Cooperative control method of multi-drive-control integrated steering engine and multi-drive-control integrated steering engine

Abstract

The invention provides a cooperative control method of a multi-drive-control integrated steering engine and the multi-drive-control integrated steering engine, through centralized control of multi-end drive, multiple groups of speed reduction structures are respectively driven to axially rotate at a first rudder position to output a multi-rudder position deflection angle and a multi-rudder position deflection torsion; a motor set is controlled through independent single-control drive, and a single-rudder-position deflection angle and single-rudder-position deflection torsion are output in the axial direction of a third rudder position in a rotating mode; the multiple motor sets and the multiple speed reduction structures are integrated in the steering engine shell set in a multi-direction mode, a multi-rudder-position multi-direction precision control steering engine set is constructed, and multi-rudder-position multi-direction precision control is carried out. The multi-rudder-position and multi-direction precise control further comprises the steps that rudder position deflection angles and rudder position deflection torsion are detected, and rudder position deflection angle detection information and rudder position deflection torsion detection information are fed back; and rudder position deflection angle detection information and rudder position deflection torsion detection information are analyzed, the rudder position of the steering engine is precisely controlled and adjusted, and torsion output of the motor set is intelligently and adaptively controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent regulation of precision structure control signal transmission, and more specifically, to a collaborative control method of a multi-drive-control integrated servo and a multi-drive-control integrated servo. Background Art

[0002] At present, the servo drive can usually only perform one-way single-drive output or single-rudder position control, and it is difficult to coordinate and control multi-directional multi-drive collaboration, and it is difficult for multiple groups of reduction structures to coordinately output multi-rudder position deflection and multi-rudder position deflection torque; it is difficult to integrate multiple motor groups with multiple reduction structures in multiple directions and coordinate the control of multi-rudder position multi-directional precision adjustment; how to reduce the rudder position deflection angle error and the rudder position torque error, how to precisely control and adjust the servo rudder position, how to control the motor group torque output intelligence and output application adaptability and other issues remain to be solved; therefore, it is necessary to propose a collaborative control method of a multi-drive integrated servo and a multi-drive integrated servo to at least partially solve the problems existing in the prior art. Summary of the Invention

[0003] A series of simplified concepts are introduced in the summary of the invention, which will be further explained in detail in the specific implementation method. The summary of the invention does not mean to attempt to limit the key features and necessary technical features of the technical solution for protection, nor does it mean to attempt to determine the scope of protection of the technical solution for protection.

[0004] To at least partially solve the above problems, the present invention provides a collaborative control method for a multi-drive integrated servo, comprising:

[0005] S10, by centrally controlling the multi-end drive, driving the multiple groups of reduction structures to rotate axially about the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques;

[0006] S20, through the independent single-control drive control motor group, outputs the single rudder position deflection angle and single rudder position deflection torque at the third rudder position axial rotation; multiple motor groups and multiple reduction structures are multi-directionally integrated in the rudder housing group to construct a multi-rudder position multi-directional precision control rudder group, which performs multi-rudder position multi-directional precision control;

[0007] Multi-position and multi-directional precision control also includes:

[0008] S30, detecting the rudder deflection angle and the rudder deflection torque, and feeding back the rudder deflection angle detection information and the rudder deflection torque detection information;

[0009] S40, analyzing the rudder position deflection angle detection information and the rudder position deflection torque detection information, precisely controlling and adjusting the rudder position of the servo, and intelligently and adaptively controlling the torque output of the motor group.

[0010] Preferably, S10 includes:

[0011] S101, controlling the first motor group and the second motor group through the first PCB control module;

[0012] S102, respectively drive the first independent reduction gear structure and the second independent reduction gear structure through the first motor group and axially rotate the first steering position to output a first steering position deflection angle and a first steering position deflection torque and a second steering position deflection angle and a second steering position deflection torque.

[0013] Preferably, S20 includes:

[0014] S201, controlling the third motor group via the second PCB control module;

[0015] S202: The third motor group drives the third reduction mechanism to rotate along a third steering position axis that is not coaxial with the first steering position axis to output a third steering position deflection angle and a third steering position deflection torque.

[0016] S203, the first motor group shaft is connected to the first independent reduction structure, the second motor group shaft is connected to the second independent reduction structure, and the third motor group shaft is connected to the third reduction structure. The first motor group and the second motor group are arranged in parallel, and the third motor group is arranged in a T-shape or in reverse parallel or in the same direction or in cross-parallel in the servo housing group, and is integrated in the servo housing group to construct a multi-directional precision control servo group.

[0017] Preferably, S30 includes:

[0018] S301, detecting a rudder deflection angle through an angle sensor group, obtaining rudder deflection angle detection information, and feeding back the rudder deflection angle detection information;

[0019] S302, detecting the steering position deflection torque through a torque sensor, obtaining steering position deflection torque detection information, and feeding back the steering position deflection torque detection information.

[0020] Preferably, S40 includes:

[0021] S401, receiving rudder position deflection angle detection information and comparing and analyzing it with preset rudder position deflection angle information to obtain a rudder position deflection error; receiving rudder position deflection torque detection information and comparing and analyzing it with preset rudder position deflection torque information to obtain a rudder position deflection torque error;

[0022] S402, precisely controlling and adjusting the rudder position of the servo according to the rudder position deflection error and the rudder position deflection torque error, and intelligently and adaptively controlling the torque output of the motor group.

[0023] The present invention provides a multi-drive integrated steering gear, characterized by comprising:

[0024] The centralized multi-control drive speed change subsystem drives multiple groups of reduction structures to rotate axially at the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques through centralized control of multiple end drives;

[0025] The multi-directional drive precision centralized control subsystem outputs the single-rudder position deflection angle and single-rudder position deflection torque at the third rudder position through the independent single-control drive control motor group. Multiple motor groups and multiple reduction structures are multi-directionally integrated in the steering gear housing group to construct a multi-rudder position multi-directional precision control steering gear group, which performs multi-rudder position and multi-directional precision control of the steering gear.

[0026] The multi-position and multi-directional precision control steering gear unit also includes:

[0027] The aircraft position torque detection and feedback subsystem detects the rudder position deflection angle and rudder position deflection torque, and feeds back the rudder position deflection angle detection information and the rudder position deflection torque detection information;

[0028] The steering gear precision control subsystem analyzes the rudder position deflection angle detection information and the rudder position deflection torque detection information, precisely controls and adjusts the rudder position, and intelligently and adaptively controls the torque output of the motor group.

[0029] Preferably, the centralized multi-control drive speed change subsystem includes:

[0030] Centrally control the multi-terminal drive subsystem and control the first motor group and the second motor group through the first PCB control module;

[0031] The parallel-drive same-direction speed-changing subsystem drives the first independent reduction structure and the second independent reduction structure through the first motor group and the second motor group respectively, and rotates axially at the first rudder position to output the first rudder position deflection angle and the first rudder position deflection torque and the second rudder position deflection angle and the second rudder position deflection torque.

[0032] Preferably, the multi-directional drive precision centralized control subsystem includes:

[0033] Independent single control subsystem, controlling the third motor group through the second PCB control module;

[0034] A cross-drive speed change subsystem, wherein the third motor group drives the third reduction mechanism, which rotates along a third rudder position axis that is not coaxial with the first rudder position axis to output a third rudder position deflection angle and a third rudder position deflection torque;

[0035] The multi-directional precision centralized control subsystem of the servo is characterized by the following features: the first motor group shaft is connected to the first independent reduction structure, the second motor group shaft is connected to the second independent reduction structure, and the third motor group shaft is connected to the third reduction structure. The first motor group and the second motor group are arranged in parallel, and the first motor group and the third motor group are arranged in a T-shape or in parallel in opposite directions or in parallel in the same direction or in cross-parallel in the servo housing group, and are integrated in the servo housing group to construct a multi-directional precision control servo group.

[0036] Preferably, the machine position torque detection feedback subsystem includes:

[0037] The rudder position detection and feedback subsystem detects the rudder position deflection angle through the angle sensor group, obtains the rudder position deflection angle detection information, and feeds back the rudder position deflection angle detection information;

[0038] The torque detection feedback subsystem detects the rudder deflection torque through torque sensing, obtains the rudder deflection torque detection information, and feeds back the rudder deflection torque detection information.

[0039] Preferably, the steering gear precision control subsystem includes:

[0040] The feedback receiving and comparing subsystem receives the rudder position deflection angle detection information and compares and analyzes it with the preset rudder position deflection angle information to obtain the rudder position deflection error; receives the rudder position deflection torque detection information and compares and analyzes it with the preset rudder position deflection torque information to obtain the rudder position deflection torque error;

[0041] The control signal subsystem precisely controls and adjusts the rudder position according to the rudder position deflection error and the rudder position deflection torque error, and intelligently and adaptively controls the torque output of the motor group.

[0042] Compared with the prior art, the present invention has at least the following beneficial effects:

[0043] The present invention discloses a coordinated control method of a multi-drive integrated steering gear and a multi-drive integrated steering gear. The method centrally controls multiple end drives to respectively drive multiple groups of reduction structures to rotate axially at a first steering position to output multiple steering position deflection angles and multiple steering position deflection torques; the motor group is controlled by an independent single control drive to rotate axially at a third steering position to output a single steering position deflection angle and a single steering position deflection torque; the multiple motor groups and the multiple reduction structures are multi-directionally integrated in a steering gear housing group to construct a multi-steering position multi-directional precision control steering gear group to perform multi-steering position multi-directional precision control; the multi-steering position multi-directional precision control further includes: detecting the steering position deflection The steering angle and rudder position deflection torque are fed back. The rudder position deflection angle detection information and the rudder position deflection torque detection information are analyzed. The rudder position is precisely controlled and adjusted. The torque output of the motor group is controlled adaptively. The independent single-control drive control motor group includes: a second PCB control module, a third motor group and a third reduction structure. The three independent reduction mechanisms and motors are integrated into one servo to work. One PCB board controls the two motors to drive the first and second independent reduction structures to output in the same direction. Another PCB board controls the third motor to drive the third reduction structure to output in a direction perpendicular to the output direction of the first and second reduction structures; the three motor reduction structures are arranged in a T-shape in the servo, with a compact structure, which achieves very close to maximizing the space utilization in the limited square servo, and significantly improves the space utilization rate; they are arranged in parallel in opposite directions, in the same direction, or in a cross-parallel arrangement, and the components of the three reduction structures are shared and integrated on a servo housing. Compared with three independent servos, the finished product assembly process is reduced and the component manufacturing cost is reduced; the present invention can coordinate and control multi-directional and multi-drive collaboration, and can drive multiple groups of reduction structures to coordinately output multi-rudder position deflection and multi-rudder position deflection torque; multiple motor groups and multiple reduction structures can be integrated in multiple directions and coordinated to control multi-rudder position multi-directional precise adjustment, significantly improving the precision and integration of the servo, and significantly improving the precision of multi-rudder position multi-directional control; it can reduce the rudder position deflection angle error and rudder position torque error, precisely control and adjust the servo position, and can perform intelligent control of the motor group torque output and significantly increase the diversity of output adaptive environment; the present invention has important technical significance and significant effects.

[0044] The collaborative control method of a multi-drive integrated servo and the multi-drive integrated servo described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technical personnel in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0046] Figure 1 This is a diagram of an embodiment of a multi-drive integrated servo structure according to the present invention.

[0047] Figure 2 The figure is an example diagram of a multi-drive integrated servo structure according to the present invention.

[0048] Figure 3 This is an example diagram of the design structure of a multi-drive integrated servo described in the present invention.

[0049] Figure 4 This is an example diagram of the internal assembly structure of a multi-drive integrated servo described in the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the instructions. As shown in the drawings, the present invention provides a coordinated control method for a multi-drive integrated servo, including:

[0051] S10, by centrally controlling the multi-end drive, driving the multiple groups of reduction structures to rotate axially about the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques;

[0052] S20, through the independent single-control drive control motor group, outputs the single rudder position deflection angle and single rudder position deflection torque at the third rudder position axial rotation; multiple motor groups and multiple reduction structures are multi-directionally integrated in the rudder housing group to construct a multi-rudder position multi-directional precision control rudder group, which performs multi-rudder position multi-directional precision control;

[0053] Multi-position and multi-directional precision control also includes:

[0054] S30, detecting the rudder deflection angle and the rudder deflection torque, and feeding back the rudder deflection angle detection information and the rudder deflection torque detection information;

[0055] S40, analyzing the rudder position deflection angle detection information and the rudder position deflection torque detection information, precisely controlling and adjusting the rudder position of the servo, and intelligently and adaptively controlling the torque output of the motor group.

[0056] The principle and effect of the above technical solution are as follows: The present invention provides a collaborative control method for a multi-drive integrated servo, comprising: through centralized control of a multi-end drive 3, driving a plurality of groups of reduction structures 5 to rotate axially at the first rudder position to output a plurality of rudder position deflection angles and a plurality of rudder position deflection torques; through independent single-control drive control of a motor group 8, rotating axially at the third rudder position to output a single rudder position deflection angle and a single rudder position deflection torque; a plurality of motor groups and a plurality of reduction structures are multi-directionally integrated in a servo housing group to construct a multi-rudder position multi-directional precision control servo group, and perform multi-rudder position multi-directional precision control; multi-rudder position multi-directional precision control The invention also includes: detecting the steering deflection angle and the steering deflection torque, feeding back the steering deflection angle detection information and the steering deflection torque detection information; analyzing the steering deflection angle detection information and the steering deflection torque detection information, precisely controlling and adjusting the steering position of the servo, and intelligently and adaptively controlling the torque output of the motor group; the independent single-control drive control motor group 8 includes: a second PCB control module 81, a third motor group 801 and a third reduction structure 802; integrating three independent reduction mechanisms and motors on a servo to work, and controlling the two motors to drive the first and second independent The reduction structures output in the same direction, and another PCB board controls a third motor to drive the third reduction structure to output in a direction perpendicular to the output direction of the first and second reduction structures. The three motor reduction structures are arranged in a T-shape within the servo, resulting in a compact structure that nearly maximizes space utilization within the limited square servo, significantly improving space utilization. They can be arranged in parallel, in the same direction, or in a cross-parallel arrangement. The components of the three reduction structures are shared and integrated into a single servo housing, reducing the number of assembly steps and component manufacturing costs compared to three independent servos. The present invention can coordinate and control multi-directional and multi-drive collaboration, capable of separately driving multiple reduction structure groups to collaboratively output multi-rudder position deflection and multi-rudder position deflection torque. Multiple motor groups and multiple reduction structures can be integrated in multiple directions and coordinated to control multi-directional precise adjustment of multiple rudder positions, significantly improving the precision and integration of the servo, and significantly improving the precision of multi-rudder position and multi-directional control. It can reduce rudder position deflection angle error and rudder position torque error, precisely control and adjust the servo position, and intelligently control the torque output of the motor groups, significantly increasing the diversity of output adaptive environments. The present invention has important technical significance and significant effects.

[0057] In one embodiment, S10 includes:

[0058] S101, controlling the first motor group 301 and the second motor group 302 through the first PCB control module 31;

[0059] S102, the first independent reduction gear structure 501 and the second independent reduction gear structure 502 are driven respectively by the first motor group 301 and the second motor group 302, and the first rudder position deflection angle and the first rudder position deflection torque and the second rudder position deflection angle and the second rudder position deflection torque are rotated axially at the first rudder position.

[0060] The principle and effect of the above technical solution are: the first motor group 301 and the second motor group 302 are controlled by the first PCB control module 31; the first independent deceleration structure 501 and the second independent deceleration structure 502 are driven respectively by the first motor group 301 and the second motor group 302, and the first rudder position deflection angle and the first rudder position deflection torque and the second rudder position deflection angle and the second rudder position deflection torque are rotated axially in the first rudder position; the first motor group 301 and the second motor group 302 and the first independent deceleration structure 501 and the second independent deceleration structure 502 are arranged in the same direction as the first rudder position in 44, and the various components are fixed by multiple screws 1. The lower end is set on the lower cover 2, and the upper end passes through the upper shell 6 to rotate the rudder position deflection angle and the rudder position deflection torque through the output shaft.

[0061] In one embodiment, S20 includes:

[0062] S201, controlling the third motor group 801 through the second PCB control module 81;

[0063] S202: The third motor group 801 drives the third reduction mechanism 802 to rotate along a third steering position axis that is not coaxial with the first steering position axis to output a third steering position deflection angle and a third steering position deflection torque.

[0064] S203, the first motor group 301 shaft is connected to the first independent reduction structure 501, the second motor group 302 shaft is connected to the second independent reduction structure 502, and the third motor group 801 shaft is connected to the third reduction structure 802. The first motor group 301 and the second motor group 302 are arranged in parallel, and the third motor group 801 is arranged in a T-shape or in reverse parallel or in the same direction or in cross-parallel in the servo housing group, and is integrated in the servo housing group to construct a multi-directional precision control servo group.

[0065] The principle and effect of the above technical solution are as follows: the third motor group 801 is controlled by the second PCB control module 81; the third motor group 801 drives the third reduction structure 802, and rotates along the third rudder position axis that is not coaxial with the first rudder position axis to output a third rudder position deflection angle and a third rudder position deflection torque; the first motor group 301 shaft is connected to the first independent reduction structure 501, the second motor group 302 shaft is connected to the second independent reduction structure 502, and the third motor group 801 shaft is connected to the third reduction structure 802, the first motor group 301 and the second motor group 302 are arranged in parallel, and are arranged in a T-shape or in reverse parallel or in the same direction or in cross-parallel in the servo housing group with the third motor group 801, and are integrated in the servo housing group to construct a multi-directional precision control servo group; the left end of the third motor group 801 is on the left cover 7, and drives the output end of the third reduction structure 802 to pass through the right cover 9; one end of the rotating shaft of the speed change gear group is rotatably set on 39.

[0066] In one embodiment, S30 includes:

[0067] S301, detecting a rudder deflection angle through an angle sensor group, obtaining rudder deflection angle detection information, and feeding back the rudder deflection angle detection information;

[0068] S302, detecting the steering position deflection torque through a torque sensor, obtaining steering position deflection torque detection information, and feeding back the steering position deflection torque detection information.

[0069] The principle and effect of the above technical solution are: detecting the rudder deflection angle through the angle sensor group, obtaining the rudder deflection angle detection information, and feeding back the rudder deflection angle detection information; detecting the rudder deflection torque through the torque sensor, obtaining the rudder deflection torque detection information, and feeding back the rudder deflection torque detection information; the angle sensor group includes a laser angle sensor and an edge laser reflection detector; the edge laser reflection detector is arranged on the output shaft of the deceleration structure, and the laser angle sensor is arranged at the laser reflection detection position of the edge laser reflection detector surrounding the output shaft of the deceleration structure; the edge laser reflection detector detects the laser emitted by the laser angle sensor The angle between the light and the edge laser reflection detector is used to obtain the first detection angle of the emitted laser; when the output shaft of the deceleration structure rotates, it drives the edge laser reflection detector to rotate to form laser deflection, forming the second detection angle of the emitted laser, and reflecting it to the laser angle sensor; the laser angle sensor detects the angle difference between the emitted laser angle and the reflected laser angle; according to the angle difference between the first detection angle of the emitted laser and the second detection angle of the emitted laser, and the angle difference between the emitted laser angle and the reflected laser angle, the average value is calculated as the rudder position deflection angle, the rudder position deflection angle is detected, and the rudder position deflection angle detection information is obtained; the laser optical path difference and detection error are reduced.

[0070] In one embodiment, S40 includes:

[0071] S401, receiving rudder position deflection angle detection information and comparing and analyzing it with preset rudder position deflection angle information to obtain a rudder position deflection error; receiving rudder position deflection torque detection information and comparing and analyzing it with preset rudder position deflection torque information to obtain a rudder position deflection torque error;

[0072] S402, based on the rudder position deflection error and the rudder position deflection torque error, precisely control and adjust the rudder position of the servo, and intelligently and adaptively control the torque output of the motor group.

[0073] The principle and effect of the above technical solution are: receiving the rudder position deflection angle detection information and comparing and analyzing it with the preset rudder position deflection angle information to obtain the rudder position deflection error; receiving the rudder position deflection torque detection information and comparing and analyzing it with the preset rudder position deflection torque information to obtain the rudder position deflection torque error; according to the rudder position deflection error and the rudder position deflection torque error, precisely controlling and adjusting the rudder position of the servo, and intelligently adaptively controlling the torque output of the motor group; according to the rudder position deflection error and the rudder position deflection torque error, precisely controlling and adjusting the rudder position of the servo, and intelligently adaptively controlling the torque output of the motor group includes: setting the precise range of the rudder position deflection error, and setting the rudder position deflection torque error range; according to the rudder position deflection error, precisely controlling the rotation of the motor group to adjust the rudder position of the servo, offsetting the rudder position deflection error, and continuously monitoring the rudder position deflection error The state is reduced until the rudder deflection error is reduced to within the precise range of the rudder deflection error; according to the rudder deflection torque error, when the rudder deflection torque error exceeds the set rudder deflection torque error range, it is predicted that the reaction force of the rudder deflection torque will exceed the rudder deflection torque, causing rudder deflection torque imbalance or rudder vibration, and the torque output of the motor group is intelligently and adaptively controlled. Multiple groups of rudder deflection torques are adaptively coordinated to disperse and offset the imbalance and instability of a single rudder deflection torque, or when multiple rudder deflection torques are unbalanced, the relative torque directions offset each other or inhibit each other in reverse, offsetting the rudder deflection torque imbalance or inhibiting rudder vibration; it can reduce the rudder deflection angle error and the rudder torque error, precisely control and adjust the rudder position of the servo, and can perform intelligent control of the motor group torque output and significantly increase the diversity of the output adaptive environment.

[0074] The present invention provides a multi-drive integrated steering gear, comprising:

[0075] The centralized multi-control drive speed change subsystem drives multiple groups of reduction structures to rotate axially at the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques through centralized control of multiple end drives;

[0076] The multi-directional drive precision centralized control subsystem outputs the single-rudder position deflection angle and single-rudder position deflection torque at the third rudder position through the independent single-control drive control motor group. Multiple motor groups and multiple reduction structures are multi-directionally integrated in the steering gear housing group to construct a multi-rudder position multi-directional precision control steering gear group, which performs multi-rudder position and multi-directional precision control of the steering gear.

[0077] The multi-position and multi-directional precision control steering gear unit also includes:

[0078] The aircraft position torque detection and feedback subsystem detects the rudder position deflection angle and rudder position deflection torque, and feeds back the rudder position deflection angle detection information and the rudder position deflection torque detection information;

[0079] The steering gear precision control subsystem analyzes the rudder position deflection angle detection information and the rudder position deflection torque detection information, precisely controls and adjusts the rudder position, and intelligently and adaptively controls the torque output of the motor group.

[0080] The principle and effect of the above technical solution are as follows: the present invention provides a multi-drive integrated servo, comprising: a centralized multi-control drive speed change subsystem, which drives multiple groups of reduction structures 5 to rotate axially at the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques through centralized control of multiple-end drives 3; a multi-directional drive precision centralized control subsystem, which controls the motor group 8 through independent single control drive, and outputs single rudder position deflection angles and single rudder position deflection torques at the third rudder position to output single rudder position deflection angles and single rudder position deflection torques; multiple motor groups and multiple reduction structures are multi-directionally integrated in the servo housing group to construct a multi-rudder position multi-directional precision control servo group, and perform multi-rudder position multi-directional precision control of the servo; multiple The multi-directional precision control steering gear group also includes: a steering gear torque detection feedback subsystem, which detects the steering gear deflection angle and the steering gear deflection torque, and feeds back the steering gear deflection angle detection information and the steering gear deflection torque detection information; a steering gear precision control subsystem, which analyzes the steering gear deflection angle detection information and the steering gear deflection torque detection information, precisely controls and adjusts the steering gear steering position, and intelligently and adaptively controls the torque output of the motor group; an independent single-control drive control motor group 8 includes: a second PCB control module 81, a third motor group 801 and a third reduction structure 802; three independent reduction mechanisms and motors are integrated into one steering gear to work, respectively, by a P The CB board simultaneously controls two motors to drive the first and second independent reduction structures to output in the same direction, and another PCB board controls the third motor to drive the third reduction structure to output in the direction perpendicular to the output direction of the first and second reduction structures; the three motor reduction structures are arranged in a T-shape in the servo, with a compact structure, which can achieve maximum space utilization in the limited square servo and significantly improve space utilization; or they can be arranged in parallel in opposite directions or in parallel in the same direction or in a cross-parallel arrangement, and the components of the three reduction structures are shared and integrated in one servo housing. Compared with three independent servos, the finished product assembly process is simpler. The sequence is reduced and the manufacturing cost of parts is reduced; the present invention can coordinate and control multi-directional and multi-drive collaboration, and can drive multiple groups of reduction structures to collaboratively output multi-rudder position deflection and multi-rudder position deflection torque respectively; multiple motor groups and multiple reduction structures can be multi-directionally integrated and coordinated to control multi-rudder position multi-directional precision adjustment, which significantly improves the precision and integration of the steering gear, and significantly improves the precision of multi-rudder position multi-directional control; it can reduce the steering position deflection angle error and the steering position torque error, accurately control and adjust the steering gear steering position, and can perform intelligent control of motor group torque output and significantly increase the diversity of output adaptive environment; the present invention has important technical significance and significant effects.

[0081] In one embodiment, the centralized multi-control drive speed change subsystem includes:

[0082] Centrally control the multi-terminal drive subsystem and control the first motor group 301 and the second motor group 302 through the first PCB control module 31;

[0083] The parallel-drive same-direction speed change subsystem drives the first independent reduction structure 501 and the second independent reduction structure 502 respectively through the first motor group 301 and the second motor group 302, and rotates axially at the first rudder position to output the first rudder position deflection angle and the first rudder position deflection torque and the second rudder position deflection angle and the second rudder position deflection torque.

[0084] The principle and effect of the above technical solution are: a centralized multi-control drive speed change subsystem, including: a centralized control multi-end drive subsystem, which controls the first motor group 301 and the second motor group 302 through the first PCB control module 31; a parallel drive same-direction speed change subsystem, which drives the first independent reduction structure 501 and the second independent reduction structure 502 respectively through the first motor group 301 and the second motor group 302, and rotates axially in the first rudder position to output the first rudder position deflection angle and the first rudder position deflection torque and the second rudder position deflection angle and the second rudder position deflection torque; the first motor group 301 and the second motor group 302 and the first independent reduction structure 501 and the second independent reduction structure 502 are arranged in the same direction as the first rudder position in the middle shell 4, and the various components are fixed by multiple screws 1. The lower end is set on the lower cover 2, and the upper end passes through the upper shell 6 to rotate the rudder position deflection angle and the rudder position deflection torque through the output shaft.

[0085] In one embodiment, a multi-directional drive precision centralized control subsystem includes:

[0086] An independent single control subsystem controls the third motor group 801 through the second PCB control module 81;

[0087] The cross-drive speed change subsystem, wherein the third motor group 801 drives the third reduction mechanism 802, which rotates along a third rudder position axis that is not coaxial with the first rudder position axis to output a third rudder position deflection angle and a third rudder position deflection torque;

[0088] The multi-directional precision centralized control subsystem of the servo, the first motor group 301 shaft is connected to the first independent reduction structure 501, the second motor group 302 shaft is connected to the second independent reduction structure 502, and the third motor group 801 shaft is connected to the third reduction structure 802. The first motor group 301 and the second motor group 302 are arranged in parallel, and the third motor group 801 is arranged in a T-shape or in parallel in opposite directions or in parallel in the same direction or in cross-parallel arrangement in the servo housing group, and is integrated in the servo housing group to construct a multi-directional precision control servo group.

[0089] The principle and effect of the above technical solution are as follows: a multi-directional drive precision centralized control subsystem, comprising: an independent single control subsystem, which controls the third motor group 801 through the second PCB control module 81; a cross-drive speed change subsystem, in which the third motor group 801 drives the third reduction structure 802, and rotates on the third rudder position axis which is not coaxial with the first rudder position axis to output a third rudder position deflection angle and a third rudder position deflection torque; a multi-directional precision centralized control subsystem for the servo, in which the first motor group 301 is connected to the first independent reduction structure 501, and the second motor group 302 is connected to the The second independent reduction structure 502 and the third motor group 801 are shaft-connected to the third reduction structure 802. The first motor group 301 and the second motor group 302 are arranged in parallel, and are arranged in a T-shape or in reverse parallel or in the same direction or in cross-parallel with the third motor group 801 in the servo housing group, and are integrated in the servo housing group to construct a multi-directional precision control servo group; the left end of the third motor group 801 is on the left cover 7, driving the output end of the third reduction structure 802 to pass through the right cover 9; one end of the rotating shaft of the speed change gear group is rotatably set on the right cover 9.

[0090] In one embodiment, the machine position torque detection and feedback subsystem includes:

[0091] The rudder position detection and feedback subsystem detects the rudder position deflection angle through the angle sensor group, obtains the rudder position deflection angle detection information, and feeds back the rudder position deflection angle detection information;

[0092] The torque detection feedback subsystem detects the rudder deflection torque through torque sensing, obtains the rudder deflection torque detection information, and feeds back the rudder deflection torque detection information.

[0093] The principle and effect of the above technical solution are as follows: the machine position torque detection feedback subsystem includes: the rudder position detection feedback subsystem, which detects the rudder position deflection angle through the angle sensor group, obtains the rudder position deflection angle detection information, and feeds back the rudder position deflection angle detection information; the torque detection feedback subsystem, which detects the rudder position deflection torque through the torque sensor, obtains the rudder position deflection torque detection information, and feeds back the rudder position deflection torque detection information; the angle sensor group includes a laser angle sensor and an edge laser reflection detector; the edge laser reflection detector is arranged on the output shaft of the deceleration structure, and the laser angle sensor is arranged at the laser reflection detection position of the edge laser reflection detector surrounding the output shaft of the deceleration structure; the edge laser The reflection detector detects the angle between the laser emitted by the laser angle sensor and the edge laser reflection detector to obtain the first detection angle of the emitted laser; when the output shaft of the deceleration structure rotates, it drives the edge laser reflection detector to rotate to form laser deflection, forming the second detection angle of the emitted laser, and reflecting it to the laser angle sensor; the laser angle sensor detects the angle difference between the emitted laser angle and the reflected laser angle; based on the angle difference between the first detection angle of the emitted laser and the second detection angle of the emitted laser, and the angle difference between the emitted laser angle and the reflected laser angle, the average value is calculated as the rudder position deflection angle, the rudder position deflection angle is detected, and the rudder position deflection angle detection information is obtained; the laser optical path difference and detection error are reduced.

[0094] In one embodiment, the steering gear precision control subsystem includes:

[0095] The feedback receiving and comparing subsystem receives the rudder position deflection angle detection information and compares and analyzes it with the preset rudder position deflection angle information to obtain the rudder position deflection error; receives the rudder position deflection torque detection information and compares and analyzes it with the preset rudder position deflection torque information to obtain the rudder position deflection torque error;

[0096] The control signal subsystem precisely controls and adjusts the rudder position according to the rudder position deflection error and the rudder position deflection torque error, and intelligently and adaptively controls the torque output of the motor group.

[0097] The principle and effect of the above technical solution are as follows: the servo precision control subsystem includes: a feedback receiving and comparing subsystem, which receives the rudder position deflection angle detection information and compares and analyzes it with the preset rudder position deflection angle information to obtain the rudder position deflection error; receives the rudder position deflection torque detection information and compares and analyzes it with the preset rudder position deflection torque information to obtain the rudder position deflection torque error; a control signal subsystem, which precisely controls and adjusts the servo position according to the rudder position deflection error and the rudder position deflection torque error, and intelligently and adaptively controls the torque output of the motor group; precisely controls and adjusts the servo position according to the rudder position deflection error and the rudder position deflection torque error, and intelligently and adaptively controls the torque output of the motor group, including: setting the precise range of the rudder position deflection error and setting the range of the rudder position deflection torque error; precisely controls the rotation of the motor group to adjust the servo position according to the rudder position deflection error, and offsets the rudder position error. The system continuously monitors the reduction status of the rudder deflection error until the rudder deflection error is reduced to within the precise range of the rudder deflection error; according to the rudder deflection torque error, when the rudder deflection torque error exceeds the set rudder deflection torque error range, it predicts that the reaction force of the rudder deflection torque will exceed the rudder deflection torque, causing rudder deflection torque imbalance or rudder vibration, and intelligently and adaptively controls the torque output of the motor group. Multiple groups of rudder deflection torques are adaptively coordinated to disperse and offset the imbalance and instability of a single rudder deflection torque, or when multiple rudder deflection torques are unbalanced, the relative torque directions offset each other or suppress each other in reverse, offsetting the rudder deflection torque imbalance or suppressing rudder vibration; it can reduce the rudder deflection angle error and rudder torque error, precisely control and adjust the rudder position of the servo, and can perform intelligent control of the motor group torque output and significantly increase the diversity of the output adaptive environment.

[0098] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A collaborative control method for multiple drive-control integrated steering gears, characterized in that: include: S10, by centrally controlling the multi-end drive, driving the multiple groups of reduction structures to rotate axially about the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques; S20, through the independent single-control drive control motor group, outputs the single-rudder position deflection angle and single-rudder position deflection torque at the third rudder position axial rotation; multiple motor groups and multiple reduction structures are multi-directionally integrated in the rudder housing group to construct a multi-rudder position multi-directional precision control rudder group, and perform multi-rudder position multi-directional precision control; multi-rudder position multi-directional precision control also includes: S30, detecting the rudder deflection angle and the rudder deflection torque, and feeding back the rudder deflection angle detection information and the rudder deflection torque detection information; S40, analyzing the rudder position deflection angle detection information and the rudder position deflection torque detection information, precisely controlling and adjusting the rudder position of the servo, and intelligently and adaptively controlling the torque output of the motor group.

2. The collaborative control method of a multi-drive integrated steering gear according to claim 1, characterized in that: The S10 includes: S101, controlling the first motor group (301) and the second motor group (302) through the first PCB control module (31); S102, respectively driving the first independent reduction gear structure (501) and the second independent reduction gear structure (502) through the first motor group (301) and the second motor group (302), and rotating the first steering position axially to output the first steering position deflection angle and the first steering position deflection torque and the second steering position deflection angle and the second steering position deflection torque.

3. The collaborative control method of a multi-drive integrated steering gear according to claim 1, characterized in that: The S20 includes: S201, controlling the third motor group (801) via the second PCB control module (81); S202, the third motor group (801) drives the third reduction mechanism (802) to rotate along a third steering position axis that is not coaxial with the first steering position axis to output a third steering position deflection angle and a third steering position deflection torque; S203, the first motor group (301) is connected to the first independent reduction structure (501) by its shaft, the second motor group (302) is connected to the second independent reduction structure (502) by its shaft, and the third motor group (801) is connected to the third reduction structure (802) by its shaft. The first motor group (301) and the second motor group (302) are arranged in parallel, and the first motor group (301) and the third motor group (801) are arranged in a T-shape, in parallel in opposite directions, in parallel in the same direction, or in cross-parallel in the servo housing group, and are integrated in the servo housing group to construct a multi-directional precision control servo group.

4. The method for cooperative control of a multi-drive integrated steering gear according to claim 1, characterized in that: The S30 includes: S301, detecting a rudder deflection angle through an angle sensor group, obtaining rudder deflection angle detection information, and feeding back the rudder deflection angle detection information; S302, detecting the steering position deflection torque through a torque sensor, obtaining steering position deflection torque detection information, and feeding back the steering position deflection torque detection information.

5. The method for cooperative control of a multi-drive integrated steering gear according to claim 1, characterized in that: The S40 includes: S401, receiving rudder position deflection angle detection information and comparing and analyzing it with preset rudder position deflection angle information to obtain a rudder position deflection error; receiving rudder position deflection torque detection information and comparing and analyzing it with preset rudder position deflection torque information to obtain a rudder position deflection torque error; S402, based on the rudder position deflection error and the rudder position deflection torque error, precisely control and adjust the rudder position of the servo, and intelligently and adaptively control the torque output of the motor group.

6. A multi-drive integrated steering gear, characterized in that: include: The centralized multi-control drive speed change subsystem drives multiple groups of reduction structures to rotate axially at the first rudder position to output multiple rudder position deflection angles and multiple rudder position deflection torques through centralized control of multiple end drives; The multi-directional drive precision centralized control subsystem outputs the single-rudder position deflection angle and single-rudder position deflection torque at the third rudder position through the independent single-control drive control motor group. Multiple motor groups and multiple reduction structures are multi-directionally integrated in the steering gear housing group to construct a multi-rudder position multi-directional precision control steering gear group, which performs multi-rudder position and multi-directional precision control of the steering gear. The multi-position and multi-directional precision control steering gear unit also includes: The aircraft position torque detection and feedback subsystem detects the rudder position deflection angle and rudder position deflection torque, and feeds back the rudder position deflection angle detection information and the rudder position deflection torque detection information; The steering gear precision control subsystem analyzes the rudder position deflection angle detection information and the rudder position deflection torque detection information, precisely controls and adjusts the rudder position, and intelligently and adaptively controls the torque output of the motor group.

7. The multi-drive integrated steering gear according to claim 6, characterized in that: Centralized multi-control drive speed subsystem, including: Centrally controlling the multi-terminal drive subsystem, controlling the first motor group (301) and the second motor group (302) through the first PCB control module (31); The parallel drive same direction speed change subsystem drives the first independent reduction structure (501) and the second independent reduction structure (502) respectively through the first motor group (301) and the second motor group (302), and rotates axially at the first steering position to output the first steering position deflection angle and the first steering position deflection torque and the second steering position deflection angle and the second steering position deflection torque.

8. The multi-drive integrated steering gear according to claim 6, characterized in that: Multi-directional drive precision centralized control subsystem, including: An independent single control subsystem controls the third motor group (801) via a second PCB control module (81); A cross-drive speed change subsystem, wherein the third motor group (801) drives the third reduction mechanism (802), which rotates along a third steering position axis that is not coaxial with the first steering position axis to output a third steering position deflection angle and a third steering position deflection torque; A multi-directional precision centralized control subsystem for a steering gear is provided. The first motor group (301) is connected to a first independent reduction structure (501) by a shaft, the second motor group (302) is connected to a second independent reduction structure (502) by a shaft, and the third motor group (801) is connected to a third reduction structure (802) by a shaft. The first motor group (301) and the second motor group (302) are arranged in parallel, and the first motor group (301) and the third motor group (801) are arranged in a T-shape, in parallel in opposite directions, in parallel in the same direction, or in cross-parallel in a steering gear housing group, and are integrated in the steering gear housing group to construct a multi-directional precision control steering gear group.

9. The multi-drive integrated steering gear according to claim 6, characterized in that: The machine position torque detection and feedback subsystem includes: The rudder position detection and feedback subsystem detects the rudder position deflection angle through the angle sensor group, obtains the rudder position deflection angle detection information, and feeds back the rudder position deflection angle detection information; The torque detection feedback subsystem detects the rudder deflection torque through torque sensing, obtains the rudder deflection torque detection information, and feeds back the rudder deflection torque detection information.

10. The multi-drive integrated steering gear according to claim 6, characterized in that: The steering gear precision control subsystem includes: The feedback receiving and comparing subsystem receives the rudder position deflection angle detection information and compares and analyzes it with the preset rudder position deflection angle information to obtain the rudder position deflection error; receives the rudder position deflection torque detection information and compares and analyzes it with the preset rudder position deflection torque information to obtain the rudder position deflection torque error; The control signal subsystem precisely controls and adjusts the rudder position according to the rudder position deflection error and the rudder position deflection torque error, and intelligently and adaptively controls the torque output of the motor group.

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