Multi-redundancy integrated steering engine system and application

Abstract

The invention discloses a redundancy integrated steering engine design method, a steering engine comprises a control circuit, a driving circuit, a direct current motor, a sensor and a communication interface, the control circuit is used for receiving a control instruction and converting the control instruction into a pulse width modulation waveform, and the driving circuit is used for converting the pulse width modulation waveform into an electric signal to control the direct current motor to rotate; the sensor is used for acquiring angle information of the steering engine, and the communication interface is used for sending state information of the steering engine to external equipment; the steering engine comprises a first channel and a second channel, the first channel is used for executing the first command, and the second channel is in a hot standby state. According to the multi-redundancy integrated steering engine design method provided by the embodiment of the invention, the working reliability and stability of the steering engine can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of electromechanical control, and particularly relates to a redundant integrated servo system, a control method, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the continuous expansion of the application fields of flight systems, the requirements for the safety and reliability of flight systems are also constantly increasing. As the actuator of the flight control system of a flight system, the reliability and safety of the steering control system are directly related to the flight safety of the flight system. Currently, there are mainly two methods to improve reliability: one is to increase the safety margin of derating design; the other is to perform redundancy design on key important links. The first method not only has a limited improvement in system reliability, but also increases the weight and volume of the steering control system, and the improvement effect is limited. The second method can greatly improve reliability through redundancy design, and it is a method often used in current aerospace and aviation technologies.

[0003] However, the adoption of redundancy technology also brings some new problems, such as increasing the volume, weight, and complexity of electric servo motors, resulting in a significant decrease in the energy efficiency ratio of electric servo motors. In addition, there are also problems such as interference between channels, false alarms of faults, and delays in channel switching and isolation. If these problems are not solved well, the benefits brought by the adoption of redundancy technology may be completely lost.

[0004] Therefore, it is an urgent problem to be solved at present to propose a method that can improve the anti-interference ability of the steering system, save system costs, save system space, and improve the maintainability of servo motors. Summary of the Invention

[0005] In order to overcome the defects of the above-mentioned prior art, the embodiments of the present invention provide a redundant integrated servo design method and application, which can solve the problems of poor anti-interference ability, high cost, and low reliability of the existing servo system.

[0006] On the one hand, an embodiment of the present invention provides a redundant integrated servo system, including: a control circuit, configured to receive a control instruction and convert it into a pulse width modulation waveform; a drive circuit, connected to the control circuit, configured to convert the pulse width modulation waveform into an electrical signal to control the rotation of a DC motor; the DC motor, connected to the drive circuit, configured to physically rotate according to the electrical signal; an angle sensor, configured to obtain the angle information of the servo and feedback it to the control circuit; the servo further includes a first channel and a second channel, where each channel includes its respective control circuit, drive circuit, DC motor, and sensor; wherein the first channel is used to execute normal operation commands, and the second channel is in a hot standby state, configured to automatically take over tasks when the first channel fails; a communication interface is provided between the first channel and the second channel, configured for data synchronization between the two channels, so that when one channel fails in communication, the other channel maintains the communication connection.

[0007] In one embodiment, the two sets of windings of the DC motor are designed in parallel and are axially symmetrically distributed in terms of spatial pole electrical angle. Any set of windings can make the DC motor reach the rated performance index when operating normally, and the electrical performances of the two sets of windings are independent of each other.

[0008] In one embodiment, the angle sensor is an absolute magnetic sensor and outputs signals through a differential 485 interface.

[0009] In one embodiment, an inverter circuit is further included between the drive circuit and the DC motor. When a main inverter circuit failure of the first channel is detected, the faulty channel is automatically isolated and switched to the second channel; the DC motor senses the angle through Hall elements. When the Hall element of the first channel outputs an abnormal electrical level, a fault is determined and switched to the spare Hall element of the second channel; when the signal output by the angle sensor of the first channel suddenly changes or exceeds a preset threshold, it is switched to the spare angle sensor of the second channel.

[0010] In one embodiment, when the output power of the control circuit is monitored to be greater than 50% and there is no change in the servo position feedback within a set time, it is determined that the inverter circuit has a fault; when the Hall signals HA, HB, and HC are monitored to be in an abnormal state, it is determined that the Hall element has a fault; when the difference between the output signals of the two angle sensors and the difference in the change speed exceed a preset range or the speed exceeds the maximum speed of the motor, it is determined that the angle sensor has a fault.

[0011] In one embodiment, the fault protection mode includes: when there is a single-channel electrical fault, isolating the faulty part and enabling the standby channel; when there is a single angle sensor fault, using the signal of the other angle sensor and maintaining dual-redundancy operation; when both the angle sensor and the electrical channel have faults, switching to a single-redundancy operation mode.

[0012] On the other hand, an embodiment of the present invention further provides a control method for a redundant integrated servo as described in any one of the above embodiments, including: the control circuit receives a first command and a second command from an external device through a communication interface respectively, the first command instructs the servo to rotate to a target angle, and the second command instructs the servo to enter a redundant mode; in response to the first command, the control circuit generates a first pulse width modulation waveform, which is used to control a drive circuit to make a DC motor rotate to the target angle; a fault diagnosis module of the servo monitors the health status of each component during operation and automatically switches to a backup channel when a fault is detected.

[0013] In one embodiment, the control method for the redundant integrated servo further includes: before receiving the first command, the control circuit first receives a third command, which is used to instruct the servo to exit the redundant mode; in response to the third command, the control circuit generates a third pulse width modulation waveform, which is used to control the drive circuit to make the DC motor rotate to an initial position; the third command also triggers a self-check program to evaluate the overall performance of the servo and report potential problems.

[0014] On yet another aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, the memory is used to store program codes, and the processor is used to call the program codes to execute the method described in any one of the above embodiments.

[0015] On still another aspect, an embodiment of the present invention further provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1) The servo system has a redundant function. After a failure occurs in the main channel, it can automatically switch to the backup channel for operation, improving the working reliability of the servo.

[0018] 2) The two channels of the servo system can operate simultaneously without affecting each other, and can independently complete the normal actions of the servo, improving the action efficiency of the servo.

[0019] 3) Each module inside the servo system can be replaced separately, which is convenient for maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be described in detail below with reference to embodiments and drawings, where:

[0021] Figure 1 is a schematic structural diagram of a redundant integrated servo system provided by an embodiment of the present invention;

[0022] Figure 2 is a flowchart of a control method for a redundant integrated servo system provided by an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention;

[0024] Figure 4 is a schematic structural diagram of a computer-readable storage medium provided by an embodiment of the present invention. Detailed implementation manners

[0025] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] Therefore, a feature pointed out in this specification will be used to illustrate one of the features of one embodiment of the present invention, rather than implying that each embodiment of the present invention must have the illustrated feature. In addition, it should be noted that this specification describes many features. Although some features may be combined to show possible system designs, these features may also be used in other combinations not explicitly described. Therefore, unless otherwise stated, the illustrated combinations are not intended to be limiting.

[0027] The principle and structure of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0028] As Figure 1 shown, the present invention discloses a redundant integrated servo system, including: a control circuit, configured to receive a control instruction and convert it into a pulse width modulation waveform; a drive circuit, connected to the control circuit, configured to convert the pulse width modulation waveform into an electrical signal to control the rotation of a DC motor; a DC motor, connected to the drive circuit, configured to physically rotate according to the electrical signal; an angle sensor, configured to obtain the angle information of the servo and feedback it to the control circuit; the servo further includes a first channel and a second channel, where each channel includes its own control circuit, drive circuit, DC motor and sensor; wherein the first channel is used to execute normal operation commands, and the second channel is in a hot standby state, configured to automatically take over tasks when the first channel fails; a communication interface is provided between the first channel and the second channel, configured for data synchronization between the two channels, so that when one channel fails to communicate, the other channel maintains the communication connection.

[0029] Specifically, for the control circuit of the servo controller, a digital control solution such as "STM32F407" is adopted, and for the drive circuit, a solution such as "opto-isolation + three-phase bridge integrated drive" is adopted. The servo controller receives the main / backup CAN digital signals from the flight control computer through the electrical interface, and sends the control signals into the main controller through the communication interface chip and the communication management chip; the main controller sends the redundancy signals, the motor PWM control signals after PID operation, and the direction signals into the drive module through the redundancy management module to complete the output of the three-phase bridge control signals, as well as functions such as Hall acquisition and fault signal feedback. The drive circuit drives the corresponding main / backup motor windings after opto-isolation, drive, and inverter circuits; two digital angle sensors respectively collect the angle signals of the output shaft of the servo, which are backup to each other, and send them into the main controller, and then into the position closed-loop through the redundancy management system.

[0030] Furthermore, since the steering control system needs to work for a long time with high reliability, for example, the DC motor is designed as a dual-redundancy DC brushless motor, with a parallel design of two sets of windings. The two sets of windings are axially symmetrically distributed in the space pole electrical angle. Any one of the two sets of windings can make the motor reach the specified performance index when working normally. The electrical performances of the two sets of windings are completely independent, and with the cooperation of dual-backup Hall elements, the reliability of the motor can be greatly improved.

[0031] Furthermore, according to the working characteristics of the long-endurance servo, the angle sensor is, for example, a non-contact angle sensor, which replaces the traditional conductive plastic angle sensor method, avoiding the measurement errors and faults caused by contact losses due to long-term wear of the angle sensor. This sensor is a magnetosensitive angle sensor with absolute angle output, and has characteristics such as high reliability, long life, anti-vibration, anti-shock, anti-dust, moisture resistance, and smoke resistance. In addition, to improve the anti-interference ability of the angle sensor, the electrical interface of the sensor is designed as a digital interface. In this embodiment, a differential 485 interface is adopted, greatly improving the working reliability and anti-interference ability of the electric servo.

[0032] Furthermore, fault diagnosis is the key point of redundancy configuration. According to the fault characteristics of the dual-redundancy servo, the parts with higher fault occurrence probabilities include inverter faults, Hall sensor faults, and angle sensor faults. Therefore, the fault diagnosis system mainly consists of three parts: an inverter fault diagnosis module, a Hall sensor fault diagnosis module, and an angle sensor fault diagnosis module.

[0033] For example, when the output of the main controller is greater than 50% for a period of time and there is no change in the servo position feedback, the inverter fault diagnosis module determines that the inverter has a fault and sends it to the redundancy management system. When the main inverter has a fault, the redundancy management system automatically isolates this channel and switches to the backup channel for work.

[0034] The position detection of the motor rotor is detected by Hall sensors, and the fault detection of the Hall sensors is carried out in the main controller. When the motor rotor rotates to different positions, Hall sensors HA, HB, and HC detect the rotor position signals and output corresponding levels. When one of the Hall elements is damaged, its output will not change, and the motor will be out of phase. Under normal operating conditions, the outputs of HA, HB, and HC have only six states: 110, 010, 011, 001, 101, and 100. Once an abnormality occurs, the situation of 000 or 111 will appear. Therefore, when the main control chip detects that HA, HB, and HC have 000 or 111, it can determine that a certain Hall element has a fault and send it to the redundancy management system. When the main Hall sensor fails, the redundancy management system automatically isolates the channel and switches to the backup channel for operation.

[0035] After normal initialization, the output signals of the two angle sensors should be very similar. If a certain angle sensor fails, the output signal of that angle sensor will mutate or become a certain constant value. Therefore, it is possible to judge whether the angle sensor fails according to the difference between the output signals of the displacement sensor and the change speed of the output signals. The fault diagnosis of the angle sensor is carried out, for example, in STM32, and is judged according to the speed change range and normal change. When there is an output, if the angle change is not obvious, or when the position feedback jumps abnormally and the value exceeds the maximum speed of the current motor, it is judged that the angle sensor fails.

[0036] A partial redundancy design is carried out for the angle sensor. The sensor signal of channel A can be shared with the sensor signal of channel B. The fault protection modes are as follows: when the electrical part (inverter, motor, Hall, etc.) of one channel stops working due to a fault, the controller isolates the faulty part, and the other channel works normally. At this time, the double redundancy of the angle sensor can be ensured; when a certain channel angle sensor fails, the sampling signal of the other channel can be used, and the electrical part is still double redundant; when a certain angle sensor and the electrical part of one channel fail at the same time, the other angle sensor and the electrical part of one channel are combined for single redundancy operation.

[0037] In summary, the first embodiment of the present invention provides a multi-redundancy integrated servo system with a redundancy function. When the main channel fails, it can automatically switch to the backup channel for operation, improving the working reliability of the servo; the two channels of the servo system can operate simultaneously without affecting each other, and can independently complete the normal actions of the servo, improving the action efficiency of the servo; and each module inside the servo system can be replaced separately, which is convenient for maintenance.

[0038] Such as Figure 2As shown in the figure, the second embodiment of the present invention provides a control method for a redundant integrated servo system, including: Step S1, the control circuit respectively receives a first command and a second command from an external device through a communication interface. The first command instructs the servo to rotate to a target angle, and the second command instructs the servo to enter a redundant mode; Step S2, in response to the first command, the control circuit generates a first pulse width modulation waveform, which is used to control the drive circuit to make the DC motor rotate to the target angle; Step S3, the fault diagnosis module of the servo monitors the health status of each component during operation and automatically switches to a standby channel when a fault is detected.

[0039] In one embodiment, before receiving the first command, the control circuit first receives a third command, which is used to instruct the servo to exit the redundant mode; in response to the third command, the control circuit generates a third pulse width modulation waveform, which is used to control the drive circuit to make the DC motor rotate to the initial position; the third command also triggers a self-check program to evaluate the overall performance of the servo and report potential problems.

[0040] The control method provided by the second embodiment of the present invention is applicable to the redundant integrated servo system as described in the foregoing first embodiment. For the specific structure and functions of the redundant integrated servo system, reference can be made to the content of the first embodiment, which will not be elaborated here in detail. Moreover, the beneficial effects of the control method of the redundant integrated servo system provided in this embodiment are the same as those of the redundant integrated servo system provided in the foregoing first embodiment. For the sake of brevity, they will not be repeated here.

[0041] The third embodiment of the present invention provides an electronic device, including at least one processing unit and at least one storage unit. Among them, the storage unit stores a computer program. When the computer program is executed by the processing unit, the processing unit executes the method as described in the first embodiment. Moreover, the beneficial effects of the electronic device provided in this embodiment are the same as those of the control method of the redundant integrated servo provided in the second embodiment.

[0042] The fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps of the above method. Moreover, the beneficial effects of the computer-readable storage medium provided in this embodiment are the same as those of the control method of the redundant integrated servo provided in the second embodiment.

[0043] In addition, it can be understood that the foregoing various embodiments are only exemplary descriptions of the present application. On the premise that the technical features do not conflict, the structures are not contradictory, and the invention purpose of the present application is not violated, the technical solutions of the various embodiments can be arbitrarily combined and used.

[0044] In several embodiments provided in the present application, it should be understood that the disclosed system, apparatus, and / or method can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, and the division of the units / modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or modules can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed among each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0045] The units / modules described as separate components may or may not be physically separated. The components shown as units / modules may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units / modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0046] In addition, in each embodiment of the present application, the functional units / modules can be integrated in one processing unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated in one unit / module. The above-mentioned integrated units / modules can be implemented in the form of hardware or in the form of hardware plus software functional units / modules.

[0047] The above-mentioned integrated units / modules implemented in the form of software functional units / modules can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing one or more processors of a computer device (which can be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A redundant integrated servo system, characterized in that, Comprising: A control circuit, configured to receive a control instruction and convert it into a pulse width modulation waveform; A drive circuit, connected to the control circuit, configured to convert the pulse width modulation waveform into an electrical signal to control the rotation of a DC motor; A DC motor, connected to the drive circuit, configured to physically rotate according to the electrical signal; An angle sensor, configured to acquire the angle information of the servo and feedback it to the control circuit; The servo further includes a first channel and a second channel, each of which includes the respective control circuit, drive circuit, DC motor, and sensor; wherein the first channel is used to execute normal operation commands, and the second channel is in a hot standby state, configured to automatically take over tasks when the first channel fails; A communication interface is provided between the first channel and the second channel, configured for data synchronization between the two channels, so that when one channel communication fails, the other channel maintains the communication connection.

2. The redundant integrated servo system according to claim 1, wherein The two sets of windings of the DC motor are designed in parallel and are axially symmetrically distributed in terms of the spatial pole electrical angle. Any one set of windings can operate normally to enable the DC motor to reach the rated performance index, and the electrical performances of the two sets of windings are independent of each other.

3. The redundant integrated servo system according to the claim, characterized in that The angle sensor is an absolute magnetic sensor and outputs signals through a differential 485 interface.

4. The redundant integrated servo system according to claim 1, wherein An inverter circuit is further included between the drive circuit and the DC motor. When a main inverter circuit fault of the first channel is detected, the faulty channel is automatically isolated and switched to the second channel; the DC motor senses the angle through a Hall element. When the Hall element of the first channel outputs an abnormal electrical level, a fault is determined and switched to the spare Hall element of the second channel; when the output signal of the angle sensor of the first channel suddenly changes or exceeds a preset threshold, it is switched to the spare angle sensor of the second channel.

5. The redundant integrated servo system according to claim 4, characterized in that When it is monitored that the output power of the control circuit is greater than 50% and there is no change in the servo position feedback within a set time, it is determined that there is an inverter circuit fault; when it is monitored that the Hall signals HA, HB, and HC are in an abnormal state, it is determined that there is a Hall element fault; when it is calculated that the difference between the output signals of the two angle sensors and the difference in the change speed exceed a preset range or the speed exceeds the maximum speed of the motor, it is determined that there is an angle sensor fault.

6. The redundant integrated servo system according to claim 1, characterized in that, The fault protection mode includes: when there is a single-channel electrical fault, isolating the faulty part and enabling the standby channel; when there is a single angle sensor fault, using the signal of the other angle sensor and maintaining dual-redundancy operation; when there is a simultaneous fault of the angle sensor and the electrical channel, switching to a single-redundancy operation mode.

7. A control method for a redundant integrated servo system according to any one of claims 1-6, characterized in that, Comprising: The control circuit respectively receives a first command and a second command from an external device through the communication interface. The first command instructs the servo to rotate to a target angle, and the second command instructs the servo to enter a redundancy mode; In response to the first command, the control circuit generates a first pulse width modulation waveform, and the first pulse width modulation waveform is used to control the drive circuit to make the DC motor rotate to the target angle; The fault diagnosis module of the servo monitors the health status of each component during operation and automatically switches to the standby channel when a fault is detected.

8. The control method of the redundant integrated servo system according to claim 7, characterized in that Further comprising: Before receiving the first command, the control circuit first receives a third command, and the third command is used to instruct the servo to exit the redundancy mode; In response to the third command, the control circuit generates a third pulse-width modulation waveform, which is used to control the drive circuit to rotate the DC motor to the initial position; The third command also triggers a self-test program to evaluate the overall performance of the servo and report potential problems.

9. An electronic device, characterized in that, It includes a memory and a processor. The memory is used to store program code, and the processor is used to call the program code to execute the method described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1-6 is implemented.

Images