greater than load current reference value, that is, judge IC(x)
≥IC0It is whether true, wherein IC(x) the electric steering engine current signal obtained for present sample, IC0To load current reference value；If
It is to execute S42；If it is not, executing S43；
S42, judge whether rudder feedback is greater than rudder feedback reference value, the rudder feedback reference value is by calculating rudder instruction ginseng
It examines value to obtain with deviation Reference value, that is, judges DZ(x)>DZCAnd e (x) < eCIt is whether true, wherein DZIt (x) is current electric steering engine
Input instruction, DZCFor rudder instruction references value, e (x) is the deviation of current electric steering engine, eCFor deviation Reference value；If so, holding
Row S32；If it is not, executing S43；
S43, overload protection is jumped out, makes the pwm signal control resolving value of output.
Wherein, in the S32, when the pwm signal of electric steering engine output is 0, it is less than by the way that worm screw lead angle is arranged
Its equivalent friction angle reaches turbine and worm transmission self-locking function so that electric steering engine keeps current rudder face position and limits its freedom
The steering engine tracking continued under heavy load state is realized in movement.
The load current reference value IC0, rudder instruction references value DZCAnd deviation Reference value eCBy electric steering engine
Face load test obtains.
As shown in figure 3, the electric steering engine ground load is tested, mainly occurred by load table, electric steering engine, instruction
The equipment such as device, information acquisition device and ground power supply carry out, comprising the following steps:
Firstly, being attached command generator, information acquisition device with electric steering engine respectively in load table, and pass through ground
Face power supply is powered to electric steering engine；
Secondly, inputting different instruction by command generator under electric steering engine load condition；
Then, command signal, deviation signal, current signal and the load force of information acquisition device acquisition electric steering engine are utilized
Square signal etc.；
Finally, the test data that analysis collects, obtains load current reference value IC0(i.e. in the case where determining load, electric current
The collected current value of sensor)；Simultaneously according to loading moment, instruction and deviation signal, rudder instruction references value D is determinedZCWith it is inclined
Poor reference value eC。
As shown in figure 4, for the software implementation process figure of the electric steering engine control method in the present invention.Main includes initialization
Subprogram, Interruption subprogram, data parsing subprogram, pid algorithm subprogram and guard method subprogram etc..First into
Row system initialization completes the function such as dsp controller clock, timer, the port AD/DA, PWM port by system initialization subprogram
The initialization of energy acquires subprogram into AD, parses sub- journey into data afterwards after clock reaches the time of Interruption design
Sequence, pid algorithm subprogram receive the data that data parse and carry out algorithm resolving, complete pwm signal update and motor drive direction
Update etc.；Protection subprogram is finally entered, is executed according to process shown in Fig. 2, subsequently determines whether clock reaches telemetering transmission and set
It sets the period, completes telemetering and send, to realize electric steering engine control.
In conclusion the control method of sustained overload protection electric steering engine provided by the present invention, using current sensor
Steering engine current signal is acquired, in conjunction with rudder instruction and deviation information, controls the power output of electric steering engine, and certainly using turbine and worm
Lock function realization continues the steering engine tracking under heavy load state, effectively improves the safety of steering engine, realizes that steering engine is continuing to bear greatly
Defencive function under carrying, avoids failure of the steering engine under lasting heavy load, prevents damage of the component under high current operating condition, into
Without will cause steering engine because of bulky, higher cost caused by heavy load demand.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (2)
1. a kind of control method of sustained overload protection electric steering engine, which is characterized in that comprise the steps of:
S1, electric steering engine, as control system, use the angular displacement output quantity of electric steering engine for position using position ring corrective loop
Set feedback signal, according to control resolve after export pwm signal driving electric steering engine motor rotate, it is ensured that control system it is steady
State precision and performance of dynamic tracking；
S2, increase setting electric current inner looping in the control system of electric steering engine, i.e., acquired by setting current sensor electronic
The current signal of steering engine；
S3, when the obtained current signal of sampling is greater than the current reference value of electric steering engine component, close the function of electric steering engine
Rate output, prevent electric current continue it is excessive caused by component damage；
S4, in conjunction with rudder instruction and deviation information, when the obtained current signal of sampling is greater than load current reference value, and rudder feedback is big
When rudder feedback reference value, the power output of electric steering engine is closed, steering engine caused by continuing heavy load is protected to fail；
In the S3, comprising the following steps:
S31, judge to sample the current reference value whether obtained electric steering engine current signal is greater than electric steering engine component；If
It is to execute S32；If it is not, executing S4；
S32, the power output for closing electric steering engine, that is, the pwm signal for updating output is 0, and the retention time is what control resolved
Two doubling times restart later and make the pwm signal control resolving value of output；
In the S32, when the pwm signal of electric steering engine output is 0, its equivalent friction is less than by setting worm screw lead angle
Angle reaches turbine and worm transmission self-locking function so that electric steering engine keeps current rudder face position and limits its free movement, realizes
Continue the steering engine tracking under heavy load state；
In the S4, comprising the following steps:
Whether S41, the electric steering engine current signal for judging that sampling obtains are greater than load current reference value, that is, judge IC(x)≥IC0
It is whether true, wherein IC(x) the electric steering engine current signal obtained for present sample, IC0To load current reference value；If so,
Execute S42；If it is not, executing S43；
S42, judge whether rudder feedback is greater than rudder feedback reference value, the rudder feedback reference value is by calculating rudder instruction references value
It is obtained with deviation Reference value, that is, judges DZ(x)>DZCAnd e (x) < eCIt is whether true, wherein DZIt (x) is the defeated of current electric steering engine
Enter instruction, DZCFor rudder instruction references value, e (x) is the deviation of current electric steering engine, eCFor deviation Reference value；If so, executing
S32；If it is not, executing S43；
S43, overload protection is jumped out, makes the pwm signal control resolving value of output.
2. the control method of sustained overload protection electric steering engine as described in claim 1, which is characterized in that the load electricity
Stream reference value, rudder instruction references value and deviation Reference value pass through electric steering engine ground load and test to obtain.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710515799.1A CN107302212B (en) | 2017-06-29 | 2017-06-29 | A kind of control method of sustained overload protection electric steering engine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710515799.1A CN107302212B (en) | 2017-06-29 | 2017-06-29 | A kind of control method of sustained overload protection electric steering engine |
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| CN107302212B true CN107302212B (en) | 2019-03-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109167343B (en) * | 2018-08-16 | 2020-07-10 | 上海航天控制技术研究所 | Multiple safety protection method for electric servo system |
| CN111934595A (en) * | 2020-08-11 | 2020-11-13 | 陕西凯迪乐网络科技有限公司 | Steering engine running state setting method and device |
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| CN102837821A (en) * | 2012-08-27 | 2012-12-26 | 中国航天科技集团公司第四研究院四0一所 | Controller of steering engine |
| CN204465239U (en) * | 2014-11-20 | 2015-07-08 | 北京万户空天科技有限公司 | The straight line steering wheel that a kind of worm and gear drives |
| CN104808495A (en) * | 2015-05-15 | 2015-07-29 | 武汉工程大学 | Robot steering gear control system based on gyroscope feedback |
| CN105783612A (en) * | 2016-03-28 | 2016-07-20 | 北京航天控制仪器研究所 | General miniaturization digital electric steering engine controller and control method thereof |
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2017
- 2017-06-29 CN CN201710515799.1A patent/CN107302212B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837821A (en) * | 2012-08-27 | 2012-12-26 | 中国航天科技集团公司第四研究院四0一所 | Controller of steering engine |
| CN204465239U (en) * | 2014-11-20 | 2015-07-08 | 北京万户空天科技有限公司 | The straight line steering wheel that a kind of worm and gear drives |
| CN104808495A (en) * | 2015-05-15 | 2015-07-29 | 武汉工程大学 | Robot steering gear control system based on gyroscope feedback |
| CN105783612A (en) * | 2016-03-28 | 2016-07-20 | 北京航天控制仪器研究所 | General miniaturization digital electric steering engine controller and control method thereof |
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