Electric steering engine following state monitoring method and system, storage medium and equipment

Abstract

The invention discloses an electric steering engine following state monitoring method and system, a storage medium and equipment, and belongs to the field of electric steering engine state monitoring. Whether a position feedback signal of an electric steering engine approaches to a steering engine control instruction within fixed time or not is judged in real time; if yes, the electric steering engine is in a normal following state, otherwise, the electric steering engine is in an abnormal following state, and the flight control system performs emergency treatment; according to the method, the situation that the steering engine does not normally follow the steering engine control instruction due to clamping stagnation of a mechanical structure of a steering system, abnormal feedback signals of the steering engine, overlarge external load and the like in the research, development, debugging and use processes of the electric steering engine can be monitored, so that emergency treatment is carried out, and the task execution success rate of an integrated system is improved.

Description

Technical Field

[0001] The present invention relates to the field of electric steering gear state monitoring, and in particular to an electric steering gear following state monitoring method, system, storage medium and equipment, which are suitable for the research and development, debugging and use of electric steering gears. Background Art

[0002] Electric servos are classic actuators in the aerospace field and are an important part of the flight control system of integrated systems such as rockets or drones. In the traditional servo control method, the servo control instructions transmitted through the onboard cable (onboard cable network) and the servo position feedback data collected by the rudder system are used for PID calculation to generate a pulse width modulation signal to control the servo movement and drive the servo movement. If the mechanical structure is stuck during the servo movement or is affected by sudden airflow, causing the torque loaded on the servo to exceed the maximum tolerance range of the servo, the servo will experience stalling, following and other faults. If it is in a stalled or following state for a long time, the servo controller will be damaged, which will bring unpredictable risks to the flight mission.

[0003] Therefore, during the installation (or loading) of the servo, it is often necessary to monitor the motion state of the electric servo to confirm whether the servo is following the servo control command normally. When it is detected that the servo does not follow the servo control command normally, emergency processing is performed to ensure the success of the flight test and avoid unpredictable losses to the integrated system due to the servo not following the servo control command normally. Summary of the invention

[0004] The purpose of the present invention is to overcome the technical problems existing in the prior art and to provide a method, system, storage medium and device for monitoring the following state of an electric servo, which can realize the monitoring of the following state of an electric servo without adding external sensors and internal components.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] In a first aspect, a method for monitoring a following state of an electric servo is provided, comprising:

[0007] It is determined in real time whether the position feedback signal of the electric servo approaches the servo control command within a fixed time; if so, it indicates that the electric servo is in a normal following state, otherwise, it indicates that the electric servo is in an abnormal following state.

[0008] In some embodiments, the step of determining whether the position feedback signal of the electric servo is approaching the servo control instruction within a fixed time includes:

[0009] Each time a servo control command is received from the flight control system, the servo position feedback signal received at the corresponding moment is cached;

[0010] Starting from the first receipt of the steering gear control command, the difference between the steering gear position feedback signal and the steering gear control command received twice consecutively is calculated;

[0011] Compare the difference between the two consecutive received servo position feedback signals and the servo control commands to determine the following state of the electric servo.

[0012] In some embodiments, the calculating the difference between two consecutive received steering gear position feedback signals and steering gear control instructions includes:

[0013] The difference B between the next received servo position feedback signal and the servo control command is: the currently received servo position feedback signal minus the last servo control command;

[0014] The difference A between the last received servo position feedback signal and the servo control command is: the last received servo position feedback signal minus the last servo control command.

[0015] In some embodiments, comparing the difference between two consecutive received steering gear position feedback signals and steering gear control instructions to determine the following state of the electric steering gear includes:

[0016] When B is always smaller than A, it indicates that the electric servo is in a normal following state; otherwise, it is in an abnormal following state.

[0017] In some embodiments, comparing the difference between two consecutive received steering gear position feedback signals and steering gear control instructions to determine the following state of the electric steering gear includes:

[0018] Set the timer. When AB>0, the timer is reset. When AB≤0, the timer starts timing. When the timer reaches the threshold, it indicates that the electric servo is in an abnormal following state.

[0019] In some embodiments, comparing the difference between two consecutive received steering gear position feedback signals and steering gear control instructions to determine the following state of the electric steering gear includes:

[0020] Set the counter. When AB>0, the counter is cleared. When AB≤0, the counter starts timing. When the counter reaches the threshold, it indicates that the electric servo is in an abnormal following state.

[0021] In some embodiments, when the electric servo is in a following abnormal state, emergency braking is performed and a following abnormal fault is reported.

[0022] Preferably, the emergency braking and reporting of the following abnormal fault includes:

[0023] The brake is used to keep the electric servo at its current position, turn off the PWM signal output, and feed back abnormal servo following failures to the flight control system through the onboard cable.

[0024] In a second aspect, a system for monitoring the following state of an electric servo is provided, comprising:

[0025] A signal receiving module, used for receiving a steering gear control command and a position feedback signal of an electric steering gear;

[0026] The following state judgment module is used to judge in real time whether the position feedback signal of the electric servo approaches the servo control command within a fixed time; if so, it indicates that the electric servo is in a normal following state, otherwise, it indicates that the electric servo is in an abnormal following state.

[0027] In a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the electric servo following state monitoring methods is implemented.

[0028] In a fourth aspect, an electric servo following state monitoring device is provided, comprising a memory and a processor, wherein the memory stores computer instructions executable on the processor, and the processor executes any one of the electric servo following state monitoring methods when executing the computer instructions.

[0029] It should be further explained that the technical features corresponding to the above options can be combined or replaced with each other to form a new technical solution if there is no conflict.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) The present invention determines in real time whether the movement trend of the servo position feedback signal is approaching the servo control command signal to obtain the following state of the servo, thereby preventing the servo system from failing to follow the servo control command normally due to mechanical structure stagnation of the servo system, abnormal servo feedback signal and excessive external load during the development, debugging and flight test of the electric servo system, thereby preventing damage to the servo controller and improving the reliability of the servo system.

[0032] (2) The present invention realizes the following state monitoring of the electric servo without adding external sensors and internal components, and improves the success rate of the integrated system task execution without increasing the cost. In addition, since no hardware equipment is required, the present invention is scalable and can be extended to different types of electric servo systems to improve the reliability of the corresponding servo systems.

[0033] (3) The present invention can improve the safety of the integrated system. During the flight test of the integrated system, if the servo following failure occurs, the brake is closed to keep the servo at the current position and the servo following abnormal failure is reported to the integrated system through the cable network. The integrated system can adjust the flight attitude through the control strategy to ensure the safety of the integrated system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a timing diagram of the following state monitoring of an electric servo according to an embodiment of the present invention;

[0035] Figure 2 This is a flow chart of judging the following state of an electric servo according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various configurations. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] It should be noted that the defects existing in the solutions in the above-mentioned prior art are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above-mentioned problems and the solutions proposed in the embodiments of the present application for the above-mentioned problems below should all be the contributions made by the inventor to the present application in the process of invention and creation, and should not be understood as technical contents known to technical personnel in this field.

[0038] In view of the technical problems pointed out in the background technology, the embodiments provided by the present invention are as follows:

[0039] In an exemplary embodiment, a method for monitoring a following state of an electric servo is provided, comprising:

[0040] It is determined in real time whether the position feedback signal of the electric servo approaches the servo control command within a fixed time; if so, it indicates that the electric servo is in a normal following state, otherwise, it indicates that the electric servo is in an abnormal following state.

[0041] Specifically, by judging in real time whether the position feedback signal of the electric servo is approaching the servo control command within a fixed time, it is confirmed whether the servo is following the servo control command normally. If the servo does not follow the servo control command normally, the brake is closed for emergency braking. During emergency braking, the servo is kept at the current position by the brake, the PWM signal output is closed, and the "servo following abnormal failure" state is fed back to the flight control system through the onboard cable (elevated cable network), and the flight control system takes emergency measures.

[0042] Further, the step of judging whether the position feedback signal of the electric steering gear approaches the steering gear control instruction within a fixed time includes:

[0043] Each time a servo control command is received from the flight control system, the servo position feedback signal received at the corresponding moment is cached;

[0044] Starting from the first receipt of the steering gear control command, the difference between the steering gear position feedback signal and the steering gear control command received twice consecutively is calculated;

[0045] Compare the difference between the two consecutive received servo position feedback signals and the servo control commands to determine the following state of the electric servo.

[0046] Further, the calculating of the difference between two consecutive received steering gear position feedback signals and steering gear control instructions includes:

[0047] The difference B between the next received servo position feedback signal and the servo control command is: the currently received servo position feedback signal minus the last servo control command;

[0048] The difference A between the last received servo position feedback signal and the servo control command is: the last received servo position feedback signal minus the last servo control command.

[0049] In some examples, comparing the difference between two consecutive received servo position feedback signals and servo control instructions to determine the following state of the electric servo includes:

[0050] Within a fixed time or period, when B is always less than A, that is, for any two adjacent received servo position feedback signals, the next received servo position feedback signal always approaches the servo control command at the previous moment, indicating that the servo position feedback signal continues to approach the servo control command within a fixed time, and the electric servo is in a normal following state; otherwise, it is in an abnormal following state, emergency braking is performed, and the rudder system following abnormal fault is reported through the cable network.

[0051] In other examples, a specific implementation of a method for monitoring the following state of an electric servo in a certain debugging test or flight test is given, wherein the comparison of the difference between two consecutive received servo position feedback signals and servo control instructions to determine the following state of the electric servo includes:

[0052] Set the timer. When AB>0, the timer is reset. When AB≤0, the timer starts timing. When the timer reaches the threshold, it indicates that the electric servo is in an abnormal following state.

[0053] Specifically, Figure 1 As shown, at time T1, when the rudder system receives the servo control instruction VG1 sent by the flight control system, the servo position feedback signal VF1 at this time is cached; at time T2, when the rudder system receives the servo control instruction VG2 sent by the flight control system, the servo position feedback signal VF2 at this time is cached; at time T3, when the rudder system receives the servo control instruction VG3 sent by the flight control system, the servo position feedback signal VF3 at this time is cached; at time Tn, when the rudder system receives the servo control instruction VGn sent by the flight control system, the servo position feedback signal VFn at this time is cached; as shown in FIG. Figure 2 As shown, E1=(VF1-VG1)-(VF2-VG1), E2=(VF2-VG2)-(VF3-VG2), ... En=(VFn-VGn)-(VFn+1-VGn). If Ex>0, it means that the servo position feedback signal is approaching the servo control command, and the timer T is reset. If Ex(x=1, 2, 3......n)<=0, it means that the servo position feedback signal is not approaching the servo control command, and the timer T starts timing. When the timer T reaches the threshold value T Y Specifically, the electric servo is kept at its current position by the brake, the PWM signal output is turned off, and the servo following abnormality fault is fed back to the flight control system through the onboard cable.

[0054] Furthermore, if Figure 2 As shown, when the timer T starts counting but does not reach the threshold value T Y , it means that the servo may have a following abnormality during a certain period of time, and the servo following abnormality fault will also be reported.

[0055] In other examples, comparing the difference between two consecutive received servo position feedback signals and servo control instructions to determine the following state of the electric servo includes:

[0056] Set the counter. When AB>0, the counter is cleared. When AB≤0, the counter starts timing. When the counter reaches the threshold, it indicates that the electric servo is in an abnormal following state. The judgment method of the counter is similar to that of the timer, so it will not be described here.

[0057] In another exemplary embodiment, based on the same inventive concept as the method, a system for monitoring the following state of an electric servo is provided, comprising:

[0058] A signal receiving module, used for receiving a steering gear control command and a position feedback signal of an electric steering gear;

[0059] The following state judgment module is used to judge in real time whether the position feedback signal of the electric servo approaches the servo control command within a fixed time; if so, it indicates that the electric servo is in a normal following state, otherwise, it indicates that the electric servo is in an abnormal following state.

[0060] It should be noted that each module of the system implements functions corresponding to the method, which will not be elaborated here.

[0061] In another exemplary embodiment, based on the same inventive concept as the method, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the electric servo following state monitoring method provided by the embodiment of the present invention is implemented. Based on such an understanding, the technical solution of this embodiment, in essence, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0062] In another exemplary embodiment, based on the same inventive concept as the method, an electric servo following state monitoring device is provided, including a memory and a processor, the memory stores computer instructions that can be executed on the processor, and the processor executes the electric servo following state monitoring method provided by an embodiment of the present invention when running the computer instructions.

[0063] The processor may be a single-core or multi-core central processing unit or a specific integrated circuit, or one or more integrated circuits configured to implement the present invention.

[0064] Embodiments of the subject matter and functional operations described in this specification may be implemented in: tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them. Embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier to be executed by a data processing device or to control the operation of the data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagated signal, such as a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode and transmit information to a suitable receiver device for execution by the data processing device.

[0065] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application-specific integrated circuits), and the apparatus can also be implemented as special purpose logic circuits.

[0066] Processors suitable for executing computer programs include, for example, general and / or special microprocessors, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory and / or a random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, the computer will also include one or more large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to this large-capacity storage device to receive data from it or to transmit data to it, or both. However, the computer does not necessarily have such a device. In addition, the computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, just to name a few.

[0067] It should be understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0068] The above specific implementation methods are detailed descriptions of the present invention. It cannot be determined that the specific implementation methods of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions and substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A method for monitoring the following state of an electric servo, characterized in that: include: It is determined in real time whether the position feedback signal of the electric servo approaches the servo control command within a fixed time; if so, it indicates that the electric servo is in a normal following state, otherwise, it indicates that the electric servo is in an abnormal following state.

2. The method for monitoring the following state of an electric servo according to claim 1, characterized in that: The step of judging whether the position feedback signal of the electric servo motor approaches the servo motor control command within a fixed time includes: Each time a servo control command is received from the flight control system, the servo position feedback signal received at the corresponding moment is cached; Starting from the first receipt of the steering gear control command, the difference between the steering gear position feedback signal and the steering gear control command received twice consecutively is calculated; Compare the difference between the two consecutive received servo position feedback signals and the servo control commands to determine the following state of the electric servo.

3. The method for monitoring the following state of an electric servo according to claim 2, characterized in that: The calculating the difference between two consecutive received steering gear position feedback signals and steering gear control instructions comprises: The difference B between the next received servo position feedback signal and the servo control command is: the currently received servo position feedback signal minus the last servo control command; The difference A between the last received servo position feedback signal and the servo control command is: the last received servo position feedback signal minus the last servo control command.

4. The method for monitoring the following state of an electric servo according to claim 3, characterized in that: The step of comparing the difference between two consecutive received steering gear position feedback signals and the steering gear control instructions to determine the following state of the electric steering gear includes: When B is always smaller than A, it indicates that the electric servo is in a normal following state; otherwise, it is in an abnormal following state.

5. The method for monitoring the following state of an electric servo according to claim 3, characterized in that: The step of comparing the difference between two consecutive received steering gear position feedback signals and steering gear control instructions to determine the following state of the electric steering gear includes: Set the timer. When AB>0, the timer is reset. When AB≤0, the timer starts timing. When the timer reaches the threshold, it indicates that the electric servo is in an abnormal following state.

6. The method for monitoring the following state of an electric servo according to claim 3, characterized in that: The step of comparing the difference between two consecutive received steering gear position feedback signals and the steering gear control instructions to determine the following state of the electric steering gear includes: Set the counter. When AB>0, the counter is cleared. When AB≤0, the counter starts timing. When the counter reaches the threshold, it indicates that the electric servo is in an abnormal following state.

7. The method for monitoring the following state of an electric servo according to claim 1, characterized in that: The emergency braking and reporting of the following abnormal fault include: The brake is used to keep the electric servo at its current position, turn off the PWM signal output, and feed back abnormal servo following failures to the flight control system through the onboard cable.

8. An electric servo following state monitoring system, characterized in that: include: A signal receiving module, used for receiving a steering gear control command and a position feedback signal of an electric steering gear; The following state judgment module is used to judge in real time whether the position feedback signal of the electric servo approaches the servo control command within a fixed time; if so, it indicates that the electric servo is in a normal following state, otherwise, it indicates that the electric servo is in an abnormal following state.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the electric servo following state monitoring method described in any one of claims 1 to 7 is implemented.

10. An electric servo following state monitoring device, comprising a memory and a processor, wherein the memory stores computer instructions that can be run on the processor, characterized in that: When the processor runs the computer instructions, it executes the electric servo following state monitoring method described in any one of claims 1-7.

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