Generalized and modularized modeling and simulation method and system for electric steering engine system

Abstract

The invention relates to a new-generation information technology, and discloses a universal and modular modeling and simulation method and system for an electric steering engine system, so as to solve the problem that an existing simulation method is poor in model universality and expandability. According to the method, an object-oriented design method is adopted, a universal rudder system simulation model is created through modular modeling, and a brush type electric steering engine system and a brushless type electric steering engine system can be compatible. The method comprises the following steps: firstly, respectively establishing simulation models of functional members according to common functional composition of an electric steering engine system, and creating key driving parameters of the functional members; then defining a unified external input and output interface, calling and changing the activation and suppression states of the interface through a logic expression and class attributes, and connecting the interfaces, in the activated state, of the simulation module according to the data flow direction; and finally, further packaging the connected simulation module and creating a user interaction window for a user to select a rudder system type and change key driving parameters.

Description

Technical Field

[0001] The present invention relates to a computer method and system based on a specific computing model in a new generation of information technology, and in particular to a universal modular modeling and simulation method and system for an electric steering gear system. Background Art

[0002] A servo is a position servo actuator, which is widely used in various fields such as drones, robots, and ships. Its function is to output a signal of a certain size and polarity after receiving a control command, drive the servo output shaft to deflect, and thus generate a certain torque. According to the energy type, it can be divided into three types: pneumatic servos, hydraulic servos, and electric servos. Since electric servos overcome the shortcomings of hydraulic and pneumatic servos, such as complex structure and inconvenient maintenance, and have the characteristics of high control accuracy and fast response speed, they are more widely used. Electric servo systems mainly include two types: brushed and brushless. They are mainly composed of three parts: servo body, servo controller, and drive circuit. It is of great significance to use simulation technology to guide servo design and parameter setting, master the dynamic characteristics of servos, and realize the evaluation of servo performance and optimization of control algorithms.

[0003] At present, the modeling and simulation of the rudder system are mostly aimed at a specific type of servo, and complex simulation models are built by calling the basic controls in the simulation software. This method has poor versatility and scalability. When the type and parameters of the servo change, it is necessary to disconnect the connection, call the controls, and configure the parameters to re-model. At present, the electric servo system consists of two major categories with a total of more than 100 basic controls. The modeling process is complicated and prone to errors. Obviously, the existing methods cannot meet the requirements of universal design. Summary of the invention

[0004] The present invention aims to disclose a universal modular modeling and simulation method and system for an electric steering gear system, so as to solve the problem of poor universality and scalability of existing simulation methods.

[0005] To achieve the above object, the present invention discloses a universal modular modeling and simulation method for an electric steering gear system, comprising: Step S1, establishing three modular simulation models corresponding to the controller, the driver and the motor respectively, wherein the external interfaces of each modular simulation model include: only part of the interfaces adapted to the brushless steering system, only part of the interfaces adapted to the brushless steering system and the common interface of the brushless steering system and the brushless steering system; and establishing a mapping relationship between each interface and the two types of brushed and brushless steering systems, so that: when the brushed steering system is selected, the interface unique to the brushless steering system is suppressed, and the other interfaces are activated; on the contrary, when the brushless steering system is selected, the interface unique to the brushless steering system is suppressed, and the other interfaces are activated; Step S2, establishing the signal processing logic between the interfaces corresponding to the brush steering system and the brushless steering system in each modular simulation model; Step S3, according to the data flow, the corresponding interfaces of each modular simulation model are connected to each other in pairs under the brushed rudder system and the brushless rudder system respectively, and then encapsulated into a unified general model, and a user interaction window is created for the user to select the rudder system type of the global variable, and the internal processing logic of each modular simulation model in the rudder system type selected by the user is changed with parameters to realize simulation.

[0006] Preferably, the controller is compatible with brushed and brushless rudder systems; the driver instantiates two types of objects: an H-bridge driver composed of 4 MOSFETs or IGBITs suitable for brushed rudder systems, and a three-phase bridge driver composed of 6 MOSFETs or IGBITs suitable for brushless rudder systems; the motor instantiates two types of objects: a brushed motor with mechanical commutation, and a brushless motor with electronic commutation.

[0007] Preferably, in the brushless steering system corresponding to step S2, the controller adopts a PID control algorithm Combined with a triangular wave signal with a set frequency, a PWM signal is generated, and the output is limited, acting on the four switches of the H bridge of the back-end driver, among which, is the proportionality coefficient, is the integration coefficient, is the differential coefficient, is the rudder deflection angle, The difference between the displacement of the set rudder deflection angle and the actual output angular displacement of the servo, Output of the controller.

[0008] Preferably, in the brushed steering system corresponding to step S2, the on-off time of the switch is changed by the duty cycle of the PWM signal to adjust the motor input voltage, and the four MOSFETs or IGBITs are Q1, Q2, Q3 and Q4 respectively; wherein, when Q1 and Q4 are turned on at the same time, the motor rotates forward; when Q2 and Q3 are turned on at the same time, the motor rotates reversely; and through logical inversion, it is ensured that: Q1 and Q2 cannot be turned on at the same time, and Q3 and Q4 cannot be turned on at the same time, so as to prevent power supply short circuit.

[0009] Preferably, in the brushless steering system corresponding to step S2, the internal signal processing logic of the motor includes: the voltage balance equation of the motor winding loop, the mechanical equation of the rotor and the electromagnetic torque equation. ; ; ; ; ;in, is the armature resistance, is the armature inductance, is the reverse electromotive force constant, is the moment of inertia, is the torque coefficient, is the voltage, is the current, is the external load torque, is the output torque, is the angular velocity, is the reverse electromotive force.

[0010] To achieve the above objectives, the present invention also discloses a universal modular modeling and simulation system for an electric servo system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0011] The present invention has the following beneficial effects: The present invention is based on an object-oriented design method and uses modular modeling to create a universal rudder system simulation model that is compatible with both brushed and brushless electric servo systems. First, according to the common functional composition of the electric servo system, the simulation models of the functional class members are respectively established, and their key driving parameters are created; then, a unified external input and output interface is defined, and the activation and inhibition states of the interface can be changed through logical expressions and class attribute calls, and the interfaces of the above-mentioned simulation modules in the activated state are connected according to the data flow; finally, the above-mentioned connected simulation modules are further encapsulated and a user interaction window is created for the user to select the rudder system type and change the key driving parameters. In this way, the present invention adopts a software-defined model to solve the problem of lack of universality and scalability of the existing simulation method model, simplify the design operation process, and improve the design efficiency.

[0012] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a universal simulation model and a user interaction window of an electric servo system disclosed in an embodiment of the present invention.

[0014] Figure 2 This is the correspondence between the simulation method class and the object disclosed in the embodiment of the present invention.

[0015] Figure 3 It is a modular modeling and simulation model of the brushless rudder system disclosed in an embodiment of the present invention.

[0016] Figure 4It is a part of the S-Function driver in the simulation method disclosed in the embodiment of the present invention.

[0017] Figure 5 A simulation model of a controller disclosed in an embodiment of the present invention.

[0018] Figure 6 The present invention discloses a simulation model of a brushless steering system driver.

[0019] Figure 7 A brushless motor (BDC) simulation model disclosed in an embodiment of the present invention.

[0020] Figure 8 Yes Figure 1 After the suppression interface is removed, the general simulation model and user interaction window are simplified.

[0021] Fig. 9 It is a simplified general simulation model and user interaction window after switching to the brushless servo system.

[0022] Fig.10 Yes Figure 3 After the inhibition interface is deleted, the brush rudder system modular modeling simulation model is simplified.

[0023] Fig.11 is relative to Fig.10 A simplified brushless rudder system modular modeling and simulation model. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0025] Example 1 This embodiment discloses a universal modular modeling and simulation method for an electric steering gear system, comprising the following steps: Step 1: Figure 2 There are two types of electric servo systems: brush servo system and brushless servo system, both of which are composed of three functional modules: controller, driver and motor. According to the working principle, the external input and output interfaces are unified, and modular simulation models of the above three types of members are established. The external interfaces of the three types of members of the brush servo system and the brushless servo system are shown in Table 1: Table 1 Rudder system external interface

[0026] In this step, the specific division of labor among the three members consisting of the controller, driver and motor is as follows: the controller completes the solution of computer input instructions and feedback instructions and the implementation of the algorithm; the driver adjusts the motor phase voltage according to the PWM signal output by the controller; the motor acts as an actuator, changing the torque and output speed according to the voltage change to reach the specified position or speed.

[0027] Step 2: Define the interfaces of the three types of members (i.e., three modular simulation models) according to step 1, and change the activation and inhibition states of the interfaces through logical expressions and class attribute calls. Set the global variable Motor_Tpye and define it as the rudder system type. When the variable Motor_Tpye is 0, it is a brushless rudder system; when the variable Motor_Tpye is 1, it is a brushless rudder system. Figure 4 As shown, an S-fuction function is established to implement class instantiation and object calling, and to initialize the object's attribute parameters, all of which have initial values ​​of 0.

[0028] When the brushed rudder system is selected, the corresponding interface is activated, while the corresponding interface variables of the brushless rudder system are suppressed and cannot be connected. At this time, a modular simulation model of the brushed rudder system is established for simulation, such as Figure 3 shown.

[0029] When the brushless rudder system is selected, the corresponding interface variables of the brushless rudder system are activated, and a modular simulation model of the brushless rudder system is established for simulation.

[0030] Step 3: Establish the signal processing logic between the interfaces corresponding to the brushed steering system and the brushless steering system in each modular simulation model.

[0031] In this step, the above three categories of members contain the common features and functions of all objects, and are instantiated separately. Optionally, the controller is compatible with brushed and brushless rudder systems. The driver instantiates two types of objects: ① H-bridge driver, composed of 4 MOSFETs or IGBITs, suitable for brushed rudder systems; ② three-phase bridge driver, composed of 6 MOSFETs or IGBITs, suitable for brushless rudder systems. The motor instantiates two types of objects: ① brushed motor, using mechanical commutation; ② brushless motor, using electronic commutation. Taking the brushed rudder system as an example, the signal processing logic between the interfaces corresponding to each functional module is as follows: The controller of this embodiment, such as Figure 5 As shown, the classic PID control algorithm can be used Combined with a triangle wave signal with a period of 100Hz, a PWM signal is generated, the output is limited, and acts on the 4 switches of the H bridge of the back-end driver, where is the proportionality coefficient, is the integration coefficient, is the differential coefficient, is the rudder deflection angle, The difference between the displacement of the set rudder deflection angle and the actual output angular displacement of the servo, Output of the controller.

[0032] like Figure 6 As shown in the figure, for the brushed steering system, the driver of this embodiment can adopt an H-bridge circuit drive structure, which is composed of 4 MOSFETs. The on-off time of the switch is changed by the duty cycle of the PWM signal, thereby adjusting the motor input voltage. When Q1 and Q4 are turned on at the same time, the motor rotates forward; when Q2 and Q3 are turned on at the same time, the motor rotates reversely. Through logical inversion, it is ensured that Q1 and Q2, Q3 and Q4 cannot be turned on at the same time to prevent power short circuit.

[0033] like Figure 7 As shown, this embodiment can create a simulation model of a brushless motor by establishing a voltage balance equation of the motor winding loop, a mechanical equation of the rotor, and an electromagnetic torque equation. The internal data processing logic generally includes: ; ; ; ; ;in, is the armature resistance, is the armature inductance, is the reverse electromotive force constant, is the moment of inertia, is the torque coefficient, is the voltage, is the current, is the external load torque, is the output torque, is the angular velocity, is the reverse electromotive force.

[0034] The key driving parameters used in this step are shown in Table 2.

[0035] Table 2 Key drive parameters of the rudder system

[0036] Among them, R on , R d 、V f , R s and C s It is the configuration parameter of the driver field effect tube, which is related to the driving ability of the driver; J, F, P, T f , R a , L a and K mIt is the inherent attribute parameter of the motor. Parameters are important attributes of objects, used to store data and drive data flow. In this embodiment, the parameters correspond to the actual parameters one by one; and in this embodiment, the object-oriented design method is adopted, and the "object.method()" and "object.attribute()=" configurations can be used for calling.

[0037] Step 4: Figure 1 As shown, Figure 3 The connected simulation model is further encapsulated, and a user interaction window is created to select the rudder system type and change the key drive parameters, thus obtaining a universal and scalable electric servo system simulation model. Thus, after calling the universal simulation model, the user can flexibly and conveniently select the rudder system type and modify the key drive parameters according to different task requirements; the operation process is simplified, and resource utilization and simulation efficiency are improved.

[0038] In this embodiment, the above Figure 1 When the user chooses a brushless servo system, the package interface essentially corresponds to Figure 8 ; When the user switches to the brushless servo system, the package interface essentially corresponds to Fig. 9 . In the next level of displayed section after clicking, similarly, Figure 3 If the suppressed interface is deleted from the display interface, the simplified circuit connection relationship shown is Fig.10 On the contrary, if the brushless servo system is in the next level display interface, the simplified diagram is Fig.11 .

[0039] Example 2 Corresponding to the above embodiment, this embodiment discloses a universal modular modeling and simulation system for an electric steering gear system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above method is implemented, and its core steps include: Step S1, establishing three modular simulation models corresponding to the controller, the driver and the motor respectively, wherein the external interfaces of each modular simulation model include: only part of the interfaces adapted to the brushless steering system, only part of the interfaces adapted to the brushless steering system and the common interface of the brush steering system and the brushless steering system; and establishing a mapping relationship between each interface and the two types of rudder systems, namely, the brushed and brushless rudder systems, so that: when the brushed steering system is selected, the interface unique to the brushless steering system is suppressed, and the other interfaces are activated; on the contrary, when the brushless steering system is selected, the interface unique to the brush steering system is suppressed, and the other interfaces are activated.

[0040] Step S2: establishing signal processing logic between interfaces corresponding to the brushed steering system and the brushless steering system respectively within each modular simulation model.

[0041] Step S3, according to the data flow, the corresponding interfaces of each modular simulation model are connected to each other in pairs under the brushed rudder system and the brushless rudder system respectively, and then encapsulated into a unified general model, and a user interaction window is created for the user to select the rudder system type of the global variable, and the internal processing logic of each modular simulation model in the rudder system type selected by the user is changed with parameters to realize simulation.

[0042] The specific implementation of each step refers to the above embodiment and will not be described in detail.

[0043] In summary, the universal modular modeling and simulation method and system of the electric servo system respectively disclosed in the embodiments of the present invention, based on the object-oriented design method, creates a universal rudder system simulation model through modular modeling, which can be compatible with both brushed and brushless electric servo systems. First, according to the common functional composition of the electric servo system, the simulation models of the functional class members are respectively established, and their key driving parameters are created; then, a unified external input and output interface is defined, and the activation and inhibition states of the interface can be changed through logical expressions and class attribute calls, and the interfaces of the above-mentioned simulation modules in the activated state are connected according to the data flow; finally, the above-mentioned connected simulation modules are further encapsulated and a user interaction window is created for the user to select the rudder system type and change the key driving parameters. Thereby, the present invention adopts a software-defined model to solve the problem of lack of universality and scalability of the existing simulation method model, simplify the design operation process, and improve the design efficiency.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A universal modular modeling and simulation method for an electric steering gear system, characterized in that: include: Step S1, establishing three modular simulation models corresponding to the controller, the driver and the motor respectively, wherein the external interfaces of each modular simulation model include: only part of the interfaces adapted to the brushless steering system, only part of the interfaces adapted to the brushless steering system and the common interface of the brushless steering system and the brushless steering system; and establishing a mapping relationship between each interface and the two types of brushed and brushless steering systems, so that: when the brushed steering system is selected, the interface unique to the brushless steering system is suppressed, and the other interfaces are activated; on the contrary, when the brushless steering system is selected, the interface unique to the brushless steering system is suppressed, and the other interfaces are activated; Step S2, establishing the signal processing logic between the interfaces corresponding to the brush steering system and the brushless steering system in each modular simulation model; Step S3, according to the data flow, the corresponding interfaces of each modular simulation model are connected to each other in pairs under the brushed rudder system and the brushless rudder system respectively, and then encapsulated into a unified general model, and a user interaction window is created for the user to select the rudder system type of the global variable, and the internal processing logic of each modular simulation model in the rudder system type selected by the user is changed with parameters to realize simulation.

2. The method according to claim 1, characterized in that The controller is compatible with both brushed and brushless rudder systems. The driver instantiates two types of objects: an H-bridge driver composed of four MOSFETs or IGBITs suitable for brushed rudder systems, and a three-phase bridge driver composed of six MOSFETs or IGBITs suitable for brushless rudder systems. The motor instantiates two types of objects: a brushed motor with mechanical commutation, and a brushless motor with electronic commutation.

3. The method according to claim 2, characterized in that In the brushless steering system corresponding to step S2, the controller adopts the PID control algorithm Combined with a triangular wave signal with a set frequency, a PWM signal is generated, and the output is limited, acting on the four switches of the H bridge of the back-end driver, among which, is the proportionality coefficient, is the integration coefficient, is the differential coefficient, is the rudder deflection angle, The difference between the displacement of the set rudder deflection angle and the actual output angular displacement of the servo, Output of the controller.

4. The method according to claim 2, characterized in that: In the brushed steering system corresponding to step S2, the on-off time of the switch is changed by the duty cycle of the PWM signal to adjust the motor input voltage, and the four MOSFETs or IGBITs are Q1, Q2, Q3 and Q4 respectively; among them, when Q1 and Q4 are turned on at the same time, the motor rotates forward; when Q2 and Q3 are turned on at the same time, the motor rotates reversely; and through logical inversion, it is ensured that: Q1 and Q2 cannot be turned on at the same time, and Q3 and Q4 cannot be turned on at the same time, so as to prevent power supply short circuit.

5. The method according to claim 2, characterized in that: In the brushless steering system corresponding to step S2, the internal signal processing logic of the motor includes: the voltage balance equation of the motor winding loop, the mechanical equation of the rotor and the electromagnetic torque equation: ; ; ; ; ;in, is the armature resistance, is the armature inductance, is the reverse electromotive force constant, is the moment of inertia, is the torque coefficient, is the voltage, is the current, is the external load torque, is the output torque, is the angular velocity, is the reverse electromotive force.

6. A universal modular modeling and simulation system for an electric steering gear system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

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