A method for online zeroing of an electric servo motor based on FLASH storage

Abstract

This invention relates to the field of electric servo motor design, and more specifically to an online zeroing method for electric servos based on FLASH storage. The method includes: receiving a computer bus command to enter zeroing mode; designating a preset partition of the FLASH memory as a zeroing storage area that will not be erased; traversing and searching all zeroing information stored in the zeroing storage area; reading the latest set of zeroing information; if no zeroing information is found, the default zeroing value is zero; the zeroing information includes the zeroing values ​​of all servos; receiving a computer bus command, superimposing the latest zeroing value onto the bus command, and driving the servo motor to move the control surface to the mechanical zero position; receiving a computer bus command to update the current servo motor position report value to the zeroing value; receiving a computer bus command to exit zeroing mode, and simultaneously writing the updated zeroing information into the zeroing storage area.

Description

Technical Field

[0001] This invention relates to the field of electric servo motor design, and more specifically to an online zeroing method for an electric servo motor based on FLASH storage. Background Technology

[0002] After an electric servo motor is installed on an aircraft, due to installation errors, there will still be an error between the control surface and the wing surface when the servo motor is in the zero position. Manual zeroing is required to align the control surface and the wing surface. There are two common zeroing methods: one is mechanical zeroing by adjusting the length of the electric servo motor output shaft or the onboard rocker arm, which requires repeated disassembly and is time-consuming and labor-intensive. The other method is online zeroing using software, storing the servo position when the control surface and wing surface are aligned as the zero position in the servo controller's non-volatile storage medium. However, this increases hardware costs and cannot be applied to low-cost servo systems without non-volatile storage media. Summary of the Invention

[0003] The purpose of this invention is to provide an online zeroing method for electric servos based on FLASH storage, which can meet the requirements for online zeroing of electric servos, while meeting the low-cost requirement without increasing hardware costs.

[0004] Technical solution:

[0005] A method for online zeroing of an electric servo motor based on FLASH storage is provided, comprising the following steps:

[0006] S1 receives computer bus commands and is ordered to enter zeroing mode.

[0007] S2, designate a certain partition of the FLASH preset as the zero adjustment storage area that will not be erased, traverse and search all the zero adjustment information stored in the zero adjustment storage area, read the latest set of zero adjustment information, if there is no zero adjustment information, the default zero adjustment value is zero; the zero adjustment information includes the zero adjustment values ​​of all servos.

[0008] S3 receives computer bus commands, and after superimposing the latest zero-adjustment value on the bus commands, drives the servo motor to move the control surface to the mechanical zero position.

[0009] S4 receives a computer bus command and is instructed to update the current servo position report value to the zeroing value.

[0010] S5 receives a computer bus command, is ordered to exit zeroing mode, and simultaneously writes the updated zeroing information into the zeroing storage area.

[0011] Furthermore, the conditions for entering zeroing mode are: the aircraft air-to-ground identifier in the bus command should be "ground mode" and the zeroing mode should be "entering".

[0012] Furthermore, the zeroing information within the FLASH partition is traversed and retrieved to read the latest set of zeroing information. If no zeroing information is found, the default zeroing value is zero, including:

[0013] The zeroing information includes an identification word, n zeroing values, and a checksum. The identification word is used to confirm the position of the zeroing information during traversal and retrieval; n is the number of servos.

[0014] During the traversal search, the last set of zero-adjustment information is the currently valid zero-adjustment information. After detecting the last set of zero-adjustment information, the zero-adjustment value is read and the process exits.

[0015] During the traversal search, no zeroing information was found, so the default zeroing value was zero and the process was exited.

[0016] After reading the zeroing information, check if the checksum is correct. If the checksum is incorrect, the default zeroing value is zero.

[0017] Furthermore, after receiving computer bus commands and superimposing the latest zero-adjustment value onto the bus commands, the servo motor is driven to move the control surface to the mechanical zero position, including:

[0018] In zeroing mode, the electric servo motor remains operational and moves under control according to bus commands.

[0019] Furthermore, it receives computer bus commands to update the current servo position report value to the zeroing value, including:

[0020] In the bus command, when the zero position write flag of a certain servo is set to "write", the corresponding zero adjustment value in the read zero adjustment information will be updated to the current position report value of the servo.

[0021] Furthermore, the zeroing storage area can write zeroing values ​​to multiple servos individually, or write zeroing values ​​to a single servo multiple times.

[0022] Furthermore, it receives computer bus commands, is ordered to exit zeroing mode, and simultaneously writes zeroing information to FLASH storage, including:

[0023] The conditions for entering zeroing mode are that the aircraft air-to-ground identifier in the bus command should be "air mode" or the zeroing mode should be "exit".

[0024] When exiting zeroing mode, new zeroing information is written to the zeroing storage area;

[0025] The new zeroing information is written after the last zeroing information, while retaining all previous zeroing information.

[0026] Beneficial effects:

[0027] (1) Online zeroing of the electric servo motor is achieved, which improves the maintainability of the electric servo motor during installation and use;

[0028] (2) The zero-adjustment value is stored in the FLASH memory of the servo controller processor itself, which reduces the hardware requirements;

[0029] (3) The zeroing value can be modified multiple times after entering the zeroing mode, and the data is only stored in the FLASH once when exiting, thus saving FLASH space;

[0030] (4) This method is universal and can be used for zeroing most servo systems that use digital processors. Attached Figure Description

[0031] To more clearly illustrate the technical solutions implemented in this invention, a simple explanation of the accompanying drawings used in the description of this invention will be provided below. Obviously, the drawings described below are merely some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0032] Figure 1 This is a schematic diagram illustrating the principle of an online zeroing method for an electric servo motor based on FLASH storage according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic flowchart of an online zeroing method for an electric servo motor based on FLASH storage according to an embodiment of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The features of various aspects of the embodiments of the present invention will now be described in detail. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can also be practiced without these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by illustrating examples. The invention is not limited to any specific setups and methods provided below, but covers all improvements, substitutions, etc., to product structures and methods without departing from the spirit of the invention. In the various drawings and the following description, well-known structures and techniques are not shown to avoid unnecessarily obscuring the invention.

[0036] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0037] This invention provides an online zeroing method for an electric servo motor based on FLASH storage, such as... Figure 1 As shown, it includes the following steps:

[0038] Step 1: Receive computer bus command and enter zeroing mode;

[0039] Step 2: Traverse and search the zeroing information in the FLASH partition, read the latest set of zeroing information, and if there is no zeroing information, the default zeroing value is zero;

[0040] Step 3: Receive computer bus command and drive the servo motor to move the control surface to the mechanical zero position;

[0041] Step 4: Receive computer bus command and update the current servo position to the zero value;

[0042] Step 5: Receive computer bus command, be ordered to exit zeroing mode, and write the zeroing information to FLASH storage.

[0043] Figure 2 This is a schematic flowchart of an online zeroing method for an electric servo motor based on FLASH storage according to an embodiment of the present invention.

[0044] like Figure 2 As shown, the method may include the following steps:

[0045] Step 1: Execute [S101], when the aircraft air-to-ground identifier is "ground mode" and the zeroing mode should be "enter" in the bus command, start entering the zeroing mode;

[0046] Step 2: Execute [S102] to initialize the zero-count value to zero_count = 0;

[0047] Step 3: Execute [S103], start searching for zeroing information "identification word" in the predetermined FLASH area. If the word is 55AA, check 55AA sequentially. If the first two bytes of the FLASH area are 55AA, zero_count = 1, execute

[104] . If the first two bytes of the FLASH area are FFFF, execute

[107] . Otherwise, execute

[108] .

[0048] Step 4: Execute [S104], sequentially check 55AA, each time zero_count = zero_count + 1, until no 55AA is detected in 8 consecutive bytes, at which point zero_count = n, end the search, record the zero bit and store it in address zero_add = n*8+1;

[0049] Step 5: Execute [S105], set the value at FLASH address offset (n-2)*8+2 to the zeroing value of servo 1, zero_1, and the value at FLASH address offset (n-2)*8+4 to the zeroing value of servo 1, zero_1;

[0050] Step 6: Execute [S106] to check if the checksum is correct. If the value at (n-2)*8+6 is the lower 16 bits of the sum of the values ​​at (n-2)*8+2 and (n-2)*8+4, then the checksum passes and proceeds to

[109] . Otherwise, proceed to [S107].

[0051] Step 7: Execute [S107], initialize the zero-adjustment value of servo 1 zero_1 = 0 and the zero-adjustment value of servo 2 zero_2 = 0, record the zero position storage address zero_add = 1, and transfer to

[109] ;

[0052] Step 8: Execute [S108]. When 8 consecutive bytes are found to be FFFF, initialize the zeroing value of servo 1 zero_1 = 0 and the zeroing value of servo 2 zero_2 = 0, record the zero position storage address zero_add = the address of the first FF, and jump to

[109] . Otherwise, jump to

[116] .

[0053] Step 9: Execute [S109], the bus sends the servo 1 command, and visually observe that the control surface 1 and the wing are aligned;

[0054] Step 10: Execute [S110], the bus sends the "write zero position" command to servo 1. At this time, the position of servo 1 is ace_pos = p1, and zero_1 = p1;

[0055] Step 11: Execute [S111], the bus sends the servo 2 command, and visually observe that the control surface 2 is aligned with the wing;

[0056] Step 12: Execute [S112], the bus sends the "write zero position" command to servo 2. At this time, the position of servo 2 is ace_pos = p2, and zero_2 = p2;

[0057] Step 13: Execute [S113], the bus sends an "Exit Zeroing" command;

[0058] Step 14: Execute [S114] to recalculate the checksum. The checksum check = zero_1 + zero_2, and take the lower 16 bits.

[0059] Step 15: Execute [S115] to write 55AA to address zero_add, write zero_1 to address zero_add+2, write zero_2 to address zero_add+4, and write check to address zero_add+6;

[0060] Step 16: Execute [S116] to exit zeroing and end zeroing.

[0061] This invention provides an online zeroing method for electric servos based on FLASH storage, realizing the storage, retrieval, use, and updating of zero-position information, and meeting the repeated online zeroing requirements of electric servos on aircraft control surfaces after installation. This invention receives zeroing information via a computer bus and records the current position of the electric servo as the zeroing value in the processor's FLASH. During servo software initialization, it iterates through the zeroing values ​​in the corresponding partitions of the FLASH and adds the latest zeroing value to the computer bus position command to achieve servo control of the electric servo at the new zero position. When updating zeroing information, the latest zeroing value is read from the FLASH and then sequentially stored after the original zeroing value.

Claims

1. A method for online zeroing of an electric servo motor based on FLASH storage, characterized in that, Includes the following steps: S1 receives computer bus commands and is ordered to enter zeroing mode. S2, designate a preset partition in FLASH as the zeroing storage area, traverse and search all the zeroing information stored in the zeroing storage area, and read the latest set of valid zeroing information as the current zeroing value; If no valid zeroing information is found during the traversal and search, the current zeroing value is assumed to be zero; the zeroing information includes the zeroing values ​​of all servos. S3, in the zeroing mode, receive a computer bus command, superimpose the current zeroing value with the bus command, and drive the servo motor to move the control surface; S4, in the zeroing mode, a computer bus command is received, and the current servo position report value is updated to the corresponding servo's zeroing value. S5, receive computer bus command and be ordered to exit zeroing mode; when exiting the zeroing mode, the updated zeroing information is written as a new set of zeroing information and stored in the zeroing storage area after the existing zeroing information, and all the zeroing information previously stored in the zeroing storage area is retained.

2. The method according to claim 1, characterized in that, In step S1, the conditions for entering the zeroing mode are: the aircraft air-to-ground identifier in the bus command is "ground mode" and the zeroing mode command is "enter".

3. The method according to claim 1, characterized in that, In step S2, the zeroing information includes an identification word, n zeroing values ​​and a checksum, where n is the number of servos; the traversal retrieval includes: confirming the position of the zeroing information through the identification word, and taking the last set of zeroing information retrieved as the current valid zeroing information; if zeroing information is retrieved, check whether its checksum is correct after reading it, and if the checksum is incorrect, the current zeroing value is defaulted to zero.

4. The method according to claim 1, characterized in that, In step S3, in the zeroing mode, the electric servo motor is in operation and moves under control according to the superimposed command.

5. The method according to claim 1, characterized in that, In step S4, when the zero-position write flag for a certain servo in the bus command is "write", the zero-adjustment value of the corresponding servo in the read zero-adjustment information is updated to the current position report value of the servo.

6. The method according to claim 5, characterized in that, The zeroing storage area supports writing and updating the zeroing values ​​of multiple servos separately.

7. The method according to claim 1, characterized in that, In step S5, the exit condition for zeroing mode is: the aircraft air-to-ground identifier in the bus command is "air mode" or the zeroing mode command is "exit".

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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