A missile-borne servo drive system

Abstract

The present invention relates to a missile-borne servo drive system, aiming to address the existing problems of damaging the battery and controller when the servo is in a power generation state, increasing the size and weight of the servo by using missile wing locking, and unreliable initial input command components. The system comprises a main controller, a power supply battery, a servo drive, a servo speed sensor, and a stator current detection unit. The power supply battery supplies power to the servo drive. The output of the servo speed sensor and the output of the stator current detection unit are respectively connected to the speed feedback input and voltage / current acquisition input of the servo drive. The speed control command output of the main controller is connected to the control input of the servo drive. The speed control command of the main controller also serves as a mode switching signal for the servo drive.

Description

Technical Field

[0001] The present invention relates to a steering gear controller, in particular to a missile-borne steering gear driver system. Background Art

[0002] When a projectile with a servo control is ejected from the barrel, the wings are in a high-speed rotation state. Since the servo is a permanent magnet synchronous motor, the servo is in a power generation state at this time, which will cause the battery voltage to be too high and damage the battery and controller.

[0003] To this end, the current solution is to lock the wing or initially input a command component to the servo to apply a fixed torque. However, the former method requires the addition of mechanical devices, which will increase the size and weight, making it impractical. Although the latter method does not require the addition of mechanical devices, the initial locking torque is limited by the controller and motor power. When the external air resistance distance is greater than the initial locking torque, reverse power generation will still occur, making this method unreliable. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art that the battery and controller may be damaged when the servo is in the power generation state, the use of missile wing locking will increase the size and weight, and the use of initial input command components is unreliable. A missile-mounted servo drive system is provided.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] The missile-borne servo driver system of the present invention is characterized in that it comprises a main controller, a power supply battery, a servo driver, a servo speed sensor and a stator current detection unit, wherein the power supply battery supplies power to the servo driver;

[0007] The output end of the servo speed sensor and the output end of the stator current detection unit are respectively connected to the speed feedback input end and the voltage / current acquisition input end of the servo driver. The speed control command output end of the main controller is connected to the control input end of the servo driver. The speed control command of the main controller also serves as a mode switching signal of the servo driver, so that: when the speed control command of the main controller is not received, the servo driver outputs a torque control signal to the servo to achieve follow-up adjustment. When the speed control command of the main controller is received, the servo driver outputs a speed control signal to the servo to achieve speed adjustment.

[0008] The DC power of the power supply battery provides three-phase AC power to the servo through a three-phase inverter circuit.

[0009] Furthermore, the steering gear driver implements torque control or speed control function by receiving communication instructions from the main controller.

[0010] Furthermore, the torque control signal is connected to the stator of the servo to adjust the stator electrical frequency.

[0011] Furthermore, the stator current detection unit adopts a Hall sensor.

[0012] Furthermore, the steering gear speed sensor adopts a rotary encoder installed on the steering gear.

[0013] Furthermore, the steering gear driver includes:

[0014] A current / voltage conversion unit, used to convert the detected stator current into the current battery voltage;

[0015] a comparison unit, configured to compare the current battery voltage with a set voltage threshold;

[0016] The stator frequency output unit is used to output the corresponding stator frequency according to the comparison result of the comparison unit, so that: when the battery voltage is lower than the threshold, the servo is controlled to be in a controllable power generation state, and the power generation current is controlled to charge the battery; when the battery voltage is higher than the threshold, the servo output torque is controlled to be 0, that is, the servo is prevented from being in the power generation state.

[0017] Furthermore, the power supply batteries are connected in parallel to form power supply circuits for the main controller and the steering gear driver respectively.

[0018] Furthermore, the main controller is provided with a GPS for target positioning.

[0019] The beneficial effects of the present invention are:

[0020] The present invention utilizes a hardware connection between a servo speed sensor and a stator current detection unit to achieve corresponding switching of the stator's electrical frequency in the servo. This allows the servo driver to detect the servo speed when the missile exits the barrel and the wings rotate at high speed, driving the servo. The servo driver then outputs a stator frequency corresponding to the battery voltage and servo speed, allowing the stator electrical frequency to follow the rotor electrical frequency for follow-up regulation. This allows the servo to be in a generating or motoring state, preventing damage to the battery and the main controller connected to the servo driver. The mechanical structure is simple, the size is compact, and the follow-up regulation solves the problem of unreliable initial input command components. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a missile-borne servo driver system according to this embodiment;

[0022] Figure 2 1 is the internal design principle diagram of the servo driver in this embodiment. DETAILED DESCRIPTION

[0023] To further clarify the objectives, advantages, and features of the present invention, the following detailed description of a missile-mounted servo drive system proposed by the present invention is provided with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent through the following detailed embodiments. It should be noted that the drawings are highly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the objectives of the embodiments of the present invention. Furthermore, the structures shown in the drawings are often portions of actual structures.

[0024] Example:

[0025] The structure of a missile-borne steering gear drive system of the present invention is as follows:

[0026] like Figure 1 As shown, it includes a power supply battery, a servo driver, a servo and a main controller;

[0027] The power supply batteries are connected in parallel to form the power supply circuits for the main controller and the servo driver. The servo driver includes a driver control circuit, a current Hall effect sensor, and an encoder. The driver control circuit is connected to the servo's stator. The encoder is mounted on the servo. The encoder output is connected to the speed feedback input of the driver control circuit to provide feedback on the servo's rotor speed. The current Hall effect sensor is located between the driver control circuit and the servo and is connected to the driver control circuit's current feedback input to provide feedback on the current between the two devices. The driver control circuit sets a control voltage threshold based on the battery voltage. The output of the main controller is connected to the input of the driver control circuit via a communication interface. The main controller also includes a GPS for target positioning.

[0028] The present invention provides a missile-borne steering gear drive system, and its working process is as follows:

[0029] When the projectile is fired, factors such as wind resistance will drive the wings to rotate at high speed, driving the rotor of the servo to rotate. The servo will then generate voltage and current to reverse charge the power supply battery. At this time, the encoder collects the speed of the servo rotor and feeds it back to the driver control circuit. At the same time, the current Hall sensor collects the current signal and feeds it back to the driver control circuit. As a result, the driver control circuit knows the voltage status of the power supply battery at any time. At the same time, the driver control circuit can set the voltage threshold according to the power supply battery voltage. When the power supply battery voltage is lower than the set voltage threshold, the driver control circuit controls the servo to be in a controllable power generation state, and can control the power generation current to charge the battery; when the battery voltage is higher than the set voltage threshold, the driver control circuit controls the servo output torque to 0, which can avoid the servo being in the power generation state.

[0030] like Figure 2As shown, a contact switch is provided at the control input end of the servo driver, the normally closed contact is connected to the signal where the torque control signal is located, and the normally open contact is connected to the signal where the speed control signal is located. The speed regulation instruction of the main controller triggers the contact switch action.

[0031] When the main controller is in normal control, after the driver control circuit receives the speed control instruction from the main controller, the driver control circuit accelerates or decelerates according to the current servo speed and the speed control instruction deviation of the main controller, so that the servo driver enters the normal controlled mode.

Claims

1. A missile-borne servo drive system, characterized by: It includes a main controller, a power supply battery, a steering gear driver, a steering gear speed sensor and a stator current detection unit, wherein the power supply battery supplies power to the steering gear driver; The output end of the steering gear speed sensor and the output end of the stator current detection unit are respectively connected to the speed feedback input end and the voltage / current acquisition input end of the steering gear driver, and the speed control command output end of the main controller is connected to the control input end of the steering gear driver. The speed control command of the main controller also serves as a mode switching signal of the steering gear driver, so that: when the speed control command of the main controller is not received, the steering gear driver outputs a torque control signal to the steering gear to achieve follow-up adjustment; when the speed control command of the main controller is received, the steering gear driver outputs a speed control signal to the steering gear to achieve speed adjustment; The servo driver includes: a current / voltage conversion unit for converting the detected stator current and the rotational speed of the servo rotor into the current battery voltage; a comparison unit for comparing the current battery voltage with a set voltage threshold; and a stator frequency output unit for outputting a corresponding stator frequency according to the comparison result of the comparison unit, so that: when the battery voltage is lower than the threshold, the servo is controlled to be in a controllable power generation state, and the power generation current is controlled to charge the battery; when the battery voltage is higher than the threshold, the servo output torque is controlled to be 0, that is, the servo is prevented from being in the power generation state.

2. The missile-borne servo drive system according to claim 1, characterized in that: The steering gear driver realizes torque control or speed control function by receiving communication instructions from the main controller.

3. The missile-borne servo drive system according to claim 2, characterized in that: The torque control signal is connected to the stator of the servo and is used to adjust the stator electrical frequency.

4. The missile-borne servo drive system according to claim 3, characterized in that: The stator current detection unit adopts a Hall sensor.

5. The missile-borne servo drive system according to claim 4, characterized in that: The steering gear speed sensor adopts a rotary encoder installed on the steering gear.

6. The missile-borne servo drive system according to claim 5, characterized in that: The power supply batteries are connected in parallel to form power supply circuits for the main controller and the steering gear driver.

7. The missile-borne servo drive system according to claim 6, characterized in that: The main controller is provided with a GPS.

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