Safety optimization control method of differential double redundancy steering gear

An optimized control and dual-redundancy technology, applied in the direction of motor speed or torque control, control system, attack equipment, etc., can solve the problems that there are few researches on differential speed control strategy

Active Publication Date: 2020-08-28
SHANGHAI AEROSPACE CONTROL TECH INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, although the electric steering gear with redundant drive has achieved dual redundancy, its differential speed control strategy is still rarely studied.

Method used

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  • Safety optimization control method of differential double redundancy steering gear
  • Safety optimization control method of differential double redundancy steering gear
  • Safety optimization control method of differential double redundancy steering gear

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0020] This method is applicable to a variety of redundant drive steering gear, the following combination figure 1 An example to illustrate: figure 1 , the left and right bevel gears are used for speed input, and the left and right bevel gears are respectively speed input mechanism 1 and speed input mechanism 2; the speed difference between the left and right bevel gears drives the upper and lower bevel gears to rotate, and the upper and lower bevel gears are differential motion mechanisms; the left and right bevel gears The average speed drives the spur gear and the output shaft to rotate, and the spur gear and the output shaft are speed output mechanisms. According to the transmission relationship, establish four shafts: input shaft 1, input shaft 2, differential motion shaft, output shaft, such as figure 1 shown. The rotational speed is set to ω 1 , ω 2 , ω c , ω o , calculate the equivalent moment of inertia J according to parameters such as mass inertia 1 、J 2 、J ...

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Abstract

The invention discloses a security optimization control method of a differential type double-redundant steering engine. A controller of the steering engine sets up the performance index expression H (omega<c>) with the rotational speed omega<c> of a differential motion mechanism as the independent variable through received rudder instruction omega<d>, the speed feedback omega<1> and omega<2> of afirst motor and a second motor, and the current feedback I<1> and I<2> of the first motor and the second motor. The value range of rotation speed omega<c> of a differential motion shaft is obtained through the speed limit of the two motors. A formula (please see the specification for the formula) corresponding to the minH(omega<c>) is obtained in the value range of the omega<c>. The correspondingexpected speeds omega<1d> and omega<2d> of the motors are inversely solved by the rotational speed relationship. The control strategy can select an appropriate differential motion strategy according to the running state of the steering engine, and safety working performance of the steering engine can be improved.

Description

technical field [0001] The invention belongs to the field of steering gear control, and in particular relates to a differential speed control method suitable for a differential double-redundancy steering gear. Background technique [0002] Adopting multiple safety margin strategies is an important means to improve the reliability and safety of missile steering gear. In recent years, the differential mechanism has begun to be used in redundant steering gears because of its safety performance characteristics such as multiple inputs and single outputs, redundant mechanisms, and no force disputes. Machine Control System and Method", using a differential epicyclic gear train reducer as a redundant drive mechanism, but the input of the two motors does not work at the same time in control, when one motor is working, the other motor is used as a cold backup; the publication number is CN106321770A The patent "A Double Redundancy Electric Steering Gear" uses a planetary differential ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F42B15/01H02P5/485
CPCF42B15/01H02P5/485
Inventor 奚勇唐德佳陈辉黄民昌王厚浩穆成龙马学铭
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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