Force feedback sensor ground self-detection circuit and self-detection method

Abstract

The invention provides a force feedback sensor ground self-detection circuit and method, and the circuit comprises a power amplifier drive circuit which is used for receiving a ground self-detection excitation signal and driving a torque device to work according to the ground self-detection excitation signal, and a modulation circuit which is used for carrying out the carrier adjustment of a weak output signal of the torque device. The demodulation circuit is used for recovering an original external excitation signal from the modulated output signal; the correction circuit is used for correcting the demodulated output; the gain adjusting circuit is used for carrying out gain adjustment on the corrected output signal and feeding back the corrected output signal to the power amplifier driving circuit; the output stage circuit is used for outputting the signal after gain adjustment; and the sampling circuit is used for adjusting the gain of the closed loop formed by the self-detection circuit. By adopting the circuit, the power supply of the flight control system can be directly controlled, the purpose of ground self-inspection by using a non-isolated power supply is achieved, and the problem of high development cost of a force feedback sensor caused by a traditional self-inspection circuit is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of sensor testing, and in particular relates to a ground self-detection circuit and a self-detection method for a force feedback sensor. Background Art

[0002] In order to ensure the high safety and reliability of the flight control system, the force feedback sensor supporting the flight control system must have the function of ground self-detection before the aircraft takes off. The ground self-detection before flight can be used to evaluate whether the force feedback sensor can work normally, providing a basis for the decision-making of the flight control system.

[0003] Reference Figure 1 The traditional force feedback sensor realizes ground self-test in the following way: a current signal isolated from the power ground is applied to the high end and low end of the torquer of the sensor, a sampling resistor is connected to the low end of the torquer, and an output stage circuit is connected after the sampling resistor. By changing the size of the current signal acting on the torquer, the size of the current flowing through the sampling resistor is changed, so that the force feedback sensor outputs different voltage values ​​during ground self-test.

[0004] The principle of the force feedback sensor to achieve ground self-check is to apply a constant external excitation signal to the rebalancing circuit of the force feedback sensor. Theoretically, the signal can be applied to any position in the rebalancing circuit. Generally, the input and output signals of the signal device (measuring element) of the force feedback sensor are extremely weak and are easily affected by external interference. In order to minimize the interference of the external signal to the rebalancing circuit and not cause oscillation of the rebalancing circuit, the existing force feedback sensors used in the flight control system generally superimpose the external excitation on the torquer (controlled object) of the rebalancing circuit. Figure 2 This is the circuit diagram of the existing medium power amplifier circuit. The ground self-test excitation signal is superimposed on the high and low ends of the torque sensor after passing through resistor R4*. In this way, the ground needs to be isolated, that is, GND and GND1 need to be independent of each other. Therefore, the flight control system power supply cannot be directly connected during the ground self-test, but an additional supporting power supply needs to be designed, which increases the development cost of the force feedback sensor. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing force feedback sensor self-detection circuit and self-detection method need to be connected to an external isolated power supply but cannot be directly connected to the flight control system's own power supply, resulting in high development costs for the force feedback sensor, and provide a force feedback sensor ground self-detection circuit and self-detection method.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a ground self-detection circuit of a force feedback sensor, the force feedback sensor includes a torquer and a signaler, the torquer has a high end and a low end, the signaler is used to form an output signal according to the ground self-detection excitation signal transmitted by the torquer, and the ground self-detection circuit includes a modulation circuit, a demodulation circuit, a correction circuit, a gain adjustment circuit, a power amplifier driving circuit, a sampling circuit and an output stage circuit; wherein the torquer, the signaler, the modulation circuit, the demodulation circuit, the correction circuit, the gain adjustment circuit and the power amplifier driving circuit constitute a closed-loop rebalancing circuit;

[0007] The power amplifier driving circuit is used to receive a ground self-test excitation signal and drive the torquer to work according to the ground self-test excitation signal;

[0008] The modulation circuit is used to perform carrier adjustment processing on the weak output signal of the signal device to improve the recognizability of the output signal;

[0009] The demodulation circuit is used to recover the original external excitation signal from the modulated output signal;

[0010] The correction circuit is used to correct the demodulated output;

[0011] The gain adjustment circuit is used to adjust the gain of the corrected output signal and feed it back to the power amplifier driving circuit;

[0012] The output stage circuit is used to output the gain-adjusted signal;

[0013] The sampling circuit is used to adjust the gain of the closed loop formed by the self-detection circuit.

[0014] Furthermore, the sampling point circuit includes a sampling resistor RL, one end of the sampling resistor RL is connected to the low end of the torquer, and the other end is grounded.

[0015] Further, the power amplifier driving circuit includes resistors R1, R2, R3, R4*, R5*, R6, R7, R8, R9, R10, R11, capacitor C1, diode V1, diode V2, transistor V3, transistor V4, operational amplifier N1A and operational amplifier resistor N1B;

[0016] One end of the resistor R13 is grounded, and the other end is connected to one end of the resistor R12. The output end of the gain adjustment circuit is connected to the other end of the resistor R12. The output stage circuit is connected between the resistor R13 and the resistor R12 to output the gain-adjusted signal.

[0017] The resistor R4*, the resistor R5*, and the capacitor C1 are connected in series in sequence, and the input end of the resistor R4* is connected to the resistor R12, the output end of the capacitor C1 is connected to the output end of the operational amplifier N1B, and the in-phase input end of the operational amplifier N1B is grounded;

[0018] The resistors R1, R2 and R3 are connected in series in sequence, and the input end of the resistor R1 is provided with a ground self-test signal input port for inputting a ground self-test excitation signal; the inverting input end of the operational amplifier N1B is connected between the resistors R1 and R2 and between the resistor R5* and the capacitor C1, and the output end of the resistor R3 is connected to the low end of the torquer;

[0019] The output end of the operational amplifier N1B is connected in series with the resistor R10 and then connected to the non-inverting input end of the operational amplifier N1A. Both ends of the resistor R11 are grounded and connected to the non-inverting input end of the operational amplifier N1A respectively.

[0020] One end of the resistor R6 is grounded, and the other end is connected to one end of the resistor R7, and the other end of the resistor R7 is connected to the high end of the torquer; the inverting input end of the operational amplifier N1A is connected between the resistor R6 and the resistor R7;

[0021] The output end of the operational amplifier N1A is connected to two first power driving branches and a second power driving branch arranged in parallel, so as to provide current driving for the high end and the low end of the torquer.

[0022] Furthermore, the first power driving branch includes a diode V1, a resistor R8 and a transistor V3, one end of the resistor R8 is connected to the positive electrode of the power supply, and the other end is connected to the positive electrode of the diode V1, and the negative electrode of the diode V1 is connected to the output end of the operational amplifier N1A; the base of the transistor V3 is connected to the positive electrode of the diode V1, the emitter of the transistor V3 is connected to the high end of the torquer, and the collector of the transistor V3 is connected to the positive electrode of the power supply;

[0023] The second power driving branch includes a diode V2, a resistor R9 and a transistor V4, one end of the resistor R9 is connected to the negative electrode of the power supply, and the other end is connected to the negative electrode of the diode V2, and the positive electrode of the diode V2 is connected to the output end of the operational amplifier N1A; the base of the transistor V4 is connected to the negative electrode of the diode V2, the emitter of the transistor V4 is connected to the high end of the torquer, and the collector of the transistor V4 is connected to the negative electrode of the power supply.

[0024] Furthermore, the transistor V3 and the transistor V4 include an NPN transistor and a PNP transistor.

[0025] Furthermore, the resistance values ​​of the resistors R2, R3, R4* and R5* satisfy: R2+R3=R4*+R5*.

[0026] A ground self-detection method for a force feedback sensor is implemented based on the above-mentioned ground self-detection circuit for a force feedback sensor. The self-detection method comprises the following steps:

[0027] Step 1: Connect the power port of the force feedback sensor to be tested to an external power source;

[0028] Step 2: inputting a ground self-detection excitation signal, wherein the ground self-detection excitation signal is conditioned by the ground self-detection circuit to obtain an output signal of a force feedback sensor;

[0029] Step 3: Determine whether the output signal of the force sensor is consistent with the set output signal of the force sensor. If they are consistent, it indicates that the self-detection function of the force feedback sensor is normal; otherwise, the self-detection function of the force feedback sensor is abnormal.

[0030] Furthermore, in step 1, the power port of the force feedback sensor to be detected is connected to the power supply of the flight control system.

[0031] The advantages of the present invention are:

[0032] 1. The output stage circuit in the self-detection circuit of the force feedback sensor of the present invention is connected to the gain adjustment circuit, and the ground self-detection excitation signal acts on the torquer of the force feedback sensor through the power amplifier driving circuit, which can be directly connected to the flight control system power supply for detection, thereby achieving the purpose of using a non-isolated power supply for ground self-detection, and solving the problem of increasing the development cost of the force feedback sensor by additionally designing a self-detection power supply and related peripheral self-detection power supply circuits.

[0033] 2. In the present invention, the power amplifier driving circuit component composition and connection relationship are designed, which is composed of a cascade of operational amplifiers and a power driving branch, and the ground self-test excitation signal is superimposed on the torquer. On the one hand, the frequency band of the operational amplifier is expanded and the dynamic response of the power amplifier driving circuit is improved. On the other hand, a larger driving current is provided for the high and low ends of the torquer, thereby improving the reliability of the force feedback sensor.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 This is the principle block diagram of the ground self-detection of the traditional force feedback sensor;

[0037] Figure 2 It is a circuit diagram of a power amplifier processing circuit in a ground self-detection circuit of a traditional force feedback sensor;

[0038] Figure 3 It is a self-detection principle block diagram of the force feedback sensor of the present invention;

[0039] Figure 4 The present invention discloses a circuit diagram of a power amplifier driving circuit in a self-detection circuit of a force feedback sensor. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below. The embodiments are exemplary and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0041] Reference Figure 3 The embodiment of the present invention provides a ground self-detection circuit of a force feedback sensor, including a modulation circuit, a demodulation circuit, a correction circuit, a gain adjustment circuit, a power amplifier driving circuit, a sampling circuit and an output stage circuit; the modulation circuit is connected to the signal of the force feedback sensor, and is used to perform carrier adjustment processing on the weak output signal of the signal, so that the output signal of the signal is easy to identify and improve the anti-interference ability of the output signal. The demodulation circuit is used to recover the original output signal from the modulated signal; the correction circuit is used to correct the signal after demodulation processing; the gain adjustment circuit is used to adjust the gain of the corrected signal to improve the total gain of the self-detection circuit loop; the power amplifier driving circuit adopts the cascade of operational amplifiers and power drive, acts on the torquer of the sensor, and is used to drive the torquer to work according to the ground excitation signal. The sampling circuit is used to adjust the gain of the closed-loop feedback end of the self-detection circuit. The ground self-detection signal (external excitation) is superimposed on the power amplifier driving circuit of the ground self-detection circuit using the principle of an adder. The output stage circuit is connected between the gain adjustment circuit and the power amplifier driving circuit, and is used to output the gain-adjusted signal in the self-detection circuit as the output signal of the force feedback sensor.

[0042] The sampling circuit comprises a sampling resistor RL, one end of the sampling resistor RL is connected to the low end of the torquer, and the other end is grounded.

[0043] Reference Figure 4The power amplifier driving circuit includes resistors R1, R2, R3, R4*, R5*, R6, R7, R8, R9, R10, R11, capacitor C1, diode V1, diode V2, transistor V3, transistor V4, operational amplifier N1A and operational amplifier N1B. One end of the resistor R13 is grounded, and the other end is connected to one end of the resistor R12. The output end of the gain adjustment circuit is connected to the other end of the resistor R12, and the output stage circuit is connected between the resistor R13 and the resistor R12. Resistor R4*, resistor R5*, and capacitor C1 are connected in series in sequence, and the input end of resistor R4* is connected to resistor R12, the output end of capacitor C1 is connected to the output end of operational amplifier N1B, and the non-inverting input end of operational amplifier N1B is grounded; resistor R1, resistor R2, and resistor R3 are connected in series in sequence, and the input end of resistor R1 is provided with a ground self-detection signal input port, and the ground self-detection port is used to connect the ground self-detection excitation signal DMZJ; the inverting input end of operational amplifier N1B is connected between resistor R1 and resistor R2, and the output end of resistor R3 is connected to the low end of the torquer. The output end of operational amplifier N1B is connected in series with resistor R10 and then connected to the non-inverting input end of operational amplifier N1A, and both ends of resistor R11 are respectively connected to the ground and the non-inverting input end of operational amplifier N1A. One end of resistor R6 is grounded, and the other end is connected to one end of resistor R7, and the other end of resistor R7 is connected to the high end of the torquer, and the inverting input end of operational amplifier N1A is connected between resistor R6 and resistor R7. The operational amplifier N1A and the operational amplifier N1B form a cascade of operational amplifiers, which are used to expand the frequency band of the operational amplifier and improve the dynamic response of the power amplifier driving circuit.

[0044] The output end of the operational amplifier N1A is connected to two parallel-connected first power drive branches and a second power drive branch, which are used to provide a larger current drive for the high end and the low end of the torquer. The first power drive branch includes a diode V1, a resistor R8 and a transistor V3, one end of the resistor R8 is connected to the positive electrode of the power supply, the other end is connected to the positive electrode of the diode V1, the negative electrode of the diode V1 is connected to the output end of the operational amplifier N1A, the base of the transistor V3 is connected to the positive electrode of the diode V1, the emitter of the transistor V3 is connected to the high end of the torquer, and the collector of the transistor V3 is connected to the positive electrode of the power supply; the second power drive branch includes a diode V2, a resistor R9 and a transistor V4, one end of the resistor R9 is connected to the negative electrode of the power supply, the other end is connected to the negative electrode of the diode V2, the positive electrode of the diode V2 is connected to the output end of the operational amplifier N1A, the base of the transistor V4 is connected to the negative electrode of the diode V2, the emitter of the transistor V4 is connected to the high end of the torquer, and the collector of the transistor V4 is connected to the negative electrode of the power supply. One of the transistor V3 and the transistor V4 is an NPN transistor, and the other is a PNP transistor. In this embodiment, the transistor V3 is an NPN transistor, and the transistor V4 is a PNP transistor.

[0045] In order to achieve the stability of the force feedback ground self-detection circuit, R2+R3=R4*+R5* is taken in this embodiment.

[0046] The self-detection process of the ground self-detection circuit of the force feedback sensor of the present invention is as follows:

[0047] The ground self-detection excitation signal DMZJ is input into the ground self-detection port. After being processed by the ground self-detection circuit, the force sensor output signal size is U OUT =(U DMZJ / R1)×(R4*+R5*);

[0048] It is determined whether the output signal of the force sensor is consistent with the set output signal of the force sensor. If they are consistent, it means that the self-detection function of the force feedback sensor is normal, otherwise the self-detection function of the force feedback sensor is abnormal.

[0049] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A ground self-detection circuit of a force feedback sensor, the force feedback sensor comprises a torquer and a signaler, the torquer has a high end and a low end, the signaler is used to form an output signal according to a ground self-detection excitation signal transmitted by the torquer, characterized in that: The ground self-detection circuit includes a modulation circuit, a demodulation circuit, a correction circuit, a gain adjustment circuit, a power amplifier driving circuit, a sampling circuit and an output stage circuit; wherein the torquer, the signaler, the modulation circuit, the demodulation circuit, the correction circuit, the gain adjustment circuit and the power amplifier driving circuit constitute a closed-loop rebalancing circuit; The power amplifier driving circuit is used to receive a ground self-test excitation signal and drive the torquer to work according to the ground self-test excitation signal; The modulation circuit is used to perform carrier adjustment processing on the weak output signal of the signal device to improve the recognizability of the output signal; The demodulation circuit is used to recover the original external excitation signal from the modulated output signal; The correction circuit is used to correct the demodulated output; The gain adjustment circuit is used to adjust the gain of the corrected output signal and feed it back to the power amplifier driving circuit; The output stage circuit is used to output the gain-adjusted signal; The sampling circuit is used to adjust the gain of the closed loop formed by the self-detection circuit.

2. The ground self-detection circuit of a force feedback sensor according to claim 1, characterized in that: The sampling point circuit includes a sampling resistor RL, one end of the sampling resistor RL is connected to the low end of the torquer, and the other end is grounded.

3. The ground self-detection circuit of a force feedback sensor according to claim 2, characterized in that: The power amplifier driving circuit includes resistors R1, R2, R3, R4*, R5*, R6, R7, R8, R9, R10, R11, capacitor C1, diode V1, diode V2, transistor V3, transistor V4, operational amplifier N1A and operational amplifier resistor N1B; One end of the resistor R13 is grounded, and the other end is connected to one end of the resistor R12. The output end of the gain adjustment circuit is connected to the other end of the resistor R12. The output stage circuit is connected between the resistor R13 and the resistor R12 to output the gain-adjusted signal. The resistor R4*, the resistor R5*, and the capacitor C1 are connected in series in sequence, and the input end of the resistor R4* is connected to the resistor R12, the output end of the capacitor C1 is connected to the output end of the operational amplifier N1B, and the in-phase input end of the operational amplifier N1B is grounded; The resistors R1, R2 and R3 are connected in series in sequence, and the input end of the resistor R1 is provided with a ground self-test signal input port for inputting a ground self-test excitation signal; the inverting input end of the operational amplifier N1B is connected between the resistors R1 and R2 and between the resistor R5* and the capacitor C1, and the output end of the resistor R3 is connected to the low end of the torquer; The output end of the operational amplifier N1B is connected in series with the resistor R10 and then connected to the non-inverting input end of the operational amplifier N1A. Both ends of the resistor R11 are grounded and connected to the non-inverting input end of the operational amplifier N1A respectively. One end of the resistor R6 is grounded, and the other end is connected to one end of the resistor R7, and the other end of the resistor R7 is connected to the high end of the torquer; the inverting input end of the operational amplifier N1A is connected between the resistor R6 and the resistor R7; The output end of the operational amplifier N1A is connected to two first power driving branches and a second power driving branch arranged in parallel, so as to provide current driving for the high end and the low end of the torquer.

4. The ground self-detection circuit of a force feedback sensor according to claim 3, characterized in that: The first power driving branch includes a diode V1, a resistor R8 and a transistor V3, one end of the resistor R8 is connected to the positive electrode of the power supply, and the other end is connected to the positive electrode of the diode V1, and the negative electrode of the diode V1 is connected to the output end of the operational amplifier N1A; the base of the transistor V3 is connected to the positive electrode of the diode V1, the emitter of the transistor V3 is connected to the high end of the torquer, and the collector of the transistor V3 is connected to the positive electrode of the power supply; The second power driving branch includes a diode V2, a resistor R9 and a transistor V4, one end of the resistor R9 is connected to the negative electrode of the power supply, and the other end is connected to the negative electrode of the diode V2, and the positive electrode of the diode V2 is connected to the output end of the operational amplifier N1A; the base of the transistor V4 is connected to the negative electrode of the diode V2, the emitter of the transistor V4 is connected to the high end of the torquer, and the collector of the transistor V4 is connected to the negative electrode of the power supply.

5. A ground self-detection circuit for a force feedback sensor according to claim 4, characterized in that: The transistor V3 and the transistor V4 include an NPN transistor and a PNP transistor.

6. A ground self-detection circuit for a force feedback sensor according to claim 5, characterized in that: The resistance values ​​of the resistors R2, R3, R4* and R5* satisfy: R2+R3=R4*+R5*.

7. A ground self-detection method for a force feedback sensor, characterized in that: Based on the ground self-detection circuit of a force feedback sensor according to any one of claims 1 to 6, the self-detection method comprises the following steps: Step 1: Connect the power port of the force feedback sensor to be tested to an external power source; Step 2: inputting a ground self-detection excitation signal, wherein the ground self-detection excitation signal is conditioned by the ground self-detection circuit to obtain an output signal of a force feedback sensor; Step 3: Determine whether the output signal of the force sensor is consistent with the set output signal of the force sensor. If they are consistent, it indicates that the self-detection function of the force feedback sensor is normal; otherwise, the self-detection function of the force feedback sensor is abnormal.

8. A ground self-detection method for a force feedback sensor according to claim 7, characterized in that: In the step 1, the power port of the force feedback sensor to be detected is connected to the power supply of the flight control system.

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