A reliable method for unlocking a servo system

Abstract

A reliable unlocking method for a servo system, relating to the field of servo motor equipment, includes the following steps: S1, first, set the control quantity to zero, output an unlocking signal to control the unlocking relay to close, and delay for a time period T1 to wait for the unlocking action to complete; at the end of time period T1, record the "current position" α of the servo system as the servo control command, and then during time period T2, increment the command relative to α by M times at uniform time intervals, each time increasing by n degrees, until reaching a positive (α+Mn) degree, where 0 < Mn ≤ 2 degrees; after time period T2 ends, set the servo control command to α, control the servo system to return to the "current position", and during time period T3, decrement the command relative to α by M times at uniform time intervals, each time decreasing by n degrees, until reaching a negative (α-Mn) degree; finally, control the servo system to return to zero; this method enables reliable unlocking of servo systems using electromagnetic unlocking mechanisms.

Description

Technical Field

[0001] This invention relates to the field of servo motor equipment, and in particular to a method for reliably unlocking a servo system. Background Technology

[0002] As is well known, electromagnetic locking devices achieve the locking and unlocking functions of the control surface by locking and unlocking the motor output shaft. Their working principle is as follows: when power is off, the locking pin on the electromagnetic locking device restricts the rotation of the motor shaft to lock the mechanism; when power is applied, the electromagnetic coil generates electromagnetic force to attract the armature, thereby releasing the rotation restriction of the motor shaft and achieving the unlocking function. A schematic diagram of the electromagnetic locking device is shown below. Figure 1-2 As shown, the high torque locking function of the rudder shaft is achieved by locking the motor shaft with a small torque.

[0003] While electromagnetic unlocking mechanisms have advantages such as small size and light weight, they also have disadvantages such as lack of unlocking status feedback. Due to factors such as external loads, the motor brake disc may press the locking pin of the lock, causing the lock to fail to "pull out the pin" smoothly to complete the servo system unlocking after being powered on. In these cases, how to ensure that the servo system can unlock reliably has become an urgent problem to be solved. Summary of the Invention

[0004] In order to overcome the shortcomings in the background art and solve the existing technical problems, the present invention discloses a method for reliably unlocking a servo system, enabling a servo system using an electromagnetic unlocking mechanism to be reliably unlocked.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0006] A method for reliably unlocking a servo system includes the following steps: S1, first, the motion control quantity of the servo system is set to zero, an unlocking signal is output to control the unlocking relay of the electromagnetic locking device to close, and a time delay of T1 is waited for the unlocking action to complete; at the end of the T1 time period, the "current position" α of the servo system is recorded and used as the rudder control command; then, during the T2 time period, the command is incremented relative to α by M times at uniform time intervals, each time increasing by n degrees, to control the servo system to deflect to a positive α+Mn degree, where 0<Mn≤2 degrees; after the T2 time period ends, the rudder control command is set to α to control the servo system to return to the "current position", and during the T3 time period, the command is decremented relative to α by M times at uniform time intervals, each time decreasing by n degrees, to a negative α-Mn degree; finally, the servo system is controlled to return to zero.

[0007] Furthermore, in S1, the T1 time period is 15ms to 25ms.

[0008] Furthermore, Mn degree is set to 1 degree.

[0009] Furthermore, in S2, α increases 10 times at uniform time intervals, each time by 0.1 degrees.

[0010] Furthermore, α increases or decreases at 2ms intervals.

[0011] Furthermore, the entire unlocking process takes less than 0.1 seconds.

[0012] By employing the technical solution described above, the present invention has the following beneficial effects:

[0013] The method for reliably unlocking a servo system disclosed in this invention can effectively overcome the influence of external loads and enable the servo system to be reliably unlocked even without an unlocking feedback signal.

[0014] The reliable unlocking method for a servo system disclosed in this invention uses a small-angle progressive method during left and right swinging to reduce the potential impact on the motor locking pin, thereby improving safety. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the unlocked state of the electromagnetic lock.

[0016] Figure 2 This is a schematic diagram of the electromagnetic lock's locked state;

[0017] Figure 3 This is a schematic diagram of the unlocking process of the servo system of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will now be described with reference to the accompanying drawings of the embodiments of the present invention. In the description, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," etc., indicating directions or positional relationships, are only used to correspond to the accompanying drawings of the present invention for the purpose of facilitating the description of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation.

[0019] A reliable unlocking method for a servo system, which ensures reliable unlocking while minimizing the impact on the motor locking pin during the unlocking process, includes the following steps:

[0020] Step 1: First, set the motion control quantity of the servo system to zero, output the unlock signal to control the unlock relay of the electromagnetic locking device to close, and delay for a time period T1 to wait for the unlocking action to complete; as needed, the T1 time period is 15ms to 25ms, specifically 15ms, 20ms or 25ms.

[0021] Step 2: At the end of time period T1, record the "current position" α of the servo system and use it as the steering command. Then, during time period T2, increment the command relative to α by M times at uniform time intervals, each time by n degrees, to control the servo system deflection until it reaches a positive α + Mn degree, where 0 < Mn ≤ 2 degrees. If necessary, α is incremented 10 times at 2ms time intervals, each time by 0.1 degrees, and Mn degree is set to 1 degree.

[0022] Step 3: After the T2 time period ends, set the steering control command to α, control the servo system to return to the "current position", and during the T3 time period, decrease the command relative to α by M times at uniform time intervals, each time decreasing by n degrees, until reaching the negative α-Mn degrees; if necessary, decrease α by 10 times at 2ms time intervals, each time decreasing by 0.1 degrees; through the high-frequency adjustment of small angles in steps 2 and 3, safety and reliability are improved.

[0023] Step four: Finally, control the servo system to return to zero. The entire unlocking action takes less than 0.1 seconds, which is short, efficient, and does not affect subsequent use.

[0024] This invention utilizes the output force of a servo system to counteract the effect of external loads, thereby disengaging the locking pin of the lock from the motor brake disc and achieving unlocking. Specifically, it ensures reliable unlocking of the servo system by designing a method of "small positive and negative angle swing after unlocking," as shown in the attached diagram. Figure 3 As shown, the specific implementation method is as follows:

[0025] (1) To prevent the electromagnetic unlocking mechanism from rubbing against the motor shaft during the unlocking action, thus affecting the unlocking, first set the motion control quantity of the servo system to 0 and turn off the PWM output;

[0026] (2) The servo system controller outputs an unlock signal to control the motor to unlock, and delays for 20ms to wait for the unlocking action to complete;

[0027] (3) In order to overcome the external load and ensure the motor unlocks, the "current position" α of the servo system is recorded at 20ms and used as the rudder control command. Then, the command is increased by 0.1° relative to α every 2ms and the servo system is controlled to deflect. This is increased 10 times in total, reaching the positive (α+1)° and completing the positive swing.

[0028] (4) Set the rudder control command to α at 41ms to control the servo system to return to the "current position". From 42ms to 60ms, decrease the command by 0.1° relative to α every 2ms for a total of 10 times, until the negative (α-1)° is reached, and the negative oscillation is completed.

[0029] (5) Control the servo system to return to zero.

[0030] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the above embodiments should be regarded as exemplary and non-limiting in all respects. The scope of this invention is defined by the appended claims rather than the foregoing description. Therefore, it is intended to include all changes that fall within the meaning and scope of the equivalents of the claims within this invention, and no reference numerals in the claims should be regarded as limiting the content of the claims.

Claims

1. A method for reliably unlocking a servo system, characterized by: Includes the following steps: S1. First, set the motion control quantity of the servo system to zero, output the unlock signal to control the unlock relay of the electromagnetic locking device to close, and delay for a period of time T1 to wait for the unlocking action to be completed. S2. At the end of time period T1, record the "current position" α of the servo system and use it as the rudder control command. Then, during time period T2, increase the command relative to α by M times at uniform time intervals, each time by n degrees, to control the servo system to deflect until it reaches a positive α+Mn degree, where 0 < Mn ≤ 2 degrees. S3. After the T2 time period ends, set the rudder control command to α, control the servo system to return to the "current position", and during the T3 time period, decrease the command relative to α by M times at uniform time intervals, each time decreasing by n degrees, until the negative α-Mn degrees are reached. S4. Finally, control the servo system to return to zero.

2. The method for reliably unlocking a servo system according to claim 1, characterized in that: In S1, the T1 time period is 15ms to 25ms.

3. The method for reliably unlocking a servo system according to claim 1, characterized in that: Mn is set to 1 degree.

4. The method for reliably unlocking a servo system according to claim 3, characterized in that: In S2, α increases 10 times at uniform time intervals, each time by 0.1 degrees.

5. The method for reliably unlocking a servo system according to claim 1, characterized in that: α increases or decreases at 2ms intervals.

6. The method for reliably unlocking a servo system according to claim 1, characterized in that: The entire unlocking process takes less than 0.1 seconds.

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