Control system and control method of multidirectional output force actuator and multidirectional output force actuator

Abstract

The invention discloses a control system and a control method of a multidirectional output force actuator and the multidirectional output force actuator, belongs to the technical field of multi-motor coordination control, and discloses a design method of an integrated multidirectional output force actuator system. An integrated multi-direction output force actuator structure composed of four motors and eccentric mass blocks of the motors is designed. According to the configuration of the multi-directional output force actuator, modeling of output force of the multi-directional actuator is carried out, the amplitude, direction, phase and frequency of the output force are controllable by controlling the rotation angular speed, phase difference and phase mean value of an eccentric mass block, and calculation from the output force to a given single-motor position ring is completed. And an output force control problem is converted into a multi-motor servo control problem. According to the system output force servo control requirement, a multi-motor parallel independent control strategy is applied, and the dynamic response speed and precision of the system are effectively improved.

Description

Technical Field

[0001] This application relates to the field of multi-motor coordinated control, and particularly to a control system, a control method, and a multi-directional output actuator for a multi-directional output actuator. Background Art

[0002] With the continuous improvement of the performance requirements of helicopters, the active control technology for structural response has put forward higher requirements for the vibration damping electric actuator in terms of higher integration, better working performance, and higher reliability. However, the existing vibration damping electric actuator system has a low degree of integration, and the collaborative working ability between components is insufficient, resulting in a large system volume, heavy weight, high energy consumption, and still has great room for improvement in terms of working performance (such as dynamic response speed, steady-state accuracy, and anti-voltage impact ability).

[0003] Currently, the vibration damping electric actuator mainly adopts a cross-coupling control strategy to improve the system synchronization through the closed-loop processing of the synchronization error between motors. However, this strategy has significant defects: First, there are coupling terms in the rotor positions of multiple motors, and there is mutual interference between loops during the dynamic response process, affecting the rapidity and control accuracy of the system; Second, large voltage and current shocks are likely to occur on the DC bus side, which may endanger the flight safety of the helicopter. Therefore, the existing technology is difficult to meet the vibration suppression requirements. Summary of the Invention

[0004] This application aims to provide a control system, a control method, and a multi-directional output actuator for a multi-directional output actuator that meet the vibration suppression requirements of high dynamics, high precision, and high reliability.

[0005] To achieve the above object, the technical solution of this application is:

[0006] A multi-directional output actuator includes a mathematical solver, a first motor driver, and a second motor driver. Among them, the first motor driver and the second motor driver each include two motors, and each motor includes a mass block;

[0007] The first end of the mathematical solver is connected to the given force amplitude, given phase, given frequency, and given direction at the current moment. The second end of the mathematical solver is respectively connected to the first terminal of the first end of the first motor driver, the second terminal of the first end of the first motor driver, the first terminal of the first end of the second motor driver, and the second terminal of the first end of the second motor driver;

[0008] The first terminal of the second end of the first motor driver is connected to the second terminal of the second end of the first motor driver. The first terminal of the second end of the first motor driver is connected to the first terminal of the second end of the second motor driver. The first terminal of the second end of the second motor driver is connected to the second terminal of the second end of the second motor driver. The first terminal of the second end of the first motor driver, the second terminal of the second end of the first motor driver, the first terminal of the second end of the second motor driver, and the second terminal of the second end of the second motor driver are respectively connected.

[0009] Optionally, the two motors of the first motor driver rotate in the same direction at the same angular velocity, and the two motors of the second motor driver rotate in the same direction at the same angular velocity.

[0010] Optionally, the two motors of the first motor driver rotate in the opposite direction to the two motors of the second motor driver.

[0011] Optionally, the first motor driver and the second motor driver respectively include: a first motor branch and a second motor branch. The first terminal of the first motor branch is the first terminal of the first end of the first motor driver or the second motor driver. The second terminal of the first motor branch is the first terminal of the second end of the first motor driver or the second motor driver. The first terminal of the second motor branch is the second terminal of the first end of the first motor driver or the second motor driver. The second terminal of the first motor branch is the second terminal of the second end of the first motor driver or the second motor driver.

[0012] Optionally, the first motor branch and the second motor branch respectively include: a first position loop, a first speed loop, a first current loop, a first pulse width modulator, a first three-phase bridge inverter circuit, a first motor, a first position detection circuit, and a first current sampling circuit. Among them, the first motor includes a mass block;

[0013] The first terminal of the first subtractor is the first terminal of the first motor branch or the second motor branch. The second terminal of the first subtractor is connected to the first terminal of the first position loop. The second terminal of the first position loop is connected to the first terminal of the second subtractor. The second terminal of the second subtractor is connected to the first terminal of the first speed loop. The second terminal of the first speed loop is connected to the first terminal of the third subtractor. The second terminal of the third subtractor is connected to the first terminal of the first current loop. The second terminal of the first current loop is sequentially connected to the first terminal of the first pulse width modulator, the first three-phase bridge inverter circuit, the first motor, and the first position detection circuit. The second terminal of the first position detection circuit is connected to the third terminal of the first subtractor and the third terminal of the second subtractor. The third terminal of the first position detection circuit is the second terminal of the first motor branch or the second motor branch. The first terminal of the first current sampling circuit is connected to the series midpoint of the first three-phase bridge inverter circuit and the first motor. The second terminal of the first current sampling circuit is connected to the third terminal of the third subtractor. The first terminal of the first subtractor inputs the given direction, and the third terminal of the first position detection circuit outputs the current position of the eccentric mass block of the first motor.

[0014] Optionally, the total output force expression of the first motor branch and the second motor branch is:

[0015]

[0016] Where F represents the total output force of the first motor branch and the second motor branch, represents the current phase of the mass block of the first motor in the first motor branch of the first motor driver, represents the current phase of the mass block of the first motor in the first motor branch of the first motor driver, represents the current phase of the mass block of the first motor in the first motor branch of the second motor driver, represents the current phase of the mass block of the first motor in the second motor branch of the second motor driver. m represents the mass of the mass block, ω represents the current rotational angular velocity of the mass block, t represents time, r represents the rotational radius of the mass block, and j represents the imaginary unit.

[0017] Optionally, the mathematical solver obtains the position given information of the mass block of the first motor in the first motor branch or the second motor branch, which is expressed by the formula:

[0018]

[0019] Where represents the given direction of the mass block of the first motor in the first motor branch of the first motor driver, represents the given direction of the mass block of the first motor in the second motor branch of the first motor driver, Indicates the given direction of the mass block of the first motor in the first motor branch of the second motor driver, Indicates the given direction of the mass block of the first motor in the second motor branch of the second motor driver, F * Indicates the given force at the current moment, ω * Indicates the given frequency, Indicates the given phase, θ * Indicates the given direction, and T represents the transpose symbol.

[0020] A control method for a multi-directional output force actuator, including,

[0021] According to the given force amplitude F * 、the given phase ω * 、the given frequency the given direction θ * , through mathematical calculations, the given directions of the four eccentric mass blocks on the four motors are obtained respectively

[0022] The given directions are respectively Subtracted from the current positions θ1, θ2, θ3, θ4 of the four eccentric mass blocks on the four motors, and then through the given feedforward plus PID composite control, the given rotational speeds of the four eccentric mass blocks on the four motors are obtained Then, subtracted from the rated speeds n1, n2, n3, n4 of the four eccentric mass blocks on the four motors, and through PI control, the given currents of the four eccentric mass blocks on the four motors are obtained Respectively subtracted from the sampled currents of the three-phase bridge inverter circuit, and through load feedforward plus PI control, the duty cycles D1, D2, D3, D4 are obtained, and then pulse width modulation, power conversion and control, and position detection are carried out in sequence to re-obtain the current positions θ1, θ2, θ3, θ4 of the eccentric mass blocks of the motor;

[0023] According to the current positions θ1, θ2, θ3, θ4, the total output force F is calculated.

[0024] Optionally, the given directions of the four eccentric mass blocks on the four motors Are expressed by the formula:

[0025]

[0026] Wherein, T represents the transpose symbol, and t represents time, Are respectively the current phases of the four eccentric mass blocks on the four motors, m represents the mass of the eccentric mass block, and r represents the rotation radius of the mass block;

[0027] The total output force F is expressed as:

[0028]

[0029] Where ω represents the current rotational angular velocity of the eccentric mass block, and j represents the imaginary unit.

[0030] A multi-directional output force actuator includes: a first motor, a second motor, a third motor, a fourth motor, a first eccentric mass block, a second eccentric mass block, a third eccentric mass block, and a fourth eccentric mass block. The first eccentric mass block, the second eccentric mass block, the third eccentric mass block, and the fourth eccentric mass block are respectively installed on the first motor, the second motor, the third motor, and the fourth motor.

[0031] For the control system, control method, and multi-directional output force actuator of the multi-directional output force actuator of the present application, an integrated multi-directional output force actuator configuration composed of four motors and their eccentric mass blocks is designed; then, according to the multi-directional output force actuator configuration, a model of the multi-directional output force actuator is established, and the calculation from the output force to the given value of the single-motor position loop is carried out. By controlling the rotational angular velocity, phase difference, and phase mean value of the eccentric mass block, the controllability of the amplitude, direction, phase, and frequency of the output force is achieved, and the problem of output force control is transformed into a multi-motor servo control problem. The multi-directional output force actuator of the present application adopts a multi-motor parallel independent control strategy, significantly reducing the complexity of the multi-directional output force actuator, realizing the decoupling of each motor, having a much higher dynamic response speed than traditional actuators, being able to generate multi-directional acting forces, and having the characteristics of high stability and fast dynamics, with significant engineering application value.

[0032] To make the above features and advantages of the application more obvious and understandable, specific embodiments are hereinafter given and described in detail in conjunction with the accompanying drawings as follows. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of the multi-directional output force actuator provided by the present application.

[0034] Figure 2 It is a schematic internal structure diagram of the multi-directional output force actuator provided by the present application

[0035] Figure 3 It is a control block diagram of the multi-directional output force actuator provided by the present application.

[0036] Figure 4 Figure (a) in is a force analysis diagram of the motor driver 2 of the multi-directional output force actuator.

[0037] Figure 4 Figure (b) in is a force analysis diagram of the motor driver 3 of the multi-directional output force actuator.

[0038] Figure 5 In a specific embodiment Figure 3 It is a control block diagram of any motor branch.

[0039] Figure 6 Schematic diagram of the hardware framework of the motor driver for the multi-directional output actuator of the present application.

[0040] In the drawings, like reference numerals refer to the same elements. Detailed implementation manners

[0041] To make the objectives and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0042] Please refer to Figure 1 and Figure 2 , Figure 1 which is a schematic diagram of the internal structure of the multi-directional output actuator provided by the present application. Figure 2 which is a schematic diagram of the structure of the multi-directional output actuator provided by the present application. As Figure 1 shown, the multi-directional output actuator 1 includes motors 111, 112, 113, 114, eccentric mass blocks 121, 122, 123, 124. The eccentric mass blocks 121 to 124 are respectively mounted on the motors 111 to 114. Among them, the motors 113, 114, the eccentric mass blocks 123, 124 are not shown in the figure.

[0043] Furthermore, the multi-directional output actuator 1 may further include: bearings 131, 132 (not shown in the figure), 133 (not shown in the figure), 134 (not shown in the figure), control boards 141, 142, a connector 15, a bracket 16, a magnetic encoder 17, a front end cover 18, a rear end cover 19, a housing 110; the bracket 16 connects the motors 111 to 114, the bearings 131 to 134 respectively fix the motors 111 to 114 on the bracket 16, the control boards 141 and 142 are mounted between the motor 112 and the motor 113, the connector 15 is mounted on the control boards 141 and 142, the front end cover 18 is connected to the motor 111, the rear end cover 19 is connected to the motor 114, the magnetic encoder 17 is mounted outside the front end cover 18, and the housing 110 wraps the motors 111 to 114 and the eccentric mass blocks 121 to 124.

[0044] As an example, the eccentric mass blocks 121 to 124 are made of high-density alloy materials. The motor drives the mass blocks to rotate to output centrifugal force, and the two centrifugal forces are combined into an actuating force with controllable frequency, amplitude, and phase.

[0045] In an embodiment of the present application, a control system for a multi-directional output actuator is provided. Please refer to Figure 3 , Figure 3 which is the structural block diagram of the control system for the multi-directional output actuator provided by the present application. The control system for the multi-directional output actuator includes: a mathematical solver 4, a motor driver 2, and a motor driver 3. Among them, the motor driver 2 and the motor driver 3 each control two motors, and each motor includes a mass block; the first end of the mathematical solver 4 is connected to the given force amplitude F * at the current moment, the given phase the given frequency ω * and the given direction θ * . The second end of the mathematical solver 4 is respectively connected to the first terminal of the first end of the motor driver 2, the second terminal of the first end of the motor driver 2, the first terminal of the first end of the motor driver 3, and the second terminal of the first end of the motor driver 3; the first terminal of the second end of the motor driver 2 is connected to the second terminal of the second end of the motor driver 2, the first terminal of the second end of the motor driver 2 is connected to the first terminal of the second end of the motor driver 3, the first terminal of the second end of the motor driver 3 is connected to the second terminal of the second end of the motor driver 3, and the first terminal of the second end of the motor driver 2, the second terminal of the second end of the motor driver 2, the first terminal of the second end of the motor driver 3, and the second terminal of the second end of the motor driver 3 are respectively connected.

[0046] As an example, the first end of the mathematical solver 4 inputs the given force amplitude F * at the current moment, the given phase the given frequency ω * and the given direction θ * . After calculation, the outputs are respectively the given direction the given direction the given direction the given direction

[0047] As an example, the motor driver 2 includes: a motor branch 21 and a motor branch 22. The first terminal of the motor branch 21 is the first terminal of the first end of the motor driver 2, the second terminal of the motor branch 21 is the first terminal of the second end of the motor driver 2, the first terminal of the motor branch 22 is the second terminal of the first end of the motor driver 2, and the second terminal of the motor branch 21 is the second terminal of the second end of the motor driver 2.

[0048] As an example, the motor driver 3 includes: a motor branch 31 and a motor branch 32. The first terminal of the motor branch 31 is the first terminal of the first end of the motor driver 3, the second terminal of the motor branch 31 is the first terminal of the second end of the motor driver 3, the first terminal of the motor branch 32 is the second terminal of the first end of the motor driver 3, and the second terminal of the motor branch 31 is the second terminal of the second end of the motor driver 3.

[0049] As an example, the motor branch 21 includes: a position loop 211, a speed loop 212, a current loop 213, a pulse width modulator (PWM) 214, a three-phase bridge inverter circuit 215, a motor 111, a position detection circuit 216, and a current sampling circuit 217. Among them, the motor 111 includes an eccentric mass 121; the first terminal of the subtractor 218 is the first terminal of the motor branch 21, the second terminal of the subtractor 218 is connected to the first terminal of the position loop 211, the second terminal of the position loop 211 is connected to the first terminal of the subtractor 219, the second terminal of the subtractor 219 is connected to the first terminal of the speed loop 212, the second terminal of the speed loop 212 is connected to the first terminal of the subtractor 2110, the second terminal of the subtractor 2110 is connected to the first terminal of the current loop 213, the second terminal of the current loop 213 is sequentially connected to the first terminals of the pulse width modulator 214, the three-phase bridge inverter circuit 215, the motor 111, and the position detection circuit 216. The second terminal of the position detection circuit 216 is connected to the third terminal of the subtractor 218 and the third terminal of the subtractor 219. The third terminal of the position detection circuit 216 is the second terminal of the motor branch 21. The first terminal of the current sampling circuit 217 is connected to the series midpoint of the three-phase bridge inverter circuit 215 and the motor 111, and the second terminal of the current sampling circuit 217 is connected to the third terminal of the subtractor 2110. The first terminal of the subtractor 218 inputs a given direction The third terminal of the position detection circuit 216 outputs the current position θ1 of the eccentric mass 121 of the motor 111.

[0050] As an example, the motor branch 22 includes: a position loop 221, a speed loop 222, a current loop 223, a pulse width modulator 224, a three-phase bridge inverter circuit 225, a motor 112, a position detection circuit 226, and a current sampling circuit 227. Among them, the motor 112 includes an eccentric mass block 122; the first terminal of the subtractor 228 is the first terminal of the motor branch 22, the second terminal of the subtractor 228 is connected to the first terminal of the position loop 221, the second terminal of the position loop 221 is connected to the first terminal of the subtractor 229, the second terminal of the subtractor 229 is connected to the first terminal of the speed loop 222, the second terminal of the speed loop 222 is connected to the first terminal of the subtractor 2210, the second terminal of the subtractor 2210 is connected to the first terminal of the current loop 223, the second terminal of the current loop 223 is sequentially connected to the first terminals of the pulse width modulator 224, the three-phase bridge inverter circuit 225, the motor 112, and the position detection circuit 226. The second terminal of the position detection circuit 226 is connected to the third terminal of the subtractor 228 and the third terminal of the subtractor 229. The third terminal of the position detection circuit 226 is the second terminal of the motor branch 22. The first terminal of the current sampling circuit 227 is connected to the series midpoint of the three-phase bridge inverter circuit 225 and the motor 112, and the second terminal of the current sampling circuit 227 is connected to the third terminal of the subtractor 2210. The first terminal of the subtractor 228 inputs a given direction The third terminal of the position detection circuit 226 outputs the current position θ2 of the eccentric mass block 122 of the motor 112.

[0051] As an example, the motor branch 31 includes: a position loop 311, a speed loop 312, a current loop 313, a pulse width modulator 314, a three-phase bridge inverter circuit 315, a motor 113, a position detection circuit 316, and a current sampling circuit 317. Among them, the motor 113 includes an eccentric mass block 123; the first terminal of the subtractor 318 is the first terminal of the motor branch 31, the second terminal of the subtractor 318 is connected to the first terminal of the position loop 311, the second terminal of the position loop 311 is connected to the first terminal of the subtractor 319, the second terminal of the subtractor 319 is connected to the first terminal of the speed loop 312, the second terminal of the speed loop 312 is connected to the first terminal of the subtractor 3110, the second terminal of the subtractor 3110 is connected to the first terminal of the current loop 313, the second terminal of the current loop 313 is sequentially connected to the first terminals of the pulse width modulator 314, the three-phase bridge inverter circuit 315, the motor 113, and the position detection circuit 316. The second terminal of the position detection circuit 316 is connected to the third terminal of the subtractor 318 and the third terminal of the subtractor 319. The third terminal of the position detection circuit 316 is the second terminal of the motor branch 31. The first terminal of the current sampling circuit 317 is connected to the series midpoint of the three-phase bridge inverter circuit 315 and the motor 113, and the second terminal of the current sampling circuit 317 is connected to the third terminal of the subtractor 3110. The first terminal of the subtractor 318 inputs a given direction The third terminal of the position detection circuit 316 outputs the current position θ3 of the eccentric mass block 123 of the motor 113.

[0052] As an example, the motor branch 32 includes: a position loop 321, a speed loop 322, a current loop 323, a pulse width modulator 324, a three-phase bridge inverter circuit 325, a motor 114, a position detection circuit 326, and a current sampling circuit 327. Among them, the motor 114 includes an eccentric mass block 124. The first terminal of the subtractor 328 is the first terminal of the motor branch 32. The second terminal of the subtractor 328 is connected to the first terminal of the position loop 321. The second terminal of the position loop 321 is connected to the first terminal of the subtractor 329. The second terminal of the subtractor 329 is connected to the first terminal of the speed loop 322. The second terminal of the speed loop 322 is connected to the first terminal of the subtractor 3210. The second terminal of the subtractor 3210 is connected to the first terminal of the current loop 323. The second terminal of the current loop 323 is sequentially connected to the first terminals of the pulse width modulator 324, the three-phase bridge inverter circuit 325, the motor 114, and the position detection circuit 326. The second terminal of the position detection circuit 326 is connected to the third terminal of the subtractor 328 and the third terminal of the subtractor 329. The third terminal of the position detection circuit 326 is the second terminal of the motor branch 32. The first terminal of the current sampling circuit 327 is connected to the series midpoint of the three-phase bridge inverter circuit 325 and the motor 114. The second terminal of the current sampling circuit 327 is connected to the third terminal of the subtractor 3210. The given direction is input at the first terminal of the subtractor 328 The current position θ4 of the eccentric mass block 124 of the motor 114 is output at the third terminal of the position detection circuit 326.

[0053] Next, continue to combine with Figure 3 to introduce the working principle of this application.

[0054] As an example, the two motors of the motor driver 2 rotate in the same direction at the same angular velocity. The two motors of the motor driver 3 rotate in the same direction at the same angular velocity. The motors driven by the motor driver 2 and the motor driver 3 rotate in the opposite direction. Each motor drives a mass block to rotate. The mass block is the power output component of the multi-directional output actuator and is the core of the multi-directional output actuator. The multi-directional output actuator of this application adopts a parallel independent strategy. The control loops of the motor branches 21, 22, 31, and 32 are completely independent. The control instructions for the motors in each motor branch are directly generated by the mathematical solver 4 without interacting with the state information of other motors, thus avoiding the superposition of current impacts and eliminating communication delay errors.

[0055] As an example, the maximum output force output by the multi-directional output actuator is 4mω 2When the frequency of the required output force is fixed, the maximum output force amplitude is related to the mass of the mass block and the rotation radius. Motor driver 2 and motor driver 3 should still be able to meet the requirement that the output force amplitude is not less than the specified value at the lowest operating frequency. Therefore, the output force amplitude is controlled according to the design of the mass and rotation radius of the eccentric mass block.

[0056] For example, refer to Figure 4 , Figure 4 In figure (a) of Figure 4 is the force analysis diagram of motor driver 2 of the multi-directional output force actuator, and figure (b) of a is the force analysis diagram of motor driver 3 of the multi-directional output force actuator. Taking motor driver 2 as an example, motor driver 2 controls the output forces F of motors 111 and 112

[0057]

[0058] Among them, represents the current phase of the eccentric mass block 121 of motor 111, represents the current phase of the eccentric mass block 122 of motor 112, r represents the rotation radius of the eccentric mass block, m represents the mass of the eccentric mass block, ω represents the current rotational angular velocity of the eccentric mass block, j represents the imaginary unit, and t represents time.

[0059] Specifically, by controlling the initial phase difference between the two eccentric mass blocks of a motor driver, the output force amplitude can be controlled, but the output force direction is uncontrollable. Therefore, to achieve multi-directional output force, two drivers need to be used in combination.

[0060] As an example, the integrated multi-directional output force actuator of the present application adopts the method that two motors driven by the same driver rotate in the same direction, and the motors between the two drivers rotate in the opposite direction. Combining Figure 4 it can be known that the output force F of motor driver 2 a is obtained by the vector synthesis of the centrifugal force F1 generated by the eccentric mass block 121 of motor 111 and the centrifugal force F2 generated by the eccentric mass block 122 of motor 112, and is expressed by the formula:

[0061]

[0062] Among them, θ1 represents the current position of the eccentric mass block 121 of motor 111, and θ2 represents the current position of the eccentric mass block 122 of motor 112.

[0063] The output force F of motor driver 3 b is obtained by the vector synthesis of the centrifugal force F3 generated by the eccentric mass block 123 of motor 113 and the centrifugal force F4 generated by the eccentric mass block 124 of motor 114, and is expressed by the formula:

[0064]

[0065] Among them, θ3 represents the current position of the eccentric mass block 123 of the motor 113, and θ4 represents the current position of the eccentric mass block 124 of the motor 114.

[0066] As an example, continue to refer to Figure 3 to introduce the working principle of this application.

[0067] Let the output forces F obtained by the motor driver 2 and the motor driver 3 respectively driving the motors to drive the mass blocks to rotate a and the output force F b have equal amplitudes, that is, θ1 - θ2 = θ3 - θ4. For the output force F of the motor driver 2 a and the output force F of the motor driver 3 b perform vector synthesis to obtain the total output force F as:

[0068]

[0069] Furthermore, since θ1, θ2, θ3, and θ4 are variables with respect to t and are uncontrollable, therefore, according to transform it into the expression of, and control the total output force by controlling the current phase to transform the output force control problem into a motor control problem, and obtain the expression of the total output force F as:

[0070]

[0071] Among them, represents the current phase of the eccentric mass block 123 of the motor 113, represents the current phase of the eccentric mass block 124 of the motor 114, and the amplitude of the total output force F is

[0072] Specifically, by controlling the current phase difference between the eccentric mass block 121 of the motor 111 and the eccentric mass block 122 of the motor 112 the amplitude of the total output force F can be controlled. When the current phase difference 2 is 0, the amplitude of the total output force F is the largest, which is 4mω r; when the current phase difference

[0073] is π, the amplitude of the total output force F is 0. By controlling the current phase difference When it is 0, the total output force F is in the vertical direction; the current phase difference When it is π, the total output force F is in the horizontal direction.

[0074] By controlling the current phase mean values of the eccentric mass blocks 121 of the motor 111, the eccentric mass blocks 122 of the motor 112, the eccentric mass blocks 123 of the motor 113, and the eccentric mass blocks 124 of the motor 114, the phase of the total output force F can be controlled.

[0075] By controlling the rotational angular velocities of the eccentric mass blocks 121 of the motor 111, the eccentric mass blocks 122 of the motor 112, the eccentric mass blocks 123 of the motor 113, and the eccentric mass blocks 124 of the motor 114, the frequency of the total output force F can be controlled.

[0076] As an example, the parallel independent control strategy adopted by the multi-directional output actuator of the present application transforms the control problem of the total output force F into servo problems of multiple single motors. The most crucial point is to complete the calculation from the vibration damping force F required by the multi-directional output actuator n to the position loop set value of the given single motor to obtain the position set value information of the mass block. The position set value information includes: the given direction of the eccentric mass block 121 of the motor 111 the given direction of the eccentric mass block 122 of the motor 112 the given direction of the eccentric mass block 123 of the motor 113 the given direction of the eccentric mass block 124 of the motor 114 By controlling the rotational angular velocity, phase difference, and phase mean value of the eccentric mass block, the four elements of the amplitude, direction, phase, and frequency of the total output force F are controlled.

[0077] As an example, the vibration damping force F required by the multi-directional output actuator n is expressed as:

[0078]

[0079] where F * represents the given force at the current moment, ω * represents the given frequency, represents the given phase, θ * represents the given direction.

[0080] As an example, the mathematical solver 4 performs mathematical calculations on the driving force F required by the multi-directional output actuator n to obtain the position set value information of the eccentric mass blocks of the motors 111, 112, 113, and 114. It is expressed by the formula:

[0081]

[0082] Among them, T represents the transpose symbol.

[0083] As an example, Regarding the current position θ of the given direction and feedback n (n = 1, 2, 3, 4) takes the difference and enters the position loop adjustment, thereby completing the inner loop adjustment to control the motor operation. The obtained given information of the eccentric mass block position is respectively sent to each motor driver, takes the difference with the current information of the eccentric mass block position feedback detected by the magnetic encoder 17, and is input into the position loop for closed-loop control. Then, through the closed-loop operations of the speed loop and the current loop, the eccentric mass block is controlled to rotate following the given position information, so that the total output force F becomes the vibration damping force F n , generating the required vibration damping force F n .

[0084] Please refer to Figure 5 , Figure 5 which is Figure 3 the control block diagram of any motor branch in a specific embodiment, including: a composite control loop 51, a load feedforward loop 52, a regenerative braking loop 53, and an electric loop 54. The first end of the composite control loop 51 receives the given direction of the eccentric mass block 121 of the motor 111 in this control cycle The second end of the composite control loop 51 is respectively connected to the first ends of the regenerative braking loop 53 and the electric loop 54. The first end of the load feedforward loop 52 is respectively connected to the second ends of the regenerative braking loop 53 and the electric loop 54. The second end of the electric loop 54 is connected to the first end of the subtractor 55.

[0085] As an example, the composite control loop 51 is used to input the given direction After passing through the 1 / T op s + 1 link, it takes the difference with the position feedback signal 1 / s·λ / (T op s + 1) detected by the magnetic encoder 17 in the subtractor and is input into the position loop. The position loop adopts a given feedforward plus PID composite control method to accelerate the system position response speed and reduce the fluctuation composite on the DC bus side; the given direction After passing through the 9.55s link, it obtains n through the adder with the output of the position loop * , n * After passing through the 1 / T on s + 1 link, it takes the difference with the motor speed acquisition transfer function β / T on s + 1 through the subtractor and enters the speed loop. After the PI control of the speed loop and the 1 / T oi s + 1 link, it outputs the given current I * . If the given current is positive, it enters the electric loop 54. If the given current is negative, it enters the regenerative braking loop 53.

[0086] As an example, the load feedforward loop 52 is used to receive and then passes through G n (s) link and outputs to the regenerative braking loop 53 and the electric loop 54.

[0087] As an example, the regenerative braking loop 53 is used to receive the negative given current I * , and the braking current loop adopts a load feedforward plus PI control method. By regenerative braking control, the acceleration problem of the motor under negative torque is suppressed. The load torque is directly introduced into the current loop in a certain proportion to solve the problem of the lag of the speed loop response when the load fluctuates. Then, it passes through G m (s) link, G id (s) link, α / T oi s+1 sampling circuit model transfer function to obtain the current I after regenerative braking z , and the current I after regenerative braking z , the negative given current I * and the output of the load feedforward loop 52 are subtracted and input to the braking current loop.

[0088] As an example, the regenerative electric loop 54 is used to receive the positive given current I * , and the current loop adopts a load feedforward plus PI control method. By regenerative braking control, the acceleration problem of the motor under negative torque is suppressed. The load torque is directly introduced into the current loop in a certain proportion to solve the problem of the lag of the speed loop response when the load fluctuates, and the duty cycle is output to K pwm / T pwm s+1 inverter model transfer function to control the switching of the MOSFET tube of the inverter to obtain the inverter voltage u Φ and then passes through 1 / L m s+R m motor model transfer function to control the motor, and then through K T link to obtain T em , and T em and T L are subtracted and then pass through 1 / J e s+B e mechanical system transfer function to output the rated speed n; further, the rated speed n passes through K c link to obtain E Φ and then subtracts from the inverter voltage u Φ and then passes through 1 / L m s+R m motor model transfer function, α / T oi s+1 sampling circuit model transfer function; further, 1 / L m s+R m motor model transfer function to obtain the current I after regenerative electric, and the current I after regenerative electric, the positive given current I *The output of the load feedforward loop 52 is subtracted from the input current loop.

[0089] As an example, after the rated speed n is output, it passes through integration and the position feedback signal 1 / s·λ / (T op s + 1) to obtain θ.

[0090] Among them, J e is the moment of inertia of the motor and the mass block, T op is the sampling delay of the position loop, T on is the sampling delay of the speed loop, T oi is the sampling delay of the current loop, K pwm is the amplification factor of the three-phase inverter, T pwm is the time constant of the three-phase inverter circuit, L m is the winding phase inductance, R m is the winding phase resistance, B e is the damping coefficient of the motor, K e is the back electromotive force constant, K T is the torque coefficient, E Φ is the electromotive force, α is the feedback amplification factor of the current loop, G n (s) is the load feedforward transfer function, G id (s) is the transfer function of the current loop, G id (s) is, G m (s) is the PWM pulse width modulation function, n * is the given speed, n is the rated speed, is the load torque.

[0091] As an example, the working principles of motor branch 22, motor branch 31, and motor branch 32 are the same as those of motor branch 21, and will not be elaborated here.

[0092] Please refer to Figure 6 , Figure 6 This is the schematic diagram of the hardware framework of the motor driver of the multi-directional output force actuator of the present application. To meet the high-power density and high-performance motor control requirements, the present application designs as Figure 4The hardware framework shown. The hardware framework of the multi-directional output force actuator includes: motor driver 41, motor driver 42, main controller 43, EMI filter 44 and DC power supply 45. The first terminal of the first end of motor driver 41 is connected to the first terminal of electromagnetic interference filter (EMI) 44, the second terminal of the first end of motor driver 41 is connected to the second terminal of EMI filter 44, the first terminal of the second end of motor driver 41 is connected to the first terminal of main controller 43, the first terminal of main controller 43 is connected to the first terminal of motor driver 42, the second terminal of motor driver 42 is connected to the first terminal of DC power supply 45, and the second terminal of DC power supply 45 is connected to the third terminal of EMI filter 44.

[0093] Please continue to refer to Figure 6 , taking motor driver 41 as an example, the hardware framework of motor driver 41 includes:

[0094] DC / DC conversion circuit 411. The first terminal of the first end of DC / DC conversion circuit 411 is connected to the first terminal of EMI filter 44, and the second terminal of the first end of DC / DC conversion circuit 411 is connected to the second terminal of EMI filter 44.

[0095] Digital signal processing chip (DSP) and its peripheral circuit 412. The first terminal and the second terminal of the first end of DSP and its peripheral circuit 412 are respectively connected to the first terminal of the second end of DC / DC conversion circuit 411.

[0096] Pulse width modulation (PWM) wave processing and driving circuit 413. The first terminal of the first end of PWM wave processing and driving circuit 413 is connected to the first terminal of the third end of DC / DC conversion circuit 411, and the second terminal of the first end of PWM wave processing and driving circuit 413 is connected to the first terminal of the second end of DSP and its peripheral circuit 412.

[0097] Three-phase bridge inverter circuit 414. The first terminal of the first end of three-phase bridge inverter circuit 414 is connected to the first terminal of EMI filter 44, and the second terminal of the first end of three-phase bridge inverter circuit 414 is connected to the first terminal of the second end of PWM wave processing and driving circuit 413.

[0098] Voltage and current sampling conditioning circuit 415. The first terminal of the first end of voltage and current sampling conditioning circuit 415 is connected to the first terminal of the second end of three-phase bridge inverter circuit 414, and the first terminal of the second end of voltage and current sampling conditioning circuit 415 is connected to the second terminal of the second end of DSP and its peripheral circuit 412.

[0099] The motor rotor position detection circuit 416, the first end of the motor rotor position detection circuit 416 is connected to the third end of the three-phase bridge inverter circuit 414, the first terminal of the second end of the motor rotor position detection circuit 416 is connected to the second terminal of the third end of the DSP and its peripheral circuit 412, and the second terminal of the second end of the motor rotor position detection circuit 416 is connected to the first terminal of the third end of the DSP and its peripheral circuit 412.

[0100] The communication circuit 417, the first terminal of the first end of the communication circuit 417 is connected to the third terminal of the DSP and its peripheral circuit 412, the second terminal of the first end of the communication circuit 417 is connected to the fourth terminal of the third end of the DSP and its peripheral circuit 412, and the first terminal of the second end of the communication circuit 417 is connected to the first terminal of the main controller 43.

[0101] The PWM wave processing and driving circuit 418, the first terminal of the first end of the PWM wave processing and driving circuit 418 is connected to the first terminal of the fourth end of the DC / DC conversion circuit 411, and the second terminal of the first end of the PWM wave processing and driving circuit 418 is connected to the first terminal of the fourth end of the DSP and its peripheral circuit 412.

[0102] The voltage and current sampling conditioning circuit 419, the first terminal of the first end of the voltage and current sampling conditioning circuit 419 is connected to the second terminal of the fourth end of the DSP and its peripheral circuit 412.

[0103] The three-phase bridge inverter circuit 4110, the first terminal of the first end of the three-phase bridge inverter circuit 4110 is connected to the first terminal of the second end of the voltage and current sampling conditioning circuit 419, the first terminal of the second end of the three-phase bridge inverter circuit 4110 is connected to the first terminal of the second end of the PWM wave processing and driving circuit 418, and the second terminal of the second end of the three-phase bridge inverter circuit 4110 is connected to the second terminal of the EMI filter 44.

[0104] The motor rotor position detection circuit 4112, the first end of the motor rotor position detection circuit 4112 is connected to the third end of the three-phase bridge inverter circuit 4110, the first terminal of the second end of the motor rotor position detection circuit 4112 is connected to the sixth terminal of the third end of the DSP and its peripheral circuit 412, and the second terminal of the second end of the motor rotor position detection circuit 4112 is connected to the fifth terminal of the third end of the DSP and its peripheral circuit 412.

[0105] As an example, the DC / DC conversion circuit 411 includes: an isolated power supply module 4111 and an isolated power supply module 4112. The first terminal of the isolated power supply module 4111 is the first terminal of the first end of the DC / DC conversion circuit 411, and the second terminal of the isolated power supply module 4111 is the first terminal of the second end of the DC / DC conversion circuit 411; the first terminal of the isolated power supply module 4112 is the second terminal of the first end of the DC / DC conversion circuit 411, the second terminal of the isolated power supply module 4112 is the first terminal of the third end of the DC / DC conversion circuit 411, and the third terminal of the isolated power supply module 4112 is the first terminal of the fourth end of the DC / DC conversion circuit 411.

[0106] The DSP and its peripheral circuit 412 include: a low dropout linear regulator module (LDO) 4121, a low dropout linear regulator module 4122, and a DSP chip 4123. The first terminal of the low dropout linear regulator module 4121 is the first terminal of the first end of the DSP and its peripheral circuit 412, the second terminal of the low dropout linear regulator module 4121 is connected to the JTAG pin of the DSP chip 4123, the first terminal of the low dropout linear regulator module 4122 is the second terminal of the first end of the DSP and its peripheral circuit 412, the second terminal of the low dropout linear regulator module 4122 is connected to the JTAG pin of the DSP chip 4123, the PWMA pin of the DSP chip 4123 is the first terminal of the second end of the DSP and its peripheral circuit 412, the AD1 pin of the DSP chip 4123 is the second terminal of the second end of the DSP and its peripheral circuit 412, the eCAPA pin of the DSP chip 4123 is the first terminal of the third end of the DSP and its peripheral circuit 412, the SCIA pin of the DSP chip 4123 is the second terminal of the third end of the DSP and its peripheral circuit 412, the CAN pin of the DSP chip 4123 is the third terminal of the third end of the DSP and its peripheral circuit 412, the SCIC pin of the DSP chip 4123 is the fourth terminal of the third end of the DSP and its peripheral circuit 412, the SCIB pin of the DSP chip 4123 is the fifth terminal of the third end of the DSP and its peripheral circuit 412, the eCAPB pin of the DSP chip 4123 is the sixth terminal of the third end of the DSP and its peripheral circuit 412, the PWMB pin of the DSP chip 4123 is the first terminal of the fourth end of the DSP and its peripheral circuit 412, and the AD2 pin of the DSP chip 4123 is the second terminal of the fourth end of the DSP and its peripheral circuit 412.

[0107] Specifically, the DSP chip 4123 is installed on the control board 141 or the control board 142.

[0108] The PWM wave processing and driving circuit 413 includes: a driving circuit 4132 and a PWM level conversion circuit 4131. The first terminal of the driving circuit 4132 is the first terminal of the first end of the PWM wave processing and driving circuit 413. The second terminal of the driving circuit 4132 is the first terminal of the second end of the PWM wave processing and driving circuit 413. The first terminal of the PWM level conversion circuit 4131 is the second terminal of the first end of the PWM wave processing and driving circuit 413. The second terminal of the PWM level conversion circuit 4131 is connected to the third terminal of the driving circuit 4132.

[0109] The voltage and current sampling and conditioning circuit 415 includes: a sensor sampling circuit 4151, an operational amplifier circuit 4152, and a sampling filter circuit 4153. The first terminal of the sensor sampling circuit 4151 is the first terminal of the first end of the voltage and current sampling and conditioning circuit 415. The second terminal of the sensor sampling circuit 4151 is connected to the first terminal of the operational amplifier circuit 4152. The second terminal of the operational amplifier circuit 4152 is connected to the first terminal of the sampling filter circuit 4153. The second terminal of the sampling filter circuit 4153 is the first terminal of the second end of the voltage and current sampling and conditioning circuit 415.

[0110] The motor rotor position detection circuit 416 includes: a motor BLDC1, a magnetic encoder circuit 4161, and a Hall circuit 4162. Among them, the motor BLDC1 includes a mass block. The first end of the motor BLDC1 is the first end of the motor rotor position detection circuit 416. The first terminal of the second end of the motor BLDC1 is connected to the first terminal of the magnetic encoder circuit 4161. The first terminal of the third end of the motor BLDC1 is connected to the first terminal of the Hall circuit 4162. The second terminal of the magnetic encoder circuit 4161 is the first terminal of the second end of the motor rotor position detection circuit 416. The second terminal of the Hall circuit 4162 is the second terminal of the second end of the motor rotor position detection circuit 416.

[0111] The communication circuit 417 includes: a CAN communication chip 4171 and an RS485 communication chip 4172. The first terminal of the CAN communication chip 4171 is the first terminal of the first end of the communication circuit 417. The second terminal of the CAN communication chip 4171 is the first terminal of the second end of the communication circuit 417. The first terminal of the RS485 communication chip 4172 is the second terminal of the first end of the communication circuit 417.

[0112] As an example, the model selected for the CAN communication chip 4171 can be NSI1050.

[0113] As an example, the model selected for the RS485 communication chip 4172 can be SN75LBC184.

[0114] The PWM wave processing and driving circuit 418 includes: a driving circuit 4182 and a PWM level conversion circuit 4181. The first terminal of the driving circuit 4182 is the first terminal of the first end of the PWM wave processing and driving circuit 418. The second terminal of the driving circuit 4182 is the first terminal of the second end of the PWM wave processing and driving circuit 418. The first terminal of the PWM level conversion circuit 4181 is the second terminal of the first end of the PWM wave processing and driving circuit 418. The second terminal of the PWM level conversion circuit 4181 is connected to the third terminal of the driving circuit 4182.

[0115] The voltage and current sampling conditioning circuit 419 includes: a sensor sampling circuit 4191, an operational amplifier circuit 4192, and a sampling filter circuit 4193. The first terminal of the sensor sampling circuit 4191 is the first terminal of the second end of the voltage and current sampling conditioning circuit 419. The second terminal of the sensor sampling circuit 4191 is connected to the first terminal of the operational amplifier circuit 4192. The second terminal of the operational amplifier circuit 4192 is connected to the first terminal of the sampling filter circuit 4193. The second terminal of the sampling filter circuit 4193 is the first terminal of the first end of the voltage and current sampling conditioning circuit 419.

[0116] The motor rotor position detection circuit 4112 includes: a motor BLDC2, a magnetic encoder circuit 41122, and a Hall circuit 41121. Among them, the motor BLDC2 includes a mass block. The first end of the motor BLDC2 is the first end of the motor rotor position detection circuit 4112. The first terminal of the second end of the motor BLDC2 is connected to the first terminal of the Hall circuit 41121. The first terminal of the third end of the motor BLDC2 is connected to the first terminal of the magnetic encoder circuit 41122. The second terminal of the Hall circuit 41121 is the first terminal of the second end of the motor rotor position detection circuit 4112. The second terminal of the magnetic encoder circuit 41122 is the second terminal of the second end of the motor rotor position detection circuit 4112.

[0117] As an example, information interaction is achieved between the main controller 43 and the motor drivers 41 and 42 through a CAN bus. The CAN bus includes a CAN communication chip 4171. The DC power supply 45 outputs 28V DC power for use by the motor drivers 41 and 42. The DSP chip 4123 is responsible for performing the loop operation of the motor branch.

[0118] As an example, after the motor driver 41 receives the vibration damping force F n command required by the main controller, the required vibration damping force F nThe instruction calculation is the position given information of the mass block of the motor. The driving motor drives the mass block to rotate to output centrifugal force, and reports the current working state to the main controller 43. There is no loop control program in the main controller 43, and there is no need to receive the position information of the motor, weakening the communication relationship between the main controller and the motor drivers 41 and 42, and further improving the response speed and accuracy of the multi-directional output actuator on the basis of coupled control. Taking the motor driver 41 as an example, the 28V direct current is filtered by the EMI filter 44 and then input into the DC / DC conversion circuit 411. It is respectively converted into 15V and 5V electricity by the isolated power supply module 4111 and the isolated power supply module 4112 for the driving chip, other chips and the subsequent stage power supply. The DSP and its peripheral circuit 412 receive the 5V electricity and are further converted into 3.3V and 1.2V electricity respectively through the low-dropout linear voltage regulator module 4121 and the low-dropout linear voltage regulator module 4122 for the DSP chip 4123, the PWM wave processing and driving circuit 413, and the voltage and current sampling conditioning circuit 415. The PWM wave processing and driving circuit 413 boosts the 3.3V driving signal to a 5V driving signal through the PWM level conversion circuit 4131, and converts the 5V driving signal into a 15V driving signal through a forward optocoupler and inputs it to the driving chip of the driving circuit 4132, providing it to the three-phase bridge inverter circuit 414 and the isolated power supply module 4112. The three-phase bridge inverter circuit 414 respectively receives the 15V driving signal output by the driving chip and the 28V main power after being filtered by the EMI filter to control the switching of the MOSFET, and further drives the motor BLDC1 to run. The voltage and current sampling conditioning circuit 415 samples the bus and three-phase currents of the three-phase bridge inverter circuit 414, and the output signal is input into the pin AD1 of the DSP chip 4123 through the voltage and current sampling conditioning circuit 415 for analog-to-digital conversion by the ADC module. The motor rotor position detection circuit 416 inputs the sector signal into the main controller 43 through the Hall circuit 4162, and then converts the 5V signal into 3.3V through the DC / DC conversion circuit 411 and the DSP and its peripheral circuit 412 and transmits it to the eCAPA module of the DSP chip 4123. At the same time, the magnetic encoder of the magnetic encoding circuit 4161 receives the position signal to monitor the operation of the motor BLDC1 and the position of the mass block. The communication circuit 417 converts the two differential signals into two single-ended signals through the CAN communication chip 4171 and the RS485 communication chip 4172 to complete the communication between the main controller 43 and the DSP chip 4123.

[0119] As an example, when the current is overloaded, the sensor sampling circuit 4151 sends out a FAULT signal, which is sent to the SD pin (not shown in the figure) after hardware processing to realize hardware tube sealing.

[0120] As an example, the selected model of the DSP chip 4123 can be TMS320F28377. Its built-in PWM module has multi-channel output capabilities and can achieve the drive control of the dual-motor system; the ADC module is used to detect the three-phase current, the bus voltage and current, and the temperature of the DSP chip 4123; the pins eCAPA, eCAPB, SCIA, and SCIB are used to process the Hall commutation signals output by the Hall circuit 4162 and the magnetic encoder signals output by the magnetic encoder circuit 4161, and the pin CAN is used to process the communication between the DSP chip 4123 and the main controller 43.

[0121] As an example, the working principle of the PWM wave processing and drive circuit 418 is the same as that of the PWM wave processing and drive circuit 413, the working principle of the voltage and current sampling and conditioning circuit 419 is the same as that of the voltage and current sampling and conditioning circuit 415, the working principle of the three-phase bridge inverter circuit 4110 is the same as that of the three-phase bridge inverter circuit 414, and the working principle of the motor rotor position detection circuit 4112 is the same as that of the motor rotor position detection circuit 416. Therefore, they will not be elaborated here.

[0122] As an example, the structures and working principles of the motor driver 42 and the motor driver 41 are the same, and will not be elaborated here.

[0123] This application also provides a control method for a multi-directional output force actuator, including,

[0124] According to the given force amplitude F * 、the given phase ω * 、the given frequency the given direction θ * , through mathematical calculation, the given directions of the four eccentric mass blocks on the four motors are respectively obtained Expressed by the formula as:

[0125]

[0126] Among them, T represents the transpose symbol, t represents time, are respectively the current phases of the four eccentric mass blocks on the four motors, m represents the mass of the eccentric mass block, and r represents the rotation radius of the mass block.

[0127] Respectively subtract the given direction from the current positions θ1, θ2, θ3, θ4 of the four eccentric mass blocks on the four motors, and then obtain the given rotational speeds of the four eccentric mass blocks on the four motors through the given feedforward plus PID composite control Then subtract the rated rotational speeds n1, n2, n3, n4 of the four eccentric mass blocks on the four motors, and obtain the given currents of the four eccentric mass blocks on the four motors through PI control The differences are respectively taken with the currents of the sampled three-phase bridge inverter circuit, and after load feedforward plus PI control, the duty cycles D1, D2, D3, D4 are obtained and then input into the pulse width modulator, three-phase bridge inverter circuit, motor and position detection circuit in sequence to re-obtain the current positions θ1, θ2, θ3, θ4 of the eccentric mass blocks of the motor. According to the current positions θ1, θ2, θ3, θ4, the total output force F is calculated.

[0128] Since θ1, θ2, θ3, θ4 are variables with respect to t and uncontrollable, thus according to it is transformed into the expression of, and by controlling the current phase to conduct the total output force control, the output force control problem is transformed into a motor control problem, and the expression of the total output force F is obtained as:

[0129]

[0130] where, ω represents the current rotational angular velocity of the eccentric mass block, and j represents the imaginary unit.

[0131] Specifically, the rotational angular velocities of the four eccentric mass blocks of the four motors are the frequency of the total output force F; the total output force is calculated according to the direction, amplitude, phase and frequency of the total output force F obtained.

[0132] For the control system, control method and multi-directional output force actuator of the present application, an integrated multi-directional output force actuator configuration composed of four motors and their eccentric mass blocks is designed; then according to the multi-directional output force actuator configuration, modeling of the multi-directional output force actuator is carried out, and the calculation from the output force to the given single-motor position loop given is performed. By controlling the rotational angular velocity, phase difference and phase mean value of the eccentric mass block, the controllability of the amplitude, direction, phase and frequency of the output force is realized, and the output force control problem is transformed into a multi-motor servo control problem. The multi-directional output force actuator of the present application adopts a multi-motor parallel independent control strategy, significantly reduces the complexity of the multi-directional output force actuator, realizes the decoupling of each motor, has a much higher dynamic response speed than traditional actuators, can generate multi-directional driving forces, has the characteristics of high stability and fast dynamics, and has significant engineering application value.

[0133] Although the present application has been disclosed as above with embodiments, it is not intended to limit the present application. Any person with ordinary knowledge in the technical field to which the present application pertains, without departing from the spirit and scope of the present application, may make some modifications and refinements. Therefore, the protection scope of the present application shall be subject to that defined by the appended patent application scope.

Claims

1. A control system for a multi-directional output actuator, characterized in that, Including a mathematical solver, a first motor driver, and a second motor driver. The first motor driver and the second motor driver each include two motors, and each motor includes an eccentric mass block; The first end of the mathematical solver is connected to the given force amplitude, given phase, given frequency, and given direction at the current moment. The second end of the mathematical solver is respectively connected to the first terminal of the first end of the first motor driver, the second terminal of the first end of the first motor driver, the first terminal of the first end of the second motor driver, and the second terminal of the first end of the second motor driver; The first terminal of the second end of the first motor driver is connected to the second terminal of the second end of the first motor driver. The first terminal of the second end of the first motor driver is connected to the first terminal of the second end of the second motor driver. The first terminal of the second end of the second motor driver is connected to the second terminal of the second end of the second motor driver. The first terminal of the second end of the first motor driver, the second terminal of the second end of the first motor driver, the first terminal of the second end of the second motor driver, and the second terminal of the second end of the second motor driver are respectively connected.

2. The control system of the multi-direction output force actuator according to claim 1, wherein The two motors of the first motor driver rotate in the same direction at the same angular velocity, and the two motors of the second motor driver rotate in the same direction at the same angular velocity.

3. The control system of the multi-direction output force actuator according to claim 2, characterized in that, The two motors of the first motor driver rotate in the opposite direction to the two motors of the second motor driver.

4. The control system of the multi-direction output force actuator according to claim 3, characterized in that The first motor driver and the second motor driver respectively include: a first motor branch and a second motor branch. The first terminal of the first motor branch is the first terminal of the first end of the first motor driver or the second motor driver, the second terminal of the first motor branch is the first terminal of the second end of the first motor driver or the second motor driver, the first terminal of the second motor branch is the second terminal of the first end of the first motor driver or the second motor driver, and the second terminal of the first motor branch is the second terminal of the second end of the first motor driver or the second motor driver.

5. The control system of the multi-directional output force actuator according to claim 4, characterized in that The first motor branch and the second motor branch respectively include: a first position loop, a first speed loop, a first current loop, a first pulse width modulator, a first three-phase bridge inverter circuit, a first motor, a first position detection circuit, and a first current sampling circuit, where the first motor includes a mass block; The first terminal of the first subtractor is the first terminal of the first motor branch or the second motor branch. The second terminal of the first subtractor is connected to the first terminal of the first position loop. The second terminal of the first position loop is connected to the first terminal of the second subtractor. The second terminal of the second subtractor is connected to the first terminal of the first speed loop. The second terminal of the first speed loop is connected to the first terminal of the third subtractor. The second terminal of the third subtractor is connected to the first terminal of the first current loop. The second terminal of the first current loop is sequentially connected to the first terminal of the first pulse width modulator, the first three-phase bridge inverter circuit, the first motor, and the first position detection circuit. The second terminal of the first position detection circuit is connected to the third terminal of the first subtractor and the third terminal of the second subtractor. The third terminal of the first position detection circuit is the second terminal of the first motor branch or the second motor branch. The first terminal of the first current sampling circuit is connected to the series midpoint of the first three-phase bridge inverter circuit and the first motor. The second terminal of the first current sampling circuit is connected to the third terminal of the third subtractor. The first terminal of the first subtractor inputs a given direction, and the third terminal of the first position detection circuit outputs the current position of the eccentric mass block of the first motor.

6. The control system of the multi-direction output force actuator according to claim 5, characterized in that, The expression for the total output force of the first motor branch and the second motor branch is: Wherein, F represents the total output force of the first motor branch and the second motor branch. represents the current phase of the eccentric mass block of the first motor of the first motor branch of the first motor driver. represents the current phase of the eccentric mass block of the first motor of the first motor branch of the first motor driver. represents the current phase of the eccentric mass block of the first motor of the first motor branch of the second motor driver. represents the current phase of the eccentric mass block of the first motor of the second motor branch of the second motor driver, m represents the mass of the eccentric mass block, ω represents the current rotational angular velocity of the eccentric mass block, t represents time, r represents the rotational radius of the mass block, and j represents the imaginary unit.

7. The control system of the multi-direction output force actuator according to claim 6, characterized in that, The mathematical solver obtains the position given information of the eccentric mass block of the first motor in the first motor branch or the second motor branch, which is expressed by the formula: Among them, θ1 * represents the given direction of the eccentric mass block of the first motor in the first motor branch of the first motor driver, represents the given direction of the eccentric mass block of the first motor in the second motor branch of the first motor driver, represents the given direction of the eccentric mass block of the first motor in the first motor branch of the second motor driver, represents the given direction of the eccentric mass block of the first motor in the second motor branch of the second motor driver, F * represents the given force at the current moment, ω * represents the given frequency, represents the given phase, θ * represents the given direction, and T represents the transpose symbol.

8. A control method for a multi-directional output force actuator, characterized in that including, According to the given force amplitude F * , the given phase ω * , the given frequency and the given direction θ * , through mathematical calculations, the given directions of the four eccentric mass blocks on the four motors are obtained respectively Subtract the given direction from the current positions θ1, θ2, θ3, θ4 of the four eccentric mass blocks on the four motors, and then obtain the given rotational speeds of the four eccentric mass blocks on the four motors through the given feedforward plus PID composite control Next, subtract the rated rotational speeds n1, n2, n3, n4 of the four eccentric mass blocks on the four motors, and then obtain the given currents of the four eccentric mass blocks on the four motors through PI control Subtract from the sampled currents of the three-phase bridge inverter respectively, and obtain the duty cycles D1, D2, D3, D4 through load feedforward plus PI control. Then, perform pulse width modulation, power conversion and control, and position detection in sequence to re-obtain the current positions θ1, θ2, θ3, θ4 of the eccentric mass blocks of the motor; The total output force F is calculated based on the current positions θ1, θ2, θ3, and θ4.

9. A control method for a multi-directional output force actuator according to claim 8, characterized in that The given directions of the four eccentric mass blocks on the four motors Expressed by the formula as: where T represents the transpose symbol, and t represents time, are the current phases of the four eccentric mass blocks on the four motors respectively, m represents the mass of the eccentric mass block, and r represents the rotation radius of the mass block; The total output force F is expressed as: where ω represents the current rotational angular velocity of the eccentric mass block, and j represents the imaginary unit.

10. A multi-directional output force actuator, characterized in that, including: The first motor, the second motor, the third motor, the fourth motor, the first eccentric mass block, the second eccentric mass block, the third eccentric mass block, and the fourth eccentric mass block. The first eccentric mass block, the second eccentric mass block, the third eccentric mass block, and the fourth eccentric mass block are respectively installed on the first motor, the second motor, the third motor, and the fourth motor.

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