Actuator electromagnetic compatibility forward design method and application

Abstract

The invention discloses an actuator electromagnetic compatibility forward design method and related equipment, and the method comprises the steps: carrying out the minimum system decomposition of an actuator, marking devices, interfaces and a cover plate in a minimum system, analyzing the cable relation and space coupling relation among the devices, the interfaces and the cover plate, and carrying out the connection through different line segments, the number of line coupling lines and field coupling lines is counted in a coupling mode, the weakest link of a minimum system is recognized according to a topological graph theory method, electromagnetic compatibility design is carried out on the weakest link, and electromagnetic compatibility test verification is carried out after design is completed. According to the method, the weakest link of a minimum system is identified according to a topological graph theory method, and an electromagnetic radiation optimization mode corresponding to a sub-problem is established, so that the forward design of the electromagnetic compatibility performance of the radio telescope actuator is realized, and the electromagnetic compatibility index of the actuator is improved.

Description

Technical Field

[0001] The present invention belongs to the field of electromagnetic field technology, and specifically relates to an actuator electromagnetic compatibility forward design method and application. Background Art

[0002] In the field of radio astronomy, as radio telescopes develop towards higher frequency bands and larger apertures, the sensitivity of the system has also been greatly improved. In addition to observing useful target signals, radio telescopes do not want to receive other useless signals. The radio wave environment of radio astronomy observatories is complex. In addition to receiving electromagnetic radiation from celestial bodies in the universe, they are also accompanied by complex electromagnetic waves from surrounding commercial equipment, electrical equipment, residential areas, and various wireless communication services and electromagnetic radiation from their own equipment. Since the celestial radiation signals reaching the radio telescope are very weak, the signal-to-noise ratio is extremely low and even reaches -60dB, making it very susceptible to interference from the external environment and the system itself, resulting in prominent electromagnetic compatibility issues, which have become a serious factor affecting the normal conduct of radio observations.

[0003] When designing the main reflector of the antenna, the actuator is used as a load and installed at the node of each panel. It is the core structure to ensure the adjustment of the main reflector of the radio telescope. For large-aperture main reflector panels, the interference between thousands of actuators and between the actuators and other antenna systems in the radio telescope system can easily become a weak link in the electromagnetic compatibility of the system and affect the working performance of the actuator. Therefore, strictly controlling the electromagnetic compatibility performance of each link in the radio telescope system is the key to the electromagnetic compatibility design of the actuator. Summary of the invention

[0004] The present invention provides an actuator electromagnetic compatibility forward design method and application, which solves the problem that the electromagnetic compatibility index of the radio telescope actuator is extremely low and the product has high difficulty in passing the electromagnetic compatibility test.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An actuator electromagnetic compatibility forward design method, comprising:

[0007] Decompose the actuator into a minimum system and mark the components, interfaces and covers within the minimum system;

[0008] Analyze the cable relationship and spatial coupling relationship between the device, interface and cover, and connect them with different line segments;

[0009] Based on the line segment connection results, the number of line coupling lines and field coupling lines is counted;

[0010] Based on the coupling statistics, the weakest link of the minimum system is identified according to the topological graph theory method;

[0011] Carry out electromagnetic compatibility design for the weakest link, and conduct electromagnetic compatibility test verification after the design is completed.

[0012] Preferably, designing the weakest link includes designing the controller, AC / DC power supply, power interface, chassis housing and interface or chassis electromagnetic compatibility layout and impedance matching.

[0013] Preferably, the electromagnetic compatibility design of the controller includes:

[0014] Change the ground line of the ADM2401 chip to the ground layer to reduce the parasitic capacitance between the device and the system ground and between the isolation areas inside the device. Move the ADM2401 chip to the back of the PCB board to reduce interference with other devices. At the same time, design the crystal oscillator.

[0015] Preferably, the design of the crystal oscillator includes:

[0016] The crystal oscillator type is selected and controlled, and the corresponding magnetic beads are selected in series according to the operating frequency to reduce radiation. The ground layer is laid on the printed circuit board for signal shielding, and the corresponding magnetic beads are designed for filtering at the output interface of the signal. The decoupling filter is designed for the power supply pins of the device.

[0017] Preferably, the electromagnetic compatibility design of AC / DC power supply includes:

[0018] The power module is filtered and the input and output structure are isolated to effectively avoid the input and output coupling of the power line. The filter is placed as close to the power module and the external interface as possible. The input end of the filter is designed as a hollow screw. The screw is inserted into the metal cover of the equipment installation connector, locked with a nut and the penetration hole is shielded. The wire at the input end of the filter enters the connector cavity through the hollow screw and is welded to the connector. The output end is connected to the power board connector inside the equipment.

[0019] Preferably, the electromagnetic compatibility design of the chassis shell and interfaces and power interfaces includes using shielding connectors for the electrical connectors and optical connectors on the chassis and providing conductive sealing pads therewith, using conductive sealing rope to seal the chassis cover and the case body, and designing the screw gap on the chassis cover to have a shielding gap.

[0020] Preferably, the chassis electromagnetic compatibility layout design includes:

[0021] The reduction motor is integrated into the controller chassis and connected to the chassis through fixing screws. The motor shaft extends out of the chassis and is directly connected to the shaft of the transmission component. Screws are set on the chassis for connecting and fixing with the transmission component. The power filter is placed next to the AC\DC power supply and power connector. The controller board is installed on an independent surface of the chassis hexahedron. The external power line supplies power to the internal equipment through the power filter. The internal equipment of the box communicates with the external equipment through the signal filter and the optical fiber connector. The shielding box is installed with a waterproof shielding breathable valve.

[0022] Preferably, the impedance matching design includes:

[0023] Conductive gaskets are installed on the overlapping surfaces of the box and the cover plate, and on the mounting surfaces of the box and the electrical connector to remove conductive oxidation and reduce the overlapping surface impedance.

[0024] Preferably, the electromagnetic compatibility test verification includes:

[0025] The electromagnetic compatibility forward design method of the actuator is verified through the RE102 test in a microwave darkroom. When the actuator is at 1-6GHz, the RE102 test radiation is lower than the darkroom noise floor. The test passes, and the electromagnetic compatibility forward design method of the actuator is verified to be effective.

[0026] The invention discloses an actuator electromagnetic compatibility forward design method and its application in the actuator electromagnetic compatibility forward design.

[0027] Compared with the prior art, the present invention has the following beneficial effects: the present invention provides an electromagnetic compatibility forward design method for an actuator, which is based on the electromagnetic compatibility index of the actuator, by studying the interference coupling characteristics of the actuator and dividing the electromagnetic compatibility problem of the system into several sub-problems. Due to the space and weight problems of the actuator, the weakest link of the minimum system is identified according to the method of topological graph theory, and then the electromagnetic radiation optimization method of the corresponding sub-problem is established, thereby realizing the forward design of the electromagnetic compatibility performance of the radio telescope actuator and improving the electromagnetic compatibility index of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of an electromagnetic compatibility forward design method for an actuator according to the present invention;

[0029] Figure 2 It is a diagram of the appearance structure and interconnection of an actuator provided by an embodiment of the present invention;

[0030] Figure 3 is a flow chart of an electromagnetic compatibility forward design method for an actuator provided by an embodiment of the present invention;

[0031] Figure 41 is a schematic diagram of the electromagnetic coupling inside the actuator system depicted by an abstract topological graph theory method in an embodiment of the present invention, wherein a and b are schematic diagrams at different angles, and the frame in the picture is the design position of the integrated shielding and filtering;

[0032] Figure 5 Schematic diagram of the installation position of the power filter according to the embodiment of the present invention;

[0033] Figure 6 is a schematic diagram of installing a signal filter according to an embodiment of the present invention;

[0034] Figure 7 It is a diagram of the simulation results of the shielding effectiveness of the chassis according to the embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] like Figure 1 As shown, an embodiment of the present invention provides an actuator electromagnetic compatibility forward design method, comprising:

[0040] S101 decomposes the actuator into a minimum system and marks the components, interfaces and covers within the minimum system;

[0041] S102 analyzes the cable relationship and spatial coupling relationship between the device, the interface and the cover plate, and connects them with different line segments respectively;

[0042] S103, based on the line segment connection result, coupling statistics the number of line coupling lines and field coupling lines;

[0043] S104 identifies the weakest link of the minimum system based on the coupling statistics results and the topological graph theory method;

[0044] S105 conducts electromagnetic compatibility design for the weakest link and conducts electromagnetic compatibility test verification after the design is completed.

[0045] Specifically:

[0046] Step 1: Analyze the electromagnetic compatibility characteristics inside and outside the actuator, identify external interference sources, internal interference sources, propagation paths, etc., and classify and summarize the electromagnetic compatibility characteristics of the actuator;

[0047] Step 2: Decompose the complex actuator into a minimum system, and record the minimum system in the form of a rectangular entity block diagram; record the actuator housing as , as the interface, and record the external space as , and the internal space as . The actuator system housing contains various components, which are recorded as , , , respectively. Mark the external interfaces of the housing that may cause electromagnetic leakage and electromagnetic coupling, and record the large-area chassis housing cover in the form of , and the small-area interface in the form of ;

[0048] Step 3: Analyze the cable connection relationship between the minimum systems, and use black thin solid lines to connect the minimum systems with wire connection relationships.

[0049] Step 4: Analyze the spatial coupling relationship between the minimum systems and use thin black dotted lines to connect the minimum systems that may have spatial coupling relationships.

[0050] Step 5: Make statistics on the coupling of the actuators, and make intuitive statistics on the number of line coupling lines and field coupling lines between each minimum system and other minimum systems.

[0051] Step 6: Based on the topological graph theory method combined with coupling statistics to summarize the coupling and weak links between systems, identify the areas that need to be focused on electromagnetic compatibility design.

[0052] Step 7: For the parts that need to be focused on electromagnetic compatibility design, carry out electromagnetic compatibility design in steps.

[0053] Step 8: Electromagnetic compatibility test verification: After completing the electromagnetic compatibility design of the product, the electromagnetic compatibility positive design method of the actuator needs to be verified through testing.

[0054] An embodiment of the present invention provides an actuator electromagnetic compatibility forward design method, comprising:

[0055] like Figure 2As shown in the figure, the actuator is mainly composed of AC / DC power board, controller, motor, reducer, lead screw, temperature sensor, linear displacement sensor and other modules. The actuator is the actuator of the main reflector control system. The motion accuracy, operation synchronization and real-time response to commands of the actuator are important guarantees for the adjustment of the main reflector, and the internal sensor system of the actuator is an important support for system fault diagnosis. Its overall dimensions are 227mm×161mm×126mm in length×width×height. It has a small size and a compact internal layout, making it a typical high-density and miniaturized electronic system. The product is required to have extremely high electromagnetic compatibility indicators, requiring that when conducting RE102 electromagnetic compatibility test in accordance with GJB-151B, the electromagnetic radiation limit at 1~6GHz is about 20dB lower than the ambient noise in the darkroom. The electromagnetic compatibility forward design method proposed for this type of product may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0056] like Figure 3 The figure shows a flow chart of the electromagnetic compatibility forward design method of the actuator provided by the present invention. First, the internal and external electromagnetic compatibility characteristics of the actuator are analyzed. The radio telescope system is mainly composed of various subsystems such as a large-aperture parabolic antenna, a receiving system, an actuator cluster, a control and monitoring system, and a power distribution system. Its external interference sources include long-distance satellite transmission and radar transmission as well as short-distance mobile communication base stations, high-voltage transmission lines, and radio and television transmission towers; and for the actuator body, its external interference sources include not only the mutual interference between the actuator clusters, but also the interference of the antenna to the actuator, the power distribution system, the monitoring system and other systems to the actuator through cables.

[0057] like Figure 4 As shown, the present invention proposes a method for analyzing coupling and weak links between systems by combining the method of abstract topological graph theory with multi-dimensional screening. The specific workflow is as follows.

[0058] The first step is to decompose the complex actuator into a minimum system with a rectangular solid block diagram. The minimum system will be recorded in this way; the actuator housing is recorded as S 01 , with S 01 is the interface, and the external space is denoted as V 0 , the internal space is denoted as V 1 The actuator system housing contains a controller, a vibration sensor, a motor, and a power module, which are denoted as V 1.1 、V 1.2 、V 1.3 、V 1.4 .

[0059] The second step is to mark the external interfaces of the shell that may cause electromagnetic leakage and electromagnetic coupling. The remaining temperature sensors, linear displacement sensors, optical cables, and power cord interfaces are recorded using Record in the same way.

[0060] The third step is to analyze the cable connection relationship between the minimum systems, and use black thin solid lines to connect the minimum systems with wire connection relationships. This includes the power cord entering from the housing interface, the connection between the power cord and the AC / DC module, the AC / DC module converts AC power into 24V and provides it to the controller, the controller realizes the connection between the motor drive vibration sensor, the vibration sensor drives the motor, and the controller interacts with the temperature sensor and the linear displacement sensor respectively. Sensor signals, and the connection between the controller and the optical fiber interface.

[0061] The fourth step is to analyze the spatial coupling relationship between the minimum systems, and use black thin dotted lines to connect the minimum systems that may have spatial coupling relationships, including the radiation coupling between the power module and each minimum system and port, and the radiation coupling between the control board and each minimum system and port.

[0062] The fifth step is to make statistics on the coupling conditions of the actuators in a table, and make intuitive statistics on the number of line coupling lines and field coupling lines between each minimum system and other minimum systems. The statistical results are shown in Table 1.

[0063] Table 1 Statistics of electromagnetic coupling inside the actuator system

[0064] Serial number Location Line coupling Field coupling 1 Chassis 0 4 2 Temperature Sensor 1 3 3 Displacement Sensors 1 3 4 Optical Cable 1 3 5 Power cord port 2 4 6 Power Module 2 7 7 Controller 4 8 8 Vibration Sensor 2 2 9 Motor 1 3

[0065] The sixth step is to filter out relatively weak coupling signals by combining structural screening, amplitude screening, frequency screening and other methods, and count the weakest links in electromagnetic compatibility, and make specific analysis in combination with application information. It can be seen from Table 1 that the controller and AC / DC power module are the weakest links in electromagnetic compatibility coupling. The electromagnetic compatibility of these two minimum systems is analyzed. For the AC / DC power module, when the rectifier circuit is working, the conduction and closing of its diodes are likely to cause instantaneous mutations in voltage and current, resulting in greater electromagnetic interference; the DC / DC conversion circuit mainly adopts PWM control, and its rising and falling edges are steep. Both voltage and current change states in a short time, and the violent fluctuations are prone to electromagnetic interference. For the controller, its drive circuit mainly adopts PWM signal control. By adjusting the output voltage waveform of the drive circuit, the working state of the motor is controlled, which is prone to greater interference during the working process. The control circuit in the controller consists of a high-speed digital processing chip ARM, a clock circuit and a memory, among which the clock signal and its harmonic interference are prone to become the main frequency interference source.

[0066] Step 7. From Table 1, we can see that the number of couplings in the remaining parts is about 4, so further screening is done. The power cord port is connected to the power module, and the power module, as a major interference source, is easily transmitted through power cord conduction and radiation coupling. Since the number of gaps in the chassis shell is the largest and the area is the largest, it is easy to become a path for electromagnetic radiation leakage, reducing the shielding effectiveness of the product shell. The displacement sensor uses digital signal output. When the digital signal rises and falls, it changes from one state to another in a short time, which is easy to generate large electromagnetic interference and conduct radiation through the cable.

[0067] Step 8. For other parts in the table, such as the temperature sensor, its nozzle senses the external temperature signal, and the temperature reading signal is transmitted to the platinum resistor. The temperature sensor itself does not generate electromagnetic interference. Its shell is made of metal, and the cable is led out through the aviation plug, which is not easy to generate electromagnetic interference. The vibration sensor is installed on the reducer to collect the working frequency of the mechanical transmission. Since the sensor uses analog output, AD acquisition is required at the back end, and the electromagnetic compatibility is better than that of digital output sensors. Since the optical signal is transmitted using optical fiber, the main material of the optical cable assembly is an insulator, so the ability to resist electromagnetic interference will be stronger.

[0068] Due to the problem of actuator space and weight, based on the topological graph theory method combined with multi-dimensional screening to summarize the coupling and weak links between systems, the methods for electromagnetic compatibility design focusing on the controller, AC / DC power supply, power interface, chassis shell and interface, and displacement sensor are as follows:

[0069] Conduct electromagnetic compatibility design for the radiation control of the controller. The controller is the core PCB board that implements motor control, optical fiber communication of the host computer, position information feedback and calculation, data storage, health management data collection, and power supply change and isolation functions used inside the controller. When designing the product, the line width change and layer conversion should be controlled; when wiring the PCB, the product wiring specifications should be followed to reduce the gap on the return path plane; control the impedance of the signal loop, reduce the area of ​​the loop, adopt reasonable termination, and control the reflection of the loop. Ground the key signals, and use the ground plane or ground wire to connect the holes to the ground plane multiple times.

[0070] It is also necessary to focus on the electromagnetic compatibility design of ADI's isolation chip and clock crystal oscillator on the controller. Magnetic isolation technology is used for the ADUM2401 digital isolation chip on the controller. Since ADI's standard data coupler uses similar magnetic technology, EMI may become a more prominent problem on the data channels of pure data iCoupler and isPower devices, so PCB wiring is particularly important. Special design of the chip is required: To shield interference, the ground wire of the ADM2401 chip is changed to the ground layer to reduce the parasitic capacitance between the device and the system ground and between the isolation areas inside the device to avoid reducing the isolation effect of the device; and the ADUM2401 chip is moved to the back of the PCB board to reduce interference with other devices;

[0071] The controller contains a variety of crystal oscillators and phase-locked loop frequency multiplication to generate clock signals. Because the power spectrum of the clock signal is a discrete distribution of the fundamental wave and higher harmonics, each frequency point has a certain power, so the clock signal has a higher intensity frequency domain power spectrum than the non-periodic signal. In order to control the radiation of the crystal oscillator on the PCB board, the type of crystal oscillator is selected and controlled, and the corresponding magnetic beads are selected in series according to the corresponding operating frequency to reduce the radiation. The ground layer is laid on the printed circuit board for signal shielding. The corresponding magnetic beads are designed at the output interface of the signal for filtering. The decoupling filter design is performed on the corresponding power supply pins of the device.

[0072] Perform electromagnetic compatibility design on AC / DC power modules. The most effective measure for the radiation interference of AC / DC power modules is to filter the power modules. The design and selection of EMI power filters should be comprehensively considered based on the characteristics of the interference source, frequency range, voltage, impedance and other parameters and the requirements of load characteristics. It is usually necessary to consider the requirement that the electromagnetic interference filter can meet the attenuation characteristics required by the load within the corresponding working frequency band. If the attenuation of a filter cannot meet the requirements, multiple cascades can be used to obtain good attenuation characteristics in a wide band; it is necessary to meet the requirements of the load circuit operating frequency and the required suppression frequency; at the required frequency, the impedance of the filter must match the impedance of the interference source and the load impedance connected to it; the electromagnetic interference filter must have a certain voltage resistance and be able to withstand the impact of input instantaneous high voltage; the current allowed to pass through the filter should be consistent with the rated current of continuous operation in the circuit; the filter should have sufficient mechanical strength, simple structure, light weight, small size, easy installation, safety and reliability. In order to achieve better filtering suppression effect, the design form of input and output structure isolation is adopted to effectively avoid input and output coupling of the power line, thereby effectively suppressing high-frequency interference, Figure 5As shown. The filter is placed next to the power module and the external interface at the closest distance. The filter input end is designed as a hollow screw. The screw is inserted into the metal cover of the device installation connector, locked by a nut and the penetration hole is shielded. The wire at the filter input end enters the connector cavity through the hollow screw and is welded to the connector. The output end is connected to the power board connector inside the device. The insertion loss is shown in Table 2 below.

[0073] Table 2 Insertion loss of new power filter

[0074]

[0075] Electromagnetic compatibility design of the sensor. In order to enhance the anti-interference ability of the signal interface, the circuit design is carried out by combining inductance and capacitance, so that the signal filter has a high difference loss in the wide frequency band of 2MHz to 1GHz. The measured value of insertion loss is shown in Table 3. The filter installation position is as follows: Figure 6 As shown, installing and fixing near the signal connector port can effectively avoid mutual coupling between input and output.

[0076] Table 3 Insertion loss measured values

[0077]

[0078] The chassis shell and interfaces, as well as the power interface, are designed for electromagnetic compatibility. The electrical and optical connectors on the chassis are all high-shielding-effective connectors, and are padded with conductive sealing pads. The chassis cover and the box body are sealed with conductive sealing ropes, and the screw gap on the chassis cover is designed according to the high-shielding-effective gap. At the same time, the shielding effectiveness design performance of each interface and the chassis is verified by shielding effectiveness simulation. The simulation results are shown in Figure 6 shown.

[0079] Chassis electromagnetic compatibility layout and impedance matching design. The reduction motor is integrated into the controller chassis and connected to the chassis through fixing screws. The motor shaft extends out of the chassis and can be directly connected to the shaft of the transmission component. The screws designed on the chassis are used to connect and fix with the transmission component. The power filter is placed next to the AC\DC power supply and power connector, which can make the wiring as short as possible and meet the electromagnetic compatibility design requirements. The controller board is installed on an independent surface of the chassis hexahedron for easy fixing and wiring.

[0080] The external power line supplies power to the internal equipment through a power filter, etc.; the internal equipment of the box communicates with the external equipment through a signal filter, an optical fiber connector, etc.; a waterproof shielding breathable valve is installed on the shielding box.

[0081] The metal casing needs to have both shielding and clutter discharge functions, and requires extremely low impedance (less than 50mΩ). To ensure low impedance discharge and impedance continuity, conductive pads are installed on the joint surface between the box and the cover, and on the mounting surface of the box and the electrical connector. Conductive oxidation is removed from some parts to reduce the impedance of the joint surface and improve conductive continuity. An ohmmeter is used to measure to ensure low metal impedance and improve the shielding effectiveness of the chassis.

[0082] Electromagnetic compatibility test verification. After the electromagnetic compatibility design of the product is completed, the electromagnetic compatibility forward design method of the actuator needs to be verified through the RE102 test in the microwave darkroom. The actuator's RE102 test radiation at 1-6GHz is lower than the darkroom noise floor. If the test passes, the electromagnetic compatibility forward design method of the actuator is verified to be effective.

[0083] The present invention also provides an application of an actuator electromagnetic compatibility forward design method in the actuator electromagnetic compatibility design.

[0084] Although the embodiments of the present invention are described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative and instructive, rather than restrictive. Under the guidance of the specification, a person skilled in the art can also make many forms without departing from the scope of protection of the claims of the present invention, all of which belong to the scope of protection of the present invention.

Claims

1. A method for electromagnetic compatibility forward design of an actuator, characterized in that: include: Decompose the actuator into a minimum system and mark the components, interfaces and covers within the minimum system; Analyze the cable relationship and spatial coupling relationship between the device, interface and cover, and connect them with different line segments; Based on the line segment connection results, the number of line coupling lines and field coupling lines is counted; Based on the coupling statistics, the weakest link of the minimum system is identified according to the topological graph theory method; Carry out electromagnetic compatibility design for the weakest link, and conduct electromagnetic compatibility test verification after the design is completed.

2. The electromagnetic compatibility forward design method for an actuator according to claim 1, characterized in that: Designing the weakest link includes designing the controller, AC / DC power supply, power interface, chassis housing and interface or chassis electromagnetic compatibility layout and impedance matching.

3. The electromagnetic compatibility forward design method for an actuator according to claim 2, characterized in that: The electromagnetic compatibility design of the controller includes: Change the ground line of the ADM2401 chip to the ground layer to reduce the parasitic capacitance between the device and the system ground and between the isolation areas inside the device. Move the ADM2401 chip to the back of the PCB board to reduce interference with other devices. At the same time, design the crystal oscillator.

4. The electromagnetic compatibility forward design method for an actuator according to claim 3, characterized in that: The design of a crystal oscillator includes: The crystal oscillator type is selected and controlled, and the corresponding magnetic beads are selected in series according to the operating frequency to reduce radiation. The ground layer is laid on the printed circuit board for signal shielding, and the corresponding magnetic beads are designed for filtering at the output interface of the signal. The decoupling filter is designed for the power supply pins of the device.

5. The electromagnetic compatibility forward design method for an actuator according to claim 2, characterized in that: The electromagnetic compatibility design of AC / DC power supply includes: The power module is filtered and the input and output structure are isolated to effectively avoid the input and output coupling of the power line. The filter is placed as close to the power module and the external interface as possible. The input end of the filter is designed as a hollow screw. The screw is inserted into the metal cover of the equipment installation connector, locked with a nut and the penetration hole is shielded. The wire at the input end of the filter enters the connector cavity through the hollow screw and is welded to the connector. The output end is connected to the power board connector inside the equipment.

6. The electromagnetic compatibility forward design method for an actuator according to claim 2, characterized in that: The electromagnetic compatibility design of the chassis shell, interfaces and power interfaces includes using shielded connectors for the electrical and optical connectors on the chassis and padding with conductive sealing pads, using conductive sealing rope to seal the chassis cover and the box body, and designing the screw gap on the chassis cover as a gap with shielding effectiveness.

7. The electromagnetic compatibility forward design method for an actuator according to claim 2, characterized in that: Chassis electromagnetic compatibility layout design includes: The reduction motor is integrated into the controller chassis and connected to the chassis through fixing screws. The motor shaft extends out of the chassis and is directly connected to the shaft of the transmission component. Screws are set on the chassis for connecting and fixing with the transmission component. The power filter is placed next to the AC\DC power supply and power connector. The controller board is installed on an independent surface of the chassis hexahedron. The external power line supplies power to the internal equipment through the power filter. The internal equipment of the box communicates with the external equipment through the signal filter and the optical fiber connector. The shielding box is installed with a waterproof shielding breathable valve.

8. The electromagnetic compatibility forward design method for an actuator according to claim 2, characterized in that: Impedance matching design includes: Conductive gaskets are installed on the overlapping surfaces of the box and the cover plate, and on the mounting surfaces of the box and the electrical connector to remove conductive oxidation and reduce the overlapping surface impedance.

9. The electromagnetic compatibility forward design method for an actuator according to claim 2, characterized in that: Electromagnetic compatibility test verification includes: The electromagnetic compatibility forward design method of the actuator is verified through the RE102 test in a microwave darkroom. When the actuator is at 1-6GHz, the RE102 test radiation is lower than the darkroom noise floor. The test passes, and the electromagnetic compatibility forward design method of the actuator is verified to be effective.

10. Application of an actuator electromagnetic compatibility forward design method according to any one of claims 1 to 9 in actuator electromagnetic compatibility design.

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