CN109818534A - Electromechanical servo system - Google Patents
Electromechanical servo system Download PDFInfo
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- CN109818534A CN109818534A CN201711162700.0A CN201711162700A CN109818534A CN 109818534 A CN109818534 A CN 109818534A CN 201711162700 A CN201711162700 A CN 201711162700A CN 109818534 A CN109818534 A CN 109818534A
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Abstract
The present invention provides electromechanical servo system, belongs to electro-mechanical arts, is not able to satisfy the problems such as installation space is narrow, structure adaptability is poor for solving existing electromechanical servo system, system provided by the invention includes a control driver and three electromechanical servo actuator；The input terminal of the control driver is connect by RS422 bus with the upper computer control system of current electromechanical servo system, and output end and three electromechanical servo actuator are separately connected；The control driver is for receiving the control instruction that the upper computer control system of current electromechanical servo system is sent, and the phase current and angular position of rotation of the linear motion displacement signal of device and the servo motor of each electromechanical servo movement device are acted according to each electromechanical servo of acquisition, realize the closed-loop control to three electromechanical servo actuator.The electromechanical servo system uses 1 control 3 electromechanical servo actuator of driver control, has high integration, advantage small in size, light-weight.
Description
Technical field
The present invention relates to field of electromechanical technology, particularly relate to electromechanical servo system.
Background technique
Electromechanical coupling system is the executing agency of flight control system, by receiving the instruction of control system, is generated straight
Line either rotary motion pushes the rudder face of aircraft to generate operating torque, realizes the thruster vector control of aircraft.Electromechanics is watched
Dress system has the characteristics that structure is simple, dynamic characteristic is good, assembly maintainability is good, obtains widely in rudder face manipulation and control field
Using.
But there are oil leak and structure adaptability are poor for existing Hydrauservo System, it is difficult to the problems such as maintenance.And it is existing
Structure is complicated for some electromechanical servo systems, installation space is narrow, the big reliability of weight is not high enough, and wherein drive control is adopted more
With " one-to-one " scheme, it is unfavorable for system compact and lightweight, is difficult to meet the installation of servo-system and dynamic characteristic requirement.
Therefore, it is badly in need of the servo-system of a kind of installation that can satisfy the manipulation of narrow installation space rudder face and dynamic characteristic requirement.
Summary of the invention
In order to solve existing electromechanical servo system, structure is complicated, installation space is narrow, weight is big, and drive control one can only drag
One, it is unfavorable for system compact and light-weighted problem, the present invention provides a kind of electromechanical servo system, electromechanics provided by the invention
Servo-system uses 1 control 3 electromechanical servo actuator of driver control, has high integration, solves the prior art
The existing above problem.
Electromechanical servo system provided by the invention, including a control driver and three electromechanical servo actuator；It is described
The input terminal of control driver is connect by RS422 bus with the upper computer control system of current electromechanical servo system, output end
It is separately connected with three electromechanical servo actuator；The control driver is for receiving the upper of current electromechanical servo system
The control instruction that machine control system is sent acquires the linear motion displacement signal and each electromechanical servo of each electromechanical servo movement device
Phase current, the servo motor angular position of rotation of the servo motor of device are acted, three electromechanical servo actuator are closed in realization
Ring control.
Wherein, each electromechanical servo actuator includes servo motor, ball-screw, guiding mechanism, displacement of the lines sensing
Device, rotary transformer, shell, bolt assembly, lug component, limit swinging mechanism；One side shaft end of the servo motor and the rolling
Ballscrew connection, another side shaft end is equipped with the rotary transformer；The lug component, limit swinging mechanism are mounted on the rotation
Change the outside of depressor, and swinging mechanism and the lug component of limiting is in the radially alignment of electromechanical servo actuator；The guiding
Mechanism has a cylindrical guide groove, and a side axle of the ball-screw is set in the guide groove of the guiding mechanism, in institute
When stating servo motor rotation, the ball-screw moves in the guide groove of the guiding mechanism；The bolt assembly is installed on
The outside shaft end of the guiding mechanism；The linear movement pick-up is fixedly connected with the ball-screw；The servo motor, rolling
Ballscrew, guiding mechanism, linear movement pick-up, rotary transformer, bolt assembly, lug component are all set in the shell；
The control driver acquires the angular position of rotation of the servo motor by the rotary transformer, and passes through the displacement of the lines
Sensor acquires the linear motion displacement signal of the electromechanical servo actuator.
Wherein, the ball-screw is the fixed interior circulation ball-screw of single nut, and is pre-tightened by increasing steel ball size.
Wherein, the linear movement pick-up using straight line, duplex, contact, with centre tapped synthesis film potential meter；Institute
It states potentiometric brush assembly of electric to be fixed on the nut of the ball-screw, two resistance plates are mounted on the two of the shell
Side.
Wherein, direct-connected by small surplus interference fit type flat key between the servo motor and ball-screw.
Wherein, the limit swinging mechanism is that oscillating bearing limits pendulum device, including small trunnion；It is described limit swinging mechanism small trunnion and
The big trunnion of the lug component is arranged in parallel.
Wherein, the control driver includes communication module and three motor control drive modules, each motor control
The input terminal of drive module processed is connect with the communication module, and output end is connect with an electromechanical servo movement device；The communication
Module realizes the communication connection with the upper computer control system of current electromechanical servo system by RS422 bus, and total by CAN
Line realizes the data exchange with the motor control drive module；Each motor control drive module is used for current electromechanical
Under the control of the upper computer control system of servo-system, the phase of the servo motor for the electromechanical servo movement device connecting with itself is acquired
The linear motion displacement signal of electric current, angular position of rotation and electromechanical servo actuator, passes through SVPWM space vector control method
6 road pwm control signals are obtained, and 6 road pwm control signal is exported to the electromechanical servo connecting with itself and acts device, with
Realize the closed-loop control of the electric current, speed to the position and servo motor of electromechanical servo movement device.
Wherein, the motor control drive module includes: CAN interface circuit, DSP and peripheral circuit, current sense
Device, memory circuit, signal processing circuit, A/D translation circuit, rotation become decoding circuit, Switching Power Supply translation circuit；The DSP
And peripheral circuit is connect by the CAN interface circuit with the communication module；The memory circuit and the DSP and
Peripheral circuit connection；The output end of the DSP and peripheral circuit connects electromechanical servo movement device to be controlled；The current sense
Device is used to acquire 2 phase currents of the servo motor for the electromechanical servo movement device connecting with the DSP and peripheral circuit；The electric current
The output end of sensor, the electromechanical servo connecting with the DSP and peripheral circuit act the output end of the linear movement pick-up of device
It is connect with the input terminal of the signal processing circuit, the signal processing circuit is used for the phase to currently received servo motor
The linear motion displacement signal of electric current and electromechanical servo movement device is supplied to the A/D translation circuit progress after carrying out signal processing
A/D transformation；The output end of the A/D translation circuit connects the DSP and peripheral circuit；The rotation becomes the input terminal of decoding circuit
The rotary transformer output end for the electromechanical servo movement device connecting with the DSP and peripheral circuit is connected, the rotation becomes decoding electricity
The output end on road is connect with the DSP and peripheral circuit；The control that the DSP and peripheral circuit are sent according to upper computer control system
The phase electricity of the linear motion displacement signal of system instruction and the electromechanical servo movement device being connect with itself received, servo motor
Stream, servo motor angular position of rotation, by SVPWM space vector control method obtain 6 road pwm control signals and export to
The electromechanical servo of itself connection acts device；The Switching Power Supply translation circuit needs to supply with current motor control drive module respectively
All components connection of electricity, provides power supply for them.
Wherein, the DSP in the DSP and peripheral circuit is TMS320F2407A chip.
Wherein, the motor control drive module further include: using the current foldback circuit of tetra- road comparator of LM339；Institute
The input terminal for stating current foldback circuit is connect with the output end of the current sensor, the output end of the current foldback circuit with
The DSP and peripheral circuit connection；The current foldback circuit is used to compare to determine the servo electricity of the current sensor acquisition
In 2 phase currents of machine whether at least a phase current be more than corresponding predetermined threshold, if so, output low level, the DSP and
Peripheral circuit cuts off the output of 6 road pwm control signals when the current foldback circuit exports low level.
The advantageous effects of the above technical solutions of the present invention are as follows:
Above-mentioned electromechanical servo system provided by the invention uses 1 control 3 electromechanical servo actuator of driver control, collection
It is high at change degree, and pass through the position in reasonable selection electromechanical servo actuator between each building block and optimization design component
Relationship is set, the volume of entire servo-system is effectively reduced, improves reliability, which watches relative to existing
Dress system structure is simple, and maintenance is easy, and small in size, the existing system of weight ratio reduces by 20%, and high reliablity, can be realized 1
3 highly integrated property is dragged to require.
Detailed description of the invention
Fig. 1 is electromechanical servo system structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the top view of electromechanical servo actuator；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
Fig. 4 is the preferred real-time architecture schematic diagram that driver 1 is controlled in Fig. 1；
Fig. 5 is the preferred real-time architecture schematic diagram of the motor control drive module 14 in Fig. 4；
Fig. 6 is that driver is controlled in electromechanical servo system provided by the invention to the control principle of electromechanical servo actuator
Figure；
Fig. 7 is the another kind preferably real-time architecture schematic diagram of motor control drive module 14.
[description of symbols]
1, driver is controlled；
2, electromechanical servo actuator；
3, upper computer control system；
4, servo motor；
5, ball-screw；
6, guiding mechanism；
7, linear movement pick-up；
8, rotary transformer；
9, steering engine shell；
10, bolt assembly；
11, lug component；
12, swinging mechanism is limited；
13, communication module；
14, motor control drive module；
15, CAN interface circuit；
16, DSP and peripheral circuit；
17, current sensor；
18, memory circuit；
19, signal processing circuit；
20, A/D translation circuit；
21, rotation becomes decoding circuit；
22, Switching Power Supply translation circuit；
23, current foldback circuit.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
If Fig. 1 is electromechanical servo system structural schematic diagram provided in an embodiment of the present invention, as shown in fig. 1, the system packet
Include a control driver 1 and three electromechanical servo actuator 2.Wherein, the input terminal for controlling driver 1 passes through RS422 bus
It is connect with the upper computer control system 3 of current electromechanical servo system, the output end of control driver 1 and three electromechanical servo actuations
Device 2 is separately connected；The control that the upper computer control system 3 that control driver 1 is used to receive current electromechanical servo system is sent refers to
It enables, acquires the phase of the linear motion displacement signal of each electromechanical servo movement device 2 and the servo motor of each electromechanical servo movement device 2
The angular position of rotation of electric current, servo motor realizes the closed-loop control to three electromechanical servo actuator 2.
Fig. 2 show the top view of electromechanical servo actuator, and Fig. 3 is the A-A cross-sectional view of Fig. 2.As shown in Figures 2 and 3, excellent
Selection of land, electromechanical servo actuator include servo motor 4, ball-screw 5, guiding mechanism 6, linear movement pick-up 7, rotary transformer
8, steering engine shell 9, bolt assembly 10, lug component 11, limit swinging mechanism 12.
Wherein, as shown in figures 2-3, one side shaft end of servo motor 4 is connect with ball-screw 5, the installation of another side shaft end
There is rotary transformer 8；Lug component 11, limit swinging mechanism 12 are installed on the outside of rotary transformer 8, and limit swinging mechanism 12 and trunnion
Radially alignment of the component 11 in electromechanical servo actuator；Guiding mechanism 6 has a cylindrical guide groove, a left side for ball-screw 5
Side axle is set in the guide groove of guiding mechanism 6, when servo motor 4 rotates, guide groove of the ball-screw 5 in guiding mechanism 6
Interior movement；Bolt assembly 10 is installed on the outside shaft end of guiding mechanism 6, i.e., bolt assembly 10 is installed on guiding as illustrated in the drawing
The left side shaft end of mechanism 6；Linear movement pick-up 7 is fixedly connected with ball-screw 5；Servo motor 4, ball-screw 5, guiding mechanism
6, linear movement pick-up 7, rotary transformer 8, bolt assembly 10, lug component 11 are all set in steering engine shell 9.When using figure
Shown in 2-3 when preferred electromechanical servo actuator, the control driver 1 in electromechanical servo system provided by the invention passes through rotation
Transformer 8 acquires the angular position of rotation of servo motor 4, and the straight line of electromechanical servo actuator 2 is acquired by linear movement pick-up 7
Moving displacement signal, at this point, being additionally provided in control driver 1 for acquiring and the current sense of the phase current of servo motor 4
Device.
Since the rotation of servo motor 4 causes the rotation of itself, it is therefore desirable to design guiding mechanism, be digested and assimilated now abundant
Have on the experiential basis of product, devise the guiding mechanism based on rolling bearing, i.e., mentioned-above guiding mechanism 6 has a circle
This side axle of cylindricality guide groove, ball-screw 5 is set in the guide groove of guiding mechanism 6, and such guiding mechanism principle is
Reduce frictional force by rolling to be oriented to, simultaneously because bearing outer ring cylindrical surface is contacted with guide groove end face, mechanical property is good, knot
Structure is simple, effectively solves the problems, such as rolling friction etc..
Preferably, ball-screw 5 is the fixed interior circulation ball-screw of single nut, is pre-tightened by increasing rigid bulb diameter.Rolling
Ballscrew transmission has the characteristics that transmission efficiency height, long working life, high transmission accuracy.Minimize precision drive ball-screw
Develop difficult point be axial gap adjustment in limited installation space, the selection of ball-screw material, material heat treatment process technology,
Raceway processing technology.
Preferably, linear movement pick-up 7 using straight line, duplex, contact, with centre tapped synthesis film potential meter；Electricity
The brush assembly of electric of position meter is fixed on the nut of ball-screw 5, and two resistance plates are mounted on the two sides of steering engine shell 9.Line position
The above-mentioned built-in manner of displacement sensor substantially increased compared with external in existing electromechanical servo system reliability and
Machine volume is effectively reduced, and sensor brush carrier is fixed on ball-screw nut, simplifies mounting structure.
Connection request gapless, transmitting torque between servo motor 4 and ball-screw 5, the technological approaches of realization have spiral shell
The modes such as line connection, key connection, hot charging, the present invention are compared the connection type of the two from assembling, reliability etc.
Analysis selects between servo motor 4 and ball-screw 5 and passes through the direct-connected this preferred implementation side of small surplus interference fit type flat key
Formula.
Since the rotation of servo motor 4 drives the steering engine shell 9 of electromechanical servo actuator 2 to rotate, it is therefore desirable to set
Meter prevents rotation mechanism for wind from limiting swinging mechanism.Usually can using directly connect firmly, oscillating bearing limit is put, universal is hinged.Due to straight
Dynamic balance when attachment is unfavorable for lateral be subjected to displacement is connect, the dimensional space that universal hinge connection occupies is larger, is unfavorable for pacifying
Dress, it is preferable that it is that oscillating bearing limits pendulum device, including small trunnion that swinging mechanism 12 is limited in system provided by the invention；Limit swinging mechanism
12 small trunnion and the big trunnion of lug component 11 are arranged in parallel, and play the role of anti-torsion.
Fig. 4 is the preferred real-time architecture schematic diagram that driver 1 is controlled in Fig. 1, controls driver in such a way that 1 drags 3, by
1 control driver drives 3 electromechanical servos to act device 2, and as shown in Figure 4, control control driver 1 includes communication module 13
It connect, exports with communication module 13 with the input terminal of three motor control drive modules 14, each motor control drive module 14
End is connect with an electromechanical servo movement device 2.
Wherein, communication module 13 is realized and the upper computer control system 3 of current electromechanical servo system by RS422 bus
Communication connection, and the data exchange with motor control drive module 14 is realized by CAN bus.Each motor control drive module
14 is dynamic under the control of the upper computer control system 3 of current electromechanical servo system, acquiring the electromechanical servo connecting with itself
Make the linear motion of the phase current of the servo motor 4 of device 2, the angular position of rotation of servo motor 4 and the electromechanical servo actuator 2
Displacement signal obtains 6 road pwm control signals by SVPWM space vector control method, and will export after 6 road pwm control signals
To the electromechanical servo movement device 2 being connect with itself, to realize the position to electromechanical servo movement device 2 and the electricity of servo motor
The closed-loop control of stream, speed.
Fig. 5 is the preferred real-time architecture schematic diagram of the motor control drive module 14 in Fig. 4, as shown in Figure 5, motor control
Drive module 14 processed include: CAN interface circuit 15, DSP and peripheral circuit 16, current sensor 17, memory circuit 18,
Signal processing circuit 19, A/D translation circuit 20, rotation become decoding circuit 21, Switching Power Supply translation circuit 22 etc..
Wherein, DSP and peripheral circuit 16 are connect by CAN interface circuit 15 with communication module 13；Memory circuit
18 connect with DSP and peripheral circuit 16；The output end of DSP and peripheral circuit 16 connects electromechanical servo movement device to be controlled.It opens
Close power converting circuit 22 needs all components of power supply to connect with current motor control drive module 14 respectively, provides for them
Power supply.
As previously described, it controls and is provided with current sensor, current sensor 17 and DSP and peripheral circuit in driver 1
The servo motor 4 of the 16 electromechanical servo movement devices connected connects, for acquiring 2 phase currents of the servo motor 4.Current sense
The output end of device 17, the electromechanical servo being connect with DSP and peripheral circuit 16 movement device linear movement pick-up 7 output end with
The input terminal of signal processing circuit 19 connects, signal processing circuit 19 be used for the phase current of currently received servo motor 4 and
The linear motion displacement signal of electromechanical servo movement device 2 is supplied to the progress A/D change of A/D translation circuit 20 after carrying out signal processing
It changes；The output end connection DSP and peripheral circuit 16 of A/D translation circuit 20.
The rotation for the electromechanical servo movement device that the input terminal connection that rotation becomes decoding circuit 21 is connect with DSP and peripheral circuit 16
The output end of transformer 8, the output end that rotation becomes decoding circuit 21 are connect with DSP and peripheral circuit 16.Rotation becomes decoding circuit 21 and uses
In the angular position of rotation parameter for the servo motor 4 for acquiring electromechanical servo movement device by rotary transformer 8.
DSP and the control instruction sent according to upper computer control system of peripheral circuit 16 and being connect with itself of receiving
Electromechanical servo acts the angular position of rotation of move along a straight line displacement signal, the phase current of servo motor, the servo motor of device, passes through
SVPWM space vector control method obtains 6 road pwm control signals and exports to the electromechanical servo movement device connecting with itself with reality
Now to the closed-loop control of electromechanical servo movement device.
Preferably, the DSP in DSP and peripheral circuit 16 is TMS320F2407A chip.
Fig. 6 is that driver is controlled in electromechanical servo system provided by the invention to the control principle of electromechanical servo actuator
Figure.Wherein, stator current ia, the ib exported by current sensor measurement inverter is converted into digital quantity iA by A/D
And iB, and iC is calculated using formula iC=- (iA+iB).Pass sequentially through again Clarke transformation and Park transformation by electric current iA, iB,
IC is transformed into DC component isq, isd in rotating coordinate system, the amount of negative feedback of isq, isd as electric current loop.Become using rotation
The mechanical corner that depressor measures motor is displaced θ m, and converts thereof into electrical angle θ e and revolving speed n.Wherein, electrical angle θ e is used for
Participate in the calculating of Park transformation and inverse transformation.Given angle nref and linear movement pick-up acquisition displacement signal are through position control
The deviation that given rotating speed nref, nref and speed feedback amount n are exported after adjusting passes through speed regulator, and output is as turning
The electric current q axis reference component isqref of square control.The deviation of isqref and isdref (being equal to zero) and current feedback amount isq, isd
After current regulator, phase voltage the component Vsqref and Vsdref of Odq rotating coordinate system are exported respectively.Vsqref and
Vsdref passes through component Vs α ref and the Vs β of the stator phase voltage vector of Park inverse transformation change type O α β rectangular coordinate system again
ref.When known to component Vs α ref, the Vs β ref of stator phase voltage vector and the sector number where it, so that it may utilize voltage
Space vector SVPWM technology generates pwm control signal to control inverter.
Preferably, as shown in fig. 7, motor control drive module 14 further include: protected using the overcurrent of tetra- road comparator of LM339
Protection circuit 23；The input terminal of current foldback circuit 23 is connect with the output end of current sensor 17, current foldback circuit 23 it is defeated
Outlet is connect with DSP and peripheral circuit 16；Current foldback circuit 23 is used to compare to determine the servo electricity of the acquisition of current sensor 17
At least whether a phase current is more than corresponding predetermined threshold in 2 phase currents of machine 4, if so, output low level, DSP and outer
Enclose the output that circuit 16 cuts off 6 road pwm control signals when current foldback circuit 23 exports low level.By verification experimental verification, firmly
The phenomenon that part design protection is feasible, reliable, does not occur burning out the pipe in circuit.
In above scheme, electromechanical servo system uses 1 control 3 electromechanical servo actuator of driver control, integrated
Degree is high, and is closed by the position in reasonable selection electromechanical servo actuator between each building block and optimization design component
System, effectively reduces the volume of entire servo-system, improves reliability.The electromechanical servo system is relative to existing servo system
Structure of uniting is simple, and maintenance is easy, and small in size, the existing system of weight ratio reduces 20%, and high reliablity can be realized 1 height for dragging 3
Therefore integration requirement has advantage than existing electromechanical servo system, practical.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. electromechanical servo system, which is characterized in that including a control driver and three electromechanical servo actuator；
The input terminal of the control driver is connected by RS422 bus and the upper computer control system of current electromechanical servo system
It connects, output end and three electromechanical servo actuator are separately connected；The control driver is for receiving current electromechanical servo
The control instruction that the upper computer control system of system is sent, acquire each electromechanical servo movement device linear motion displacement signal and
Each electromechanical servo acts the angular position of rotation of the phase current of the servo motor of device, servo motor, and three electromechanics is watched in realization
Take the closed-loop control of actuator.
2. electromechanical servo system as described in claim 1, which is characterized in that each electromechanical servo actuator includes servo
Motor, ball-screw, guiding mechanism, linear movement pick-up, rotary transformer, shell, bolt assembly, lug component, limit pendulum machine
Structure；
One side shaft end of the servo motor is connect with the ball-screw, and another side shaft end is equipped with the rotary transformer；
The lug component, limit swinging mechanism are mounted on the outside of the rotary transformer, and the limit swinging mechanism and lug component exist
The radially alignment of electromechanical servo actuator；The guiding mechanism has a cylindrical guide groove, the side of the ball-screw
Axis is set in the guide groove of the guiding mechanism, and in servo motor rotation, the ball-screw is in the Guiding machine
Movement in the guide groove of structure；The bolt assembly is installed on the outside shaft end of the guiding mechanism；The linear movement pick-up with
The ball-screw is fixedly connected；The servo motor, ball-screw, guiding mechanism, linear movement pick-up, rotary transformer,
Bolt assembly, lug component are all set in the shell；
The control driver acquires the angular position of rotation of the servo motor by the rotary transformer, and passes through the line
Displacement sensor acquires the linear motion displacement signal of the electromechanical servo actuator.
3. electromechanical servo system as claimed in claim 2, which is characterized in that the ball-screw is to follow in single nut is fixed
Ring ball-screw, and pre-tightened by increasing steel ball size.
4. electromechanical servo system as claimed in claim 2, which is characterized in that the linear movement pick-up using straight line, duplex,
Contact, with centre tapped synthesis film potential meter；The potentiometric brush assembly of electric is fixed on the nut of the ball-screw
On, two resistance plates are mounted on the two sides of the shell.
5. electromechanical servo system as claimed in claim 2, which is characterized in that pass through between the servo motor and ball-screw
Small surplus interference fit type flat key is direct-connected.
6. electromechanical servo system as claimed in claim 2, which is characterized in that the limit swinging mechanism is oscillating bearing limit pendulum dress
It sets, including small trunnion；The small trunnion of the limit swinging mechanism and the big trunnion of the lug component are arranged in parallel.
7. such as electromechanical servo system as claimed in any one of claims 1 to 6, which is characterized in that the control driver includes logical
Module and three motor control drive modules are interrogated, the input terminal and the communication module of each motor control drive module connect
It connects, output end is connect with an electromechanical servo movement device；
The communication module is realized by RS422 bus to be connected with the communication of the upper computer control system of current electromechanical servo system
It connects, and the data exchange with the motor control drive module is realized by CAN bus；
Each motor control drive module is used under the control of the upper computer control system of current electromechanical servo system, is adopted
The phase current of servo motor, the angular position of rotation of servo motor and the electromechanics for collecting the electromechanical servo movement device connecting with itself are watched
The linear motion displacement signal for taking actuator obtains 6 road pwm control signals by SVPWM space vector control method, and by institute
6 road pwm control signals are stated to export to the electromechanical servo movement device connecting with itself, to realize the position to electromechanical servo movement device
It sets and the closed-loop control of the electric current of servo motor, speed.
8. electromechanical servo system as claimed in claim 7, which is characterized in that the motor control drive module includes: CAN total
Interface circuit, DSP and peripheral circuit, current sensor, memory circuit, signal processing circuit, A/D translation circuit, rotation become
Decoding circuit, Switching Power Supply translation circuit；
The DSP and peripheral circuit are connect by the CAN interface circuit with the communication module；The memory circuit
It is connect with the DSP and peripheral circuit；The output end of the DSP and peripheral circuit connects electromechanical servo movement device to be controlled；
The current sensor is used to acquire the servo motor for the electromechanical servo movement device connecting with the DSP and peripheral circuit
2 phase currents；The line position of the output end of the current sensor, the electromechanical servo being connect with the DSP and peripheral circuit movement device
The output end of displacement sensor is connect with the input terminal of the signal processing circuit, and the signal processing circuit is used for currently connecing
The linear motion displacement signal of phase current and electromechanical servo the movement device of the servo motor of receipts is supplied to institute after carrying out signal processing
It states A/D translation circuit and carries out A/D transformation；The output end of the A/D translation circuit connects the DSP and peripheral circuit；
The rotation for the electromechanical servo movement device that the input terminal connection that the rotation becomes decoding circuit is connect with the DSP and peripheral circuit
Transformer output end, the output end that the rotation becomes decoding circuit are connect with the DSP and peripheral circuit；
The DSP and the peripheral circuit control instruction sent according to upper computer control system and the machine being connect with itself received
The angular position of rotation of move along a straight line displacement signal, the phase current of servo motor, the servo motor of electric servo action device, passes through
SVPWM space vector control method obtains 6 road pwm control signals and exports to the electromechanical servo movement connecting with itself
Device；
The Switching Power Supply translation circuit needs all components of power supply to connect with current motor control drive module respectively, is it
Power supply is provided.
9. electromechanical servo system as claimed in claim 8, which is characterized in that the DSP in the DSP and peripheral circuit is
TMS320F2407A chip.
10. electromechanical servo system as claimed in claim 8, which is characterized in that the motor control drive module further include: adopt
With the current foldback circuit of tetra- road comparator of LM339；The input terminal of the current foldback circuit is defeated with the current sensor
Outlet connection, the output end of the current foldback circuit are connect with the DSP and peripheral circuit；The current foldback circuit is used for
Compare to determine in 2 phase currents of the servo motor of the current sensor acquisition whether at least a phase current is more than corresponding pre-
Threshold value is determined, if so, output low level, the DSP and peripheral circuit cut off 6 when the current foldback circuit exports low level
The output of road pwm control signal.
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|---|---|---|---|
| CN201711162700.0A CN109818534A (en) | 2017-11-21 | 2017-11-21 | Electromechanical servo system |
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| CN201711162700.0A CN109818534A (en) | 2017-11-21 | 2017-11-21 | Electromechanical servo system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112576722A (en) * | 2020-12-08 | 2021-03-30 | 武汉高德红外股份有限公司 | High-speed missile-borne load servo push-out system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112576722A (en) * | 2020-12-08 | 2021-03-30 | 武汉高德红外股份有限公司 | High-speed missile-borne load servo push-out system and method |
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Application publication date: 20190528 |