Master-slave type electromechanical servo cooperative motion control system

Abstract

The invention relates to a master-slave type electromechanical servo cooperative motion control system, and relates to the field of aerospace thrust vector control electromechanical servo. The system aggregates signals, such as a bus instruction of a control system, linear displacement feedback of a master actuator and linear displacement feedback of a slave actuator; according to the swing angle of a spray tube, the corresponding telescopic lengths of the master and slave actuators and the accelerated factor and the acceleration factor of master and slave motion tracks are calculated in real time; a real-time motion track plan of the master and slave actuators is realized; an instruction signal of the master actuator is output in real time; a master-slave servo control driver completes inversion control of a direct-current power supply on a guided missile through a motor space vector control algorithm; a servo motor drives an electromechanical transmission mechanism to act a load, so that the purpose of controlling a thrust vector is achieved; the characteristic that synchronous control is strictly realized by master-slave cooperation is realized; furthermore, a basic technology is relatively matured and easy to realize; high integration and cooperative motion control of the system are realized; and thus, the technical problem that the spray tube is structurally damaged due to super-swing of the spray tube through a two-channel independent control method can be solved.

Description

technical field [0001] The invention relates to an application field of aerospace thrust vector control electromechanical servo, in particular to a cooperative motion control system of a master-slave electromechanical servo system. Background technique [0002] At present, the aerospace application of traditional electromechanical servo is usually concentrated in the fields of instrumentation equipment and small air rudder control. The technical problem of causing nozzle overswing and damage to the nozzle structure is still a difficult problem that needs to be overcome. , the high-power electromechanical servo system above the kilowatt level has the advantages of high specific power, light weight, small size, easy disassembly and maintenance, etc. that cannot be compared with the high-power hydraulic system, so the electromechanical servo thrust vector control of the high-power level above the kilowatt level The system requirements are becoming more and more urgent, especial...

AI Technical Summary

Problems solved by technology

At present, the requirements for the range of aerospace weapons are getting farther and farther, and the requirements for maneuvering characteristics are getting higher and higher; for electromechanical servos, the requirements for specific power and load are getting larger and higher, and the requirements for the control performance of motion control systems are getting higher and higher. The dynamic performance index of existing technology is low, which cannot meet the limited development trend and technical demand

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