Multi-actuator cylinder cooperative control device and control method

Abstract

The invention discloses a multi-actuator cylinder cooperative control device and control method. By the aid of the method, a plurality of actuator cylinders can be controlled by a flight control unit and a remote control unit or an operating rod to collaboratively make telescopic movement, switching can be conducted conveniently between two control modes, each set of control loop has the two protecting modes of software limiting and hardware limiting, the actuator cylinders can be prevented from stretching beyond a limited movement range, and thus an actuator cannot be clamped; when a normal control mode loses efficacy, the device can be timely switched to be in an emergency control mode, an emergency loop is composed of an independent relay set, and thus normal movement of the actuator can be guaranteed when the normal control mode loses efficacy. By means of the multi-actuator cylinder cooperative control device and control method, the defects that a traditional single-actuator cylinder controller is large in size, manual operating rod signals and remote control unit signals are not compatible, and the control movements of multiple actuator cylinders are not consistent are overcome, the moving speed and the moving range of each actuator cylinder can be controlled through software, and the control precision and the flexibility of the control device are improved.

Description

technical field [0001] The invention relates to a multi-action actuator cooperative control device and a control method, which are applied to the coordinated control of rudders and elevator rudder surfaces of unmanned aerial vehicles and airships, and belong to the field of automatic control. Background technique [0002] The actuator is the key executive mechanism of large manned airships and some aircrafts. By controlling the expansion and contraction of the actuator, the purpose of driving the rudder surface of aircraft, airships and other aircraft is achieved. At present, the control of the actuator is mostly separated control rather than coordinated control. When the equipment is installed, the controller is divided into several circuit boards and connected through the interface. After the connection, it needs to be debugged. If the installation is not good, the actuator will shake the rudder. , has a certain impact on the life of the actuator. At the same time, becaus...

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to solve the joint control of four actuators under the condition of weight and installation space constraints, and detect the movement position of each actuator in real time, realize the coordinated control of multiple actuators, and ensure Each actuator moves to the corresponding position according to the designed speed, thereby avoiding the flight attitude error caused by the inconsistency of the movement speed and position of each rudder surface; it solves the problem of the signal interface between the digital flight controller and the actuator drive module, and the traditional analog The circuit actuator controller can only receive the analog voltage signal of the sense of operation to control the movement position of the actuator. The control device of the present invention can directly read digital signals such as digital flight controllers, standard remote controllers, and analog voltage signals of the joystick. , to directly drive the actuator, realizing the integration of multiple control methods; overcoming the traditional actuator controller hardware limit calibration difficulties, asymmetrical positive and negative movement distances, and the shortcomings of easy failures, on the basis of hardware limit The software limit is added to the software, and the movement range of the actuator can be flexibly set and modified through the program, which not only eliminates the cumbersome steps of hardware calibration, but also effectively ensures the safe movement of the actuator; in order to ensure the safety of flight , the control device of the present invention is designed with an emergency control loop, the emergency control loop is composed of a separate relay group, when the normal control function fails, it is switched to the emergency channel, and the control signal directly controls the movement of the actuator through the relay group, thereby ensuring the safety of the aircraft. Basic actions

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