Dual-redundancy electric steering engine based on worm and gear mechanism

Abstract

The invention relates to the technical field of electric servo control, and provides a dual-redundancy electric steering engine based on a worm and gear mechanism. The dual-redundancy electric steering engine is composed of a first worm and gear mechanism, a second worm and gear mechanism, a gear set and a rudder shaft driving unit. The first worm and gear mechanism and the second worm and gear mechanism correspondingly comprise a driving motor M1 and a driving motor M2, the driving motors are correspondingly provided with brakes, and the driving motors are correspondingly connected with a setof worms with the same specification and rotation direction; worm gears of the two sets of worm and gear mechanisms are fixed to the same engine base, two sets of parallel sliding rails are arrangedbeside the engine base, and the direction of the sliding rails is consistent with that of a worm shaft; and the gear set comprises a gear C1 fixed to the same shaft as a first worm wheel and a gear C2fixed to the same shaft as a second worm wheel, and the gear C1 and the gear C2 are meshed with each other. The dual-redundancy electric steering engine can realize mechanical backup with one main engine and one standby engine and without force disputes, and uninterrupted driving of a rudder shaft is realized.

Description

technical field [0001] The invention relates to the technical field of electric servo control, in particular to a dual-redundancy electric steering gear based on a worm gear mechanism. Background technique [0002] Steering gear is an important executive component in submarine steering control. With the continuous development of submarine technology in our country, the research on electric drive of submarine steering gear is gradually put on the agenda in the future. However, the electric drive scheme also has high requirements on the reliability, stability, support, and maintainability of the electric rudder, which puts forward requirements on the redundant design of the drive unit, that is, the steering gear. In fact, in addition to electrical redundancy, most of the current research on redundant steering gear uses multiple safety redundancy motors, that is, adding multiple windings to the motor. This method has difficulties in embedding windings, and there are defects suc...

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Problems solved by technology

In fact, in addition to electrical redundancy, most of the current research on redundant steering gear uses multiple safety redundancy motors, that is, adding multiple windings to the motor. This method has difficulties in embedding windings, and there are defects such as mutual inductance between windings.

However, there are few studies on mechanical redundancy design, which are mainly divided into two types. One is the torque synthesis method. This strategy uses multiple motors to drive the same shaft, which has the problem of force disputes, difficult control, and may even cause instability. ; The other is the redundant drive type, which uses a differential mechanism for speed synthesis to achieve redundant drive with multiple inputs and single outputs. The current research uses the gear differential method, which has problems such as unbalanced load, large structure, and large gaps.

[0003] Document CN202364049U discloses "a dual-motor drive device for a steering gear". The device is driven by an ordinary screw nut, and the output shaft direction is perpendicular to the motor shaft direction. Rotation angle control, and cannot solve the force dispute problem

[0004] Document CN106321770A discloses "a dual-redundancy electric steering gear". The steering gear uses the working principle of the planetary differential gear train to drive the planetary roller screw pair from the double motor through the planetary gear transmission reduction mechanism and transmit it to the sleeve. The sleeve push rod converts the rotary motion of the lead screw into the linear reciprocating motion of the sleeve push rod through the revolution and rotation of the roller, but this solution cannot solve the driving problem when the drive motor at the planetary gear is faulty and stuck, that is, it cannot Realize two motors as mutual backup

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