On-site replaceable servo driving device of artillery integrated electronic system

Abstract

The invention discloses an artillery integrated electronic system on-site replaceable servo driving device. The artillery integrated electronic system on-site replaceable servo driving device comprises a hot plug-in and pull-out detection unit, an on-site replaceable main loop unit, an on-site replaceable detection unit, an on-site replaceable power supply management unit and an on-site replaceable control unit. According to the on-site replaceable servo driving device of the artillery integrated electronic system, on one hand, modularization and generalization of equipment electronic products are improved, on the other hand, the rapid maintainability of the equipment is improved, on-site live rapid replacement of the products is guaranteed, and the combat ability of weaponry is improved.

Description

Technical Field

[0001] This invention belongs to the technical field, specifically relating to a field-replaceable servo drive device for an integrated electronic artillery system. Background Technology

[0002] With the development of information and intelligent technologies, more and more weapon equipment electrical, electronic, or control units have evolved from traditional multiple discrete units to integrated electronic systems. This has effectively improved the integration and intelligence of electrical systems while reducing their size. To enhance the automation of artillery weapon systems, motors and drives are widely used. Currently, independent drives are mainly used to drive the corresponding motors, which in turn move the corresponding artillery mechanisms, such as existing artillery servo systems and ammunition supply control drive systems. However, these independent drives, due to their connection of multiple cables, make on-site repairs complex and replacements time-consuming and labor-intensive when malfunctions occur. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a field-replaceable servo drive device for an integrated artillery electronic system, including a hot-insertion / pull-out detection unit, a field-replaceable main circuit unit, a field-replaceable detection unit, a field-replaceable power management unit, and a field-replaceable control unit. Through this field-replaceable servo drive device for an integrated artillery electronic system, the modularity and universality of equipment electronic products are improved, and the rapid maintainability of the equipment is enhanced, ensuring rapid on-site replacement of products while they are powered on, thereby improving the combat capability of weaponry.

[0004] The technical solution adopted by this invention to solve its technical problem is as follows:

[0005] A field-replaceable servo drive device for an integrated artillery electronic system includes a hot-insertion / pull-out detection unit, a field-replaceable main circuit unit, a field-replaceable detection unit, a field-replaceable power management unit, and a field-replaceable control unit.

[0006] The hot-insertion / pull-out detection unit is used to detect whether the servo drive device is inserted into the chassis motherboard.

[0007] The hot-insertion / removal detection unit acquires the control power supply voltage input from the power management unit and the bus power supply voltage input from the main circuit unit; when the control power supply voltage V... C ≥μ C V C_norm , where 0.2≤μ C ≤0.5, V C_norm To control the nominal voltage value, and the bus power supply voltage V M ≥μ M V M_norm , 0.2≤μM ≤0.5, V M_norm The nominal value of the bus power supply voltage; after a delay τ D Afterwards, the hot-insertion / removal detection unit finally outputs a valid level, i.e., the hot-insertion / removal detection signal; otherwise, when V... C <μ C V C_norm or V M <μ M V M_norm At that time, the hot-insertion / removal detection signal is at an invalid level;

[0008] The field-replaceable main circuit unit includes a main circuit power-on circuit, a main circuit discharge circuit, and a three-phase inverter bridge circuit. When the hot-insertion / removal detection signal is invalid, the main circuit power-on circuit is in the off state, and the main circuit discharge circuit is in the on state, releasing the charge of the bus capacitor of the three-phase inverter bridge circuit. The main circuit power-on ready signal outputs an invalid level. When the hot-insertion / removal detection signal is valid, the main circuit discharge circuit is in the off state, and the main circuit power-on circuit, after a dead time τ... dead Then it transitions from the off state to the working state, charging the bus capacitor of the three-phase inverter bridge circuit, where τ dead ≥10ms, when the bus capacitor voltage is greater than ηV M When the three-phase inverter bridge circuit bus is short-circuited to the main circuit unit bus power input, where 0.8≤η≤0.95, the main circuit is ready to output a valid signal level. The three-phase inverter bridge circuit is used to drive the three-phase servo motor. When the hot-insertion detection signal is invalid, the drive pulse of each switch in the three-phase inverter bridge circuit is blocked, and each switch in the three-phase inverter bridge circuit is in the off state. When the hot-insertion detection signal is valid, the drive pulses of all switches in the three-phase inverter bridge circuit are unblocked and it is in normal PWM control state.

[0009] The field-replaceable detection unit includes a motor rotary transformer detection circuit and a motor line current detection circuit; the motor rotary transformer detection circuit first generates an excitation signal V = V for the motor rotary transformer. m sinωt, where V m ω is selected according to the specifications of the motor's rotary transformer. The excitation signal drives the motor's rotary transformer through the switching logic circuit and the power amplifier circuit. After passing through the switching logic circuit, the excitation signal output becomes:

[0010]

[0011] The power amplifier circuit enhances the current output capability of the excitation signal. The sine and cosine signals fed back from the motor rotary transformer are converted into the motor position value by the shaft angle conversion circuit. The motor line current detection circuit adjusts the A-phase current detection value, B-phase current detection value, and C-phase current detection value from the LRMs connector into A-phase current value, B-phase current value, and C-phase current value signals that meet the input voltage range requirements of the A / D converter through the conditioning circuit.

[0012] The field-replaceable power management unit completes the secondary power supply for the servo drive device control. The control power supply Vc first passes through a soft start circuit, and then undergoes two transformations to generate +5V±0.1V, +12V±0.5V, and -12V±0.5V to power the field-replaceable control unit, and is transformed into 6 isolated +15V±0.5V power supplies to power the gate drive circuit.

[0013] The system uses a replaceable control unit to collect motor position data, motor three-phase current data, and main circuit power-on ready signal data.

[0014] Preferably, the effective level is a high level or a low level.

[0015] Preferably, the τ D The range of values ​​is 0.5s≤τ D ≤5s.

[0016] Preferably, the three-phase inverter bridge circuit uses IGBTs or MOSFETs.

[0017] Preferably, the control steps for the servo drive device based on the field-replaceable control unit are as follows:

[0018] Step 1: Read the motor position θ m (k), calculate the motor angular velocity ω m (k)=[θ m (k)-θ m (k-1)] / T k , where θ m (k) and θ m (k-1) represent the motor position at sampling time k and sampling time k-1, respectively, T k The sampling period;

[0019] Step 2: Read the motor angular velocity setpoint ω m * (k), calculate the angular velocity error e ω (k)=ω m * (k)-ω m (k);

[0020] Step 3: Calculate the logical variables:

[0021] a(k)=[(I * (k-1)≥I lim AND(e) ω (k)<0)]OR[(I * (k-1)≤-I lim AND(e) ω (k)>0)]

[0022] OR[|I * (k-1)| lim ]

[0023] Among them, I * (k-1) is the current reference value at sampling time k-1, I lim This is the current limiting value, and its range is 0. lim ≤I max I max This represents the maximum output current of the motor. AND is the logical AND operation, and OR is the logical OR operation. The value is 1 when the expression a(k) is true, and 0 otherwise.

[0024] Step 4: When the main circuit is powered on and ready to output a valid signal level, calculate the accumulated angular velocity error S. ω (k)=S ω (k-1)+a(k)e ω (k), otherwise S ω (k)=0, where S ω (k), S ω (k-1) represents the cumulative angular velocity error at sampling time k and sampling time k-1, respectively;

[0025] Step 5: Calculate the angular velocity controller output u ω (k)=k pω e ω (k)+k iω S ω (k)T k , where k pω =2Jω n / C T , Where J is the total moment of inertia referred to the motor shaft, and C T Motor torque current coefficient, ω n The desired frequency response of angular velocity, with a value range of 10s. -1 ≤ω n ≤60s -1 ;

[0026] Step 6: Calculate the variables Where I​​lim This is the current limiting value;

[0027] Step 7: Calculate the current setpoint I * (k)=(1-b(k))(1-c(k))u ω (k)+I lim b(k)-I lim c(k);

[0028] Step 8: Update Status I * (k-1)=I * (k), S ω (k-1)=S ω (k);

[0029] Step 9: Read the three-phase current value i of the motor A (k), i B (k), i C (k);

[0030] Step 10: Calculate the motor electrical angle θ e (k)=p n (θ m (k)-θ m0 ), where p n Let θ be the number of pole pairs of the motor. m0 This refers to the zero-position angle of the motor rotary transformer.

[0031] Step 11: Calculate the motor d-axis current I d (k) and q-axis current I q (k):

[0032]

[0033] Step 12: Calculate the motor d-axis current setpoint and q-axis current setpoint

[0034]

[0035] in, A = ψ r / (2(L d -L q )), L d L q These are the d-axis inductance and q-axis inductance of the motor, respectively, ψ r For the magnetic flux linkage of the motor rotor poles;

[0036] Step 13: Calculate the motor d-axis current error e d (k) and q-axis current error e q (k):

[0037]

[0038] Step 14: Calculation:

[0039]

[0040] Among them, U d (k-1), U q (k-1) represent the d-axis voltage and q-axis voltage at time k-1, respectively. dlim U qlim These are the d-axis voltage limiting and the q-axis voltage limiting, with a value range of U. dlim ≤0.5U dc U qlim ≤0.5U dc U dc This is the bus voltage of the servo drive device. It takes the value of 1 when the expression is true, and 0 otherwise.

[0041] Step 15: When the main circuit is powered on and ready to output a valid signal level, calculate the cumulative value S of the motor d-axis current error. d (k) and q-axis current error cumulative value S q (k):

[0042]

[0043] Otherwise, S d (k)=0、S q (k) = 0, where S d (k-1), S d (k) represents the cumulative d-axis current error at time k-1 and time k, respectively, S q (k-1), S q (k) represents the cumulative q-axis current error at time k-1 and time k, respectively;

[0044] Step 16: Calculate the d-axis current controller output u d (k)=k pd e d (k)+k id S d (k)T k and the output u of the q-axis current controller q (k)=k pq e q (k)+k iq S q (k)T k , where k pd =L d / T ex k id =R / Tex k pq =L q / T ex k iq =R / T ex R is the resistance of each phase winding of the motor, T ex The desired closed-loop time constant is defined as 0.5 ms ≤ T. ex ≤2ms;

[0045] Step 17: Calculate the d-axis voltage and q-axis voltage of the motor:

[0046]

[0047] Step 18: Data Update S d (k-1)=S d (k), S q (k-1)=S q (k), U d (k-1)=U d (k), U q (k-1)=U q (k);

[0048] Step 19: Calculate the three-phase stator voltage of the motor;

[0049]

[0050] As input for PWM modulation.

[0051] Preferably, the sampling period T k The value range is 0.02ms ≤ T k ≤0.2ms.

[0052] The beneficial effects of this invention are as follows:

[0053] The field-replaceable servo drive device of the integrated electronic system for artillery of the present invention improves the modularity and universality of electronic products in equipment, and enhances the rapid maintainability of equipment, ensuring rapid on-site replacement of products while they are powered on, thereby improving the combat capability of weapons and equipment. Attached Figure Description

[0054] Figure 1 This is a general block diagram of a field-replaceable servo drive device for an integrated artillery electronic system according to the present invention.

[0055] Figure 2 This is the overall block diagram of the main circuit unit that can be replaced in the field according to the present invention.

[0056] Figure 3 This is an overall block diagram of the detection unit that can be replaced on-site according to the present invention.

[0057] Figure 4 This is a schematic diagram of the hot-insertion and removal detection unit circuit of the present invention.

[0058] Figure 5 This is a schematic diagram of the main circuit unit that can be replaced in the field, which is the basis of this invention.

[0059] Figure 6 This is a circuit diagram of the field-replaceable detection unit based on the present invention.

[0060] Figure 7 This is a circuit diagram of a field-replaceable power management unit based on the present invention. Detailed Implementation

[0061] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0062] This invention discloses a field-replaceable servo drive device for an integrated artillery electronic system. Figure 1 This is a general block diagram of a field-replaceable servo drive device for an integrated artillery electronic system, which consists of a hot-insertion / pull-out detection unit, a field-replaceable main circuit unit, a field-replaceable detection unit, a field-replaceable power management unit, and a field-replaceable control unit.

[0063] When the servo drive unit is inserted into the chassis motherboard via the LRMs connector, the servo drive unit connects to the three-phase windings and rotary transformer of the servo motor via the chassis motherboard and chassis connector, and completes the control power supply and main circuit power supply for the servo drive unit via the chassis motherboard and chassis connector. With the chassis connected to the system and powered, the hot-insertion detection unit detects whether the servo drive unit is inserted into the chassis motherboard. The hot-insertion detection unit collects the control power supply voltage input from the power management unit and the bus power supply voltage input from the main circuit unit. When the control power supply voltage V... C ≥μ C V C_norm , where 0.2≤μ C ≤0.5, V C_norm To control the nominal voltage value, and the bus power supply voltage V M ≥μ M V M_norm , 0.2≤μ M ≤0.5, V M_norm The nominal value of the bus power supply voltage, after a delay of τ D Subsequently, the hot-insertion / removal detection unit finally outputs a valid level (hot-insertion / removal detection signal), where either a high or low level can be defined as the valid level, and the delay time of the delay circuit ranges from 0.5s to τ. D ≤5s, otherwise, V C <μ C VC_norm or V M <μ M V M_norm At that time, the hot-insertion / out detection signal is at an invalid level.

[0064] Figure 2 The overall block diagram of the field-replaceable main circuit unit includes a main circuit power-on circuit, a main circuit discharge circuit, and a three-phase inverter bridge circuit. When the hot-insertion / removal detection signal is invalid, the main circuit power-on circuit is in the off state, and the main circuit discharge circuit is in the on state, releasing the charge of the bus capacitor of the three-phase inverter bridge circuit. The main circuit power-on ready signal outputs an invalid level. When the hot-insertion / removal detection signal is valid, the main circuit discharge circuit is in the off state, and the main circuit power-on circuit, after a dead time τ,... dead Then it transitions from the off state to the working state, charging the bus capacitor of the three-phase inverter bridge circuit, where τ dead ≥10ms, when the bus capacitor voltage is greater than ηV M When the three-phase inverter bridge circuit bus is short-circuited to the main circuit unit bus power input, where 0.8≤η≤0.95, the main circuit is ready to output a valid signal level. The three-phase inverter bridge circuit is used to drive the three-phase servo motor, and IGBTs or MOSFETs are selected. When the hot-insertion detection signal is invalid, the drive pulse of each switch in the three-phase inverter bridge circuit is blocked, and each switch in the three-phase inverter bridge circuit is in the off state. When the hot-insertion detection signal is valid, the drive pulses of all switches in the three-phase inverter bridge circuit are unblocked, and it is in the normal PWM control state.

[0065] Figure 3 The overall block diagram of the field-replaceable detection unit includes a motor rotary transformer detection circuit and a motor line current detection circuit. The excitation signal generator of the motor rotary transformer detection circuit generates an excitation signal V = V for the motor rotary transformer. m sinωt, where V m ω is selected according to the specifications of the motor's rotary transformer. The excitation signal drives the motor's rotary transformer through a switching logic circuit and a power amplifier circuit. After passing through the switching logic circuit, the excitation signal output becomes... The power amplifier circuit enhances the current output capability of the excitation signal. The sine and cosine signals fed back from the motor rotary transformer are converted into motor position values ​​by the shaft angle conversion circuit. The motor line current detection circuit adjusts the A-phase current detection, B-phase current detection, and C-phase current detection values ​​from the LRMs connector into A-phase current, B-phase current, and C-phase current signals that meet the input voltage range requirements of the A / D converter through the conditioning circuit.

[0066] The secondary power supply for the servo drive is completed using a field-replaceable power management unit. Since the secondary power supply circuit has a certain capacitive load, inserting the field-replaceable servo drive into the chassis will generate a momentary current surge. The control power supply Vc first passes through a soft-start circuit and is then transformed twice to generate +5V±0.1V, +12V±0.5V, and -12V±0.5V to power the field-replaceable control unit, and is also transformed into 6 isolated +15V±0.5V power supplies to power the gate drive circuit.

[0067] Based on the field-replaceable control unit, the following control steps are completed: acquiring motor position data, acquiring motor three-phase current data, and acquiring main circuit power-on readiness signals.

[0068] The first step is to read the motor position θ. m (k), calculate the motor angular velocity ω m (k)=[θ m (k)-θ m (k-1)] / T k , where θ m (k) and θ m (k-1) represent the motor position at sampling time k and sampling time k-1, respectively, T k The sampling period is defined as 0.02ms ≤ T. k ≤0.2ms;

[0069] The second step is to read the motor angular velocity setpoint ω. m * (k), calculate the angular velocity error e ω (k)=ω m * (k)-ω m (k);

[0070] The third step is to calculate the logical variables:

[0071] a(k)=[(I * (k-1)≥I lim AND(e) ω (k)<0)]OR[(I * (k-1)≤-I lim AND(e) ω (k)>0)]

[0072] OR[|I * (k-1)| lim ]

[0073] Among them, I * (k-1) is the current reference value at sampling time k-1, I lim ​This is the current limiting value, and its range is 0. lim ≤I max I max This represents the maximum output current of the motor. AND is the logical AND operation, and OR is the logical OR operation. The value is 1 when the expression a(k) is true, and 0 otherwise.

[0074] Fourth step: When the main circuit is powered on and ready to output a valid signal level, calculate the accumulated angular velocity error S. ω (k)=S ω (k-1)+a(k)e ω (k), otherwise S ω (k)=0, where S ω (k), S ω (k-1) represents the cumulative angular velocity error at sampling time k and sampling time k-1, respectively;

[0075] Step 5: Calculate the angular velocity controller output u. ω (k)=k pω e ω (k)+k iω S ω (k)T k , where k pω =2Jω n / C T , Where J is the total moment of inertia referred to the motor shaft, and C T Motor torque current coefficient, ω n The desired frequency response of angular velocity, with a value range of 10s. -1 ≤ω n ≤60s -1 ;

[0076] Step 6: Calculate the variables Where I lim This is the current limiting value;

[0077] Step 7: Calculate the current setpoint I * (k)=(1-b(k))(1-c(k))u ω (k)+I lim b(k)-I lim c(k);

[0078] Step 8, Update Status I * (k-1)=I * (k), S ω (k-1)=S ω (k);

[0079] Step 9: Read the three-phase current value i of the motor A (k), i​B (k), i C (k);

[0080] Step 10: Calculate the electrical angle θ of the motor. e (k)=p n (θ m (k)-θ m0 ), where p n Let θ be the number of pole pairs of the motor. m0 This refers to the zero-position angle of the motor rotary transformer.

[0081] Step 11: Calculate the d-axis current I of the motor. d (k) and q-axis current I q (k):

[0082]

[0083] Step 12: Calculate the motor d-axis current setpoint. and q-axis current setpoint

[0084]

[0085] in, A = ψ r / (2(L d -L q )), L d L q These are the d-axis inductance and q-axis inductance of the motor, respectively, ψ r For the magnetic flux linkage of the motor rotor poles;

[0086] Step 13: Calculate the motor d-axis current error e d (k) and q-axis current error e q (k):

[0087]

[0088] Step 14, Calculation:

[0089]

[0090] Among them, U d (k-1), U q (k-1) represent the d-axis voltage and q-axis voltage at time k-1, respectively. dlim U qlim These are the d-axis voltage limiting and the q-axis voltage limiting, with a value range of U. dlim ≤0.5U dc U qlim ≤0.5U dc U dcThis is the bus voltage of the servo drive device. It takes the value of 1 when the expression is true, and 0 otherwise.

[0091] Step 15: When the main circuit is powered on and ready to output a valid signal level, calculate the accumulated value S of the motor's d-axis current error. d (k) and q-axis current error cumulative value S q (k):

[0092]

[0093] Otherwise, S d (k)=0、S q (k) = 0, where S d (k-1), S d (k) represents the cumulative d-axis current error at time k-1 and time k, respectively, S q (k-1), S q (k) represents the cumulative q-axis current error at time k-1 and time k, respectively;

[0094] Step 16: Calculate the d-axis current controller output u. d (k)=k pd e d (k)+k id S d (k)T k and the output u of the q-axis current controller q (k)=k pq e q (k)+k iq S q (k)T k , where k pd =L d / T ex k id =R / T ex k pq =L q / T ex k iq =R / T ex R is the resistance of each phase winding of the motor, T ex The desired closed-loop time constant is defined as 0.5 ms ≤ T. ex ≤2ms;

[0095] Step 17: Calculate the d-axis voltage and q-axis voltage of the motor:

[0096]

[0097] Step 18, Data Update S d (k-1)=S d (k), Sq (k-1)=S q (k), U d (k-1)=U d (k), U q (k-1)=U q (k);

[0098] Step 19: Calculate the three-phase stator voltage of the motor;

[0099]

[0100] As input for PWM modulation.

[0101] Example:

[0102] A field-replaceable servo drive device for an integrated artillery electronic system comprises a hot-insertion / pull-out detection unit, a field-replaceable main circuit unit, a field-replaceable detection unit, a field-replaceable power management unit, and a field-replaceable control unit. V is selected as the servo drive. C_norm =24V, V M_norm =270V, μ C =0.3, μ M =0.3.

[0103] When the servo drive is inserted into the chassis motherboard via the LRMs connector, the servo drive connects to the servo motor's three-phase windings and rotary transformer via the chassis motherboard and chassis connector. The chassis motherboard and chassis connector also provide control power and main circuit power to the servo drive. With the chassis connected to the system and powered, the hot-insertion / outlet detection unit detects whether the servo drive is inserted into the chassis motherboard. Figure 4 This is the circuit schematic for the hot-insertion / removal detection unit. It acquires the control power supply voltage input from the power management unit and the bus power supply voltage input from the main circuit unit. Model V1 is TL431, and the reference value is V. Z =2.5V, when the control power supply voltage V C ≥(1+R1 / R2)V Z =μ C V C_norm When the optocoupler U1 is turned on, and R1 = 20kΩ and R2 = 10kΩ are selected, then μ C = (1 + R1 / R2)V Z / V C_norm =0.31, satisfying 0.2≤μ C ≤0.5, when the bus power supply voltage V M ≥(1+R4 / R5)V Z =μ M V M_normWhen the optocoupler U2 is turned on, and R4 = 100kΩ and R5 = 3kΩ are selected, then μ M = (1 + R4 / R5)V Z / V M_norm =0.32, satisfying 0.2≤μ M ≤0.5; The Zener diodes V3 and V4 are set to prevent them from breaking down when the input voltage exceeds the maximum reverse voltage of V1 and V2. The Zener voltage values ​​V3 and V4 are selected accordingly. Z1 =5.1V, when U1 and U2 are both turned on, V C Capacitor C1 is charged through U1, U2, and R7. When τ D After a certain time, the charging voltage reaches V. Z When the voltage is 2.5V, V5 conducts, and simultaneously, optocoupler U3 conducts, outputting a low level. This means the hot-insertion / removal detection signal is active (defined as low level). According to the diagram, R7C1 = -τ D / ln(1-V Z / (V Z1 -2V ce )), where V ce Let V be the saturation pressure drop of U1 and U2, approximately taken as V. ce =0.3V, select τ D =2s, then R7C1=-2 / ln(1-2.5 / (5.1-2×0.3))=2.6347s, select C1=10μF, then R7=263.47kΩ, and also select R3=2.4kΩ, R8=2.4kΩ, R6=27kΩ, U1, U2, U3 model is TLP127.

[0104] Additionally, when V C <μ C V C_norm or V M <μ M V M_norm When U1 or U2 is off, the hot-insertion / pull-out detection signal is high (invalid level, output in open collector form).

[0105] Figure 5Based on the schematic diagram of the field-replaceable main circuit unit, it consists of a main circuit power-on circuit, a main circuit discharge circuit, and a three-phase inverter bridge circuit. The power supply for U21 (74HCT05), U22 (74HC08), and U23 (74HC08) is (+5V, GND). When the hot-insertion / removal detection signal is high (invalid level), it outputs a high level after passing through two stages of inverters U21A and U21B. Optocoupler U11 is cut off, and pin 6 outputs a high level. After being inverted by the driver chip U20 (1EDN7511B), pins 2 and 3 output a low level, and the driven MOSFET T9 is cut off, meaning the main circuit power-on circuit is in the off state. Simultaneously, after passing through two stages of inverters U21C and U21D, it outputs a high level, the PNP transistor T1 (S8550) is cut off, and the coil of relay K1 is not energized. With the closed contacts connected, the main circuit bus capacitor C11 forms a discharge circuit through the discharge resistor R31 and the normally closed contact K1, meaning the main circuit discharge circuit is in the conducting state, releasing the charge of the bus capacitor C11 of the three-phase inverter bridge circuit. The voltage across the bus capacitor C11 is divided by resistors R34 and R35 and then sent to the inverting input of comparator U24 (LM393). At this time, the voltage at the inverting input is less than the voltage at the non-inverting input, so U24 inputs a high level, optocoupler U10 is cut off, and its pin 6 outputs a high level. After being inverted by the driver chip U19 (1EDN7511B), pins 2 and 3 output a low level. On the one hand, the driven MOSFET T8 is cut off, and on the other hand, optocoupler U12 is cut off, outputting a high level (invalid level, open collector output), that is, the main circuit power-on ready signal outputs a high level (invalid level, open collector output);

[0106] When the hot-insertion / out detection signal is low (active level), the output is low after passing through two stages of inverters U21C and U21D. Transistor T1 conducts, the coil of relay K1 is energized, the normally closed contact opens, and the discharge circuit formed by the main circuit bus capacitor C11, discharge resistor R31, and the normally closed contact of K1 is cut off. That is, the main circuit discharge circuit is in the off state. At the same time, inverter U21A outputs a high level in open-collector form, and capacitor C10 is charged by the +5V power supply through resistor R27. When the voltage reaches the threshold voltage V for level conversion at the input terminal of U21B... th When U21B outputs from high to low, optocoupler U11 conducts, and pin 6 outputs a low level. After being inverted by driver chip U20, pins 2 and 3 output a high level, turning on the driven MOSFET T9. The bus power supply charges bus capacitor C11 through R30. Assume the voltage of capacitor C10 rises from 0V to V. th The required time is τ dead That is, the main circuit power supply circuit after the dead time τ deadAfterwards, it transitions from the off state to the working state, charging the bus capacitor of the three-phase inverter bridge circuit. Let the voltage across +15V4 after passing through resistors R32 and R33 be V. Σ The voltage across C11 is V. C11 When V C11 R35 / (R34+R35)>V Σ That is, the bus capacitor voltage V C11 >V Σ (R34+R35) / R35=ηV M When the voltage at the inverting input of comparator U24 is greater than the voltage at the non-inverting input, U24 outputs a low level, optocoupler U10 is turned on, and pin 6 outputs a low level. After being inverted by driver chip U19, pins 2 and 3 output a high level. On the one hand, the driven MOSFET T8 is turned on, shorting the power input of the three-phase inverter bridge circuit bus to the main circuit unit bus. On the other hand, optocoupler U12 is turned on and outputs a low level, that is, the main circuit is ready to be powered on and outputs a low level (effective level).

[0107] Let the supply voltage of U21(74HCT05) be V. cc Then V cc =5V, according to the 74HCT05 datasheet, V th =2V, then R27·C10=-τ dead / ln(1-V th / V cc ), select τ dead =0.1s, then R27·C10 = 0.1958s. Choosing C10 = 10μF, then R27 = 19.58kΩ. According to the E24 standard series of resistors, choose R27 = 20kΩ. From V... Σ (R34+R35) / R35=ηV M V Σ =R33·V +15V4 / (R32+R33), V +15V4 The voltage between +15V4 and G4 is given by V. +15V4 =15V, select η=0.9, R32=10kΩ, R33=10kΩ, V M =270V, then V Σ =7.5V, R35 / (R34+R35)=V Σ / (ηV M ) = 0.03086, E24 standard series resistors, select R35 = 8.2kΩ and R34 = 250kΩ, calculate η = V Σ (R34+R35) / (R35·V M =0.875, which satisfies the condition 0.8≤η≤0.95.

[0108] The three-phase inverter bridge circuit is used to drive a three-phase servo motor. It uses six MOSFETs (T2 to T7) to form a three-phase full bridge, as shown in the figure. When the hot-insertion detection signal is high (invalid level), it outputs a low level after passing through inverter U21F. Then, AND gates U22A, U22B, U22C, U22D, U23A, and U23B output a low level. The PWM signals PWM1 to PWM6 are blocked, and optocouplers U4 to U9 are not turned on. Their pin 6 outputs a high level, which is inverted by driver chips U13 to U18 and outputs a low level. The switching transistors T2 to T7 of the three-phase inverter bridge circuit are all in the off state. Conversely, when the hot-insertion detection signal is low (valid level), all switching transistor drive pulses are unblocked, and PWM1 to PWM6 control the switching transistors T2 to T7 to turn on or off respectively.

[0109] In this example, C11 is selected as 470μF with a withstand voltage of 400V, R30 is selected as 20Ω with a power of 100W, R31 is selected as 51Ω with a power of 100W, and the continuous drain current of T2 to T9 is selected as not less than 50A with a withstand voltage of not less than 500V. Other parameters are marked as shown in the figure. (+5V, GND) is the DC 5V power input, and (+15V1, G1), (+15V2, G2), (+15V3, G3), (+15V4, G4), (+15V5, G5), and (+15V6, G6) are the DC 15V power inputs. The power supplies are isolated from each other.

[0110] Figure 6 The circuit diagram is based on a field-replaceable detection unit, including a motor rotary transformer detection circuit and a motor line current detection circuit. The excitation signal generator of the motor rotary transformer detection circuit generates an excitation signal V = V for the motor rotary transformer. m sinωt, assuming the required excitation signal frequency ω / 2π for the motor rotary transformer is 7.5kHz±1kHz and the amplitude V m The voltage is 6V±0.5V. According to the diagram, when the hot-insertion / removal detection signal is high (invalid level), optocoupler U105 is cut off, and pin 4 outputs a high level. After passing through the push-pull circuit composed of transistors T101 and T102, the output is high, MOSFET T103 is turned on, capacitor C101 is short-circuited, and U101B outputs zero voltage. After passing through the filter and amplification circuit composed of U101C and U101D, the output is zero voltage. When the hot-insertion / removal detection signal is low (valid level), optocoupler U105 is turned on, and pin 4 outputs a low level. After passing through the push-pull circuit composed of transistors T101 and T102, the output is low, MOSFET T103 is cut off, and the integrating circuit composed of C101 and R103 works. U101A, U101B, and the peripheral circuit form a bipolar triangular wave generator with a triangular wave frequency of [missing value]. Choosing C101 = 2200 pF, R103 = 30 kΩ, R104 = 20 kΩ, and R105 = 10 kΩ, then f triangle =7.6kHz, which meets the required excitation signal frequency error range, and the amplitude is Where V saturate The saturation output voltage of operational amplifier U101 is approximately V, since the supply voltage is ±12V. saturate =11.5V, then U triangle =5.75V; The triangular wave output by U101B is approximately a sine wave after passing through a two-stage filter circuit. U101C and its peripheral components form the first-stage filter, with a transfer function of... The filtering time constant is τ1 = [R106·R107 / (R106+R107)]·C102. To filter out the higher harmonics of the triangular wave, the filter cutoff frequency is between the fundamental frequency and the second harmonic frequency of the triangular wave, i.e., 2πf. triangle <τ1 -1 <4πf triangle There are 47100s -1 <τ1 -1 <94200s -1 Selecting a potentiometer with R106 = 11kΩ, R107 = 18kΩ, R108 = 50kΩ, and C102 = 2200pF, then τ1 = [R106·R107 / (R106+R107)]·C102 = 1.502 × 10 -5 s, τ1 -1 =66574s -1 The requirements are met; after the triangular wave signal is filtered in the first stage, it is then filtered and amplified in the second stage by the push-pull amplifier circuit consisting of R109, C103, U101D, T104, and T105. The transfer function of the second stage filter is... The filtering time constant is τ² = R⁻¹⁹·C¹⁰³, and similarly, 2πf is required. triangle <τ2 -1 <4πf triangle Given R109 = 6.8 kΩ and C103 = 2200 pF, then τ2 -1 =66844s -1 The requirements are met; after two stages of filtering, a sine wave excitation output is obtained from the triangular wave. By adjusting potentiometer R108, the excitation output amplitude V is adjusted. m Meeting the requirement of 6V±0.5V, the final excitation signal output is: It drives the motor rotary transformer, and the sine and cosine signals fed back from the motor rotary transformer are converted into the motor position by the shaft angle conversion circuit composed of U104 and its peripheral components.

[0111] The motor line current detection circuit takes the A-phase, B-phase, and C-phase current detection signals from the LRMs connector and adjusts them through a conditioning circuit to meet the input voltage range requirements of the A / D converter. Taking the A-phase current detection as an example, the amplification and offset circuit composed of U102A conditions the input signal to a signal range of 0-3V to meet the input requirements of the TMS320F28335 on-chip A / D converter. U102B differentially amplifies the A-phase current detection signal, requiring R120 = R123 and R121 = R122. Let the A-phase current detection value be V. iA The detection quantity when the current of phase A is zero is V. iA0 The current in phase A is V adiA Then there is Where V adja Given the voltage divider value of the adjustable resistor R119, and assuming the current detection quantity of phase A comes from the Hall current sensor ACS710KLATR-25CB-T, with a transmission coefficient of (V... iA -V iA0 ) / i A = 28mV / A, where i A This is the output pin for phase A current of the motor, specifically pin 10 (VZCR) when the current is zero. Connect it to V... iA0 Pin 12 is the current output pin; connect it to V. iA Choosing R117 = 10kΩ, R118 = 20kΩ, R120 = R123 = 75kΩ, and R121 = R122 = 51kΩ, then we have Adjust the potentiometer to V iA -V iA0 =0 V adiA =1.5V, then V adiA =1.5V + 0.735(V) iA -V iA0 = 1.5V + 0.735 × 0.028 (V / A)i A V adiA =1.5V + 0.021(V / A)i A When V adiA When the value reaches the boundary value of 0V or 3V, the corresponding motor A-phase current is -71A or 71A. The instructions for current detection of phases B and C are the same as those for phase A.

[0112] In the circuit diagram of the field-replaceable detection unit, +5V, +12V, and -12V are DC power inputs, respectively, and are connected to a common ground GND. The analog ground AGND in the circuit is connected to ground GND by inductor L101 for single-point grounding.

[0113] Figure 7To provide secondary power supply for the servo drive device based on the circuit diagram of the field-replaceable power management unit, a soft-start circuit is added after the control power input to complete the control power supply circuit. Since the secondary power supply circuit has a certain capacitive load, inserting the field-replaceable servo drive device into the chassis will generate a momentary current surge. The control power supply Vc charges capacitor C201 through the PN junction eb of transistor T201 and resistor R202. R202·C201 ≥ 50ms is required. Selecting R202 = 4.7kΩ and C201 = 22μF, then R202·C201 = 103.4ms ≥ 50ms. When the charging current is greater than Vc / (β·R203), where β is the current amplification factor of transistor T201, T201 is in the saturation region, and the P-channel enhancement-mode MOSFET T202 is in the cutoff state. As the charging current of C201 gradually decreases and becomes less than Vc / (β·R203), T201 exits the saturation region and enters the amplification drive. Its emitter-collector voltage Vc... ec As the current begins to increase, T202 enters the constant current region. The control power supply Vc charges capacitors C202 and C203 with a certain current through T202. The charging current increases with Vc. ec As the voltage of C201 increases, when the voltage of C201 approaches the control power supply voltage Vc, T201 enters the cutoff state. At this time, T202 is fully saturated. The control power supply supplies power to the power module U201 (Mornsun manufacturer, model URA2412YMD-10WR3) through T202, generating isolated +12V±0.5V and -12V±0.5V power supplies to the power module U202 (Mornsun manufacturer, model URB2405YMD-10). WR3) provides power to generate isolated +5V±0.1V; the +12V and -12V power outputs are used as the outputs of U203~U208 (Morning Sun manufacturer, model F2415S-2WR2), which again generate isolated power supplies of (+15V1, GND1), (+15V2, GND2), (+15V3, GND3), (+15V4, GND4), (+15V5, GND5) and (+15V6, GND6).

[0114] Based on the field-replaceable control unit, the following control steps are completed: acquiring motor position data, acquiring motor three-phase current data, and acquiring main circuit power-on readiness signal data. Select T. k =0.1ms, converted to the total moment of inertia of the motor shaft J = 3 × 10 -3 kg·m 2 Motor torque current coefficient C T =0.6 Nm / A, angular velocity desired frequency response ω n =30s -1 Maximum output current I of the motor max =20A, current limit value I lim =I max=20A, Number of pole pairs p of motor n =2. Zero position angle θ of the motor rotary transformer m0 =π / 2, the d-axis inductance L of the motor d =7.2×10 -3 H-axis and q-axis inductance L q =19×10 -3 H, motor rotor pole flux linkage ψ r =C T / 1.5p n =0.2Wb, Bus voltage U of servo drive unit dc =270V, d-axis voltage limit U dlim =0.5U dc =135V, q-axis voltage limiting U qlim =0.5U dc =135V, R is the resistance of each phase winding of the motor R = 1.24Ω, and the desired current closed-loop time constant T ex =1ms:

[0115] The first step is to read the motor position θ. m (k), calculate the motor angular velocity ω m (k)=[θ m (k)-θ m [(k-1)] / (1×10] -4 s), where θ m (k) and θ m (k-1) represents the motor position at sampling time k and sampling time k-1, respectively;

[0116] The second step is to read the motor angular velocity setpoint ω. m * (k), calculate the angular velocity error e ω (k)=ω m * (k)-ω m (k);

[0117] The third step is to calculate the logical variables:

[0118]

[0119] Among them, I * (k-1) is the current given value at sampling time k-1. AND is the logical AND operation, OR is the logical OR operation. When the expression a(k) is true, the value is 1, otherwise it is 0.

[0120] Fourth step: When the main circuit is powered on and ready to output a valid signal level, calculate the accumulated angular velocity error S. ω (k)=S ω (k-1)+a(k)eω (k), otherwise S ω (k)=0, where S ω (k), S ω (k-1) represents the cumulative angular velocity error at sampling time k and sampling time k-1, respectively;

[0121] Step 5: Calculate the angular velocity controller output u. ω (k)=k pω e ω (k)+k iω S ω (k)T k , where k pω =2Jω n / C T =0.3(A·s),

[0122] Step 6: Calculate the variables

[0123] Step 7: Calculate the current setpoint I * (k)=(1-b(k))(1-c(k))u ω (k)+(20A)·b(k)-(20A)·c(k);

[0124] Step 8, Update Status I * (k-1)=I * (k), S ω (k-1)=S ω (k);

[0125] Step 9: Read the three-phase current value i of the motor A (k), i B (k), i C (k);

[0126] Step 10: Calculate the electrical angle θ of the motor. e (k)=2(θ m (k)-π / 2);

[0127] Step 11: Calculate the d-axis current I of the motor. d (k) and q-axis current I q (k)

[0128]

[0129] Step 12: Calculate the motor d-axis current setpoint. and q-axis current setpoint

[0130]

[0131] in, A = ψ r / (2(L d -L q )) = -8.47A;

[0132] Step 13: Calculate the motor d-axis current error e d (k) and q-axis current error e q (k),

[0133]

[0134] Step 14, Calculation

[0135]

[0136] Among them, U d (k-1), U q (k-1) represents the d-axis voltage and q-axis voltage at time k-1, respectively. The value is 1 when the expression is true, and 0 otherwise.

[0137] Step 15: When the main circuit is powered on and ready to output a valid signal level, calculate the accumulated value S of the motor's d-axis current error. d (k) and q-axis current error cumulative value S q (k),

[0138]

[0139] Otherwise, S d (k)=0、S q (k) = 0, where S d (k-1), S d (k) represents the cumulative d-axis current error at time k-1 and time k, respectively, S q (k-1), S q (k) represents the cumulative q-axis current error at time k-1 and time k, respectively;

[0140] Step 16: Calculate the d-axis current controller output u. d (k)=k pd e d (k)+k id S d (k)T k and the output u of the q-axis current controller q (k)=k pq e q (k)+k iq S q (k)T k , where k pd =L d / Tex =7.2Ω, k id =R / T ex =1.24×10 3 Ω·s -1 k pq =L q / T ex =19Ω, k iq =R / T ex =1.24×10 3 Ω·s -1 ;

[0141] Step 17: Calculate the d-axis voltage and q-axis voltage of the motor.

[0142]

[0143] Step 18, Data Update S d (k-1)=S d (k), S q (k-1)=S q (k), U d (k-1)=U d (k), U q (k-1)=U q (k);

[0144] Step 19: Calculate the three-phase stator voltage of the motor.

[0145] As input for PWM modulation.

Claims

1. A field-replaceable servo drive device for an integrated artillery electronic system, characterized in that, It includes a hot-insertion / pull-out detection unit, a field-replaceable main circuit unit, a field-replaceable detection unit, a field-replaceable power management unit, and a field-replaceable control unit; The hot-insertion / pull-out detection unit is used to detect whether the servo drive device is inserted into the chassis motherboard. The hot-insertion / removal detection unit acquires the control power supply voltage input from the power management unit and the bus power supply voltage input from the main circuit unit; when the control power supply voltage V... C ≥μ C V C_norm , where 0.2≤μ C ≤0.5, V C_norm To control the nominal voltage value, and the bus power supply voltage V M ≥μ M V M_norm , 0.2≤μ M ≤0.5, V M_norm The nominal value of the bus power supply voltage; after a delay τ D Afterwards, the hot-insertion / removal detection unit finally outputs a valid level, i.e., the hot-insertion / removal detection signal; otherwise, when V... C <μ C V C_norm or V M <μ M V M_norm At that time, the hot-insertion / removal detection signal is at an invalid level; The field-replaceable main circuit unit includes a main circuit power-on circuit, a main circuit discharge circuit, and a three-phase inverter bridge circuit. When the hot-insertion / removal detection signal is invalid, the main circuit power-on circuit is in the off state, and the main circuit discharge circuit is in the on state, releasing the charge of the bus capacitor of the three-phase inverter bridge circuit. The main circuit power-on ready signal outputs an invalid level. When the hot-insertion / removal detection signal is valid, the main circuit discharge circuit is in the off state, and the main circuit power-on circuit, after a dead time τ... dead Then it transitions from the off state to the working state, charging the bus capacitor of the three-phase inverter bridge circuit, where τ dead ≥10ms, when the bus capacitor voltage is greater than ηV M When the three-phase inverter bridge circuit bus is short-circuited to the main circuit unit bus power input, where 0.8≤η≤0.95, the main circuit is ready to output a valid signal level. The three-phase inverter bridge circuit is used to drive the three-phase servo motor. When the hot-insertion detection signal is invalid, the drive pulse of each switch in the three-phase inverter bridge circuit is blocked, and each switch in the three-phase inverter bridge circuit is in the off state. When the hot-insertion detection signal is valid, the drive pulses of all switches in the three-phase inverter bridge circuit are unblocked and it is in normal PWM control state. The field-replaceable detection unit includes a motor rotary transformer detection circuit and a motor line current detection circuit; the motor rotary transformer detection circuit first generates an excitation signal V = V for the motor rotary transformer. m sinωt, where V m ω is selected according to the specifications of the motor's rotary transformer. The excitation signal drives the motor's rotary transformer through the switching logic circuit and the power amplifier circuit. After passing through the switching logic circuit, the excitation signal output becomes: The power amplifier circuit enhances the current output capability of the excitation signal. The sine and cosine signals fed back from the motor rotary transformer are converted into the motor position value by the shaft angle conversion circuit. The motor line current detection circuit adjusts the A-phase current detection value, B-phase current detection value, and C-phase current detection value from the LRMs connector into A-phase current value, B-phase current value, and C-phase current value signals that meet the input voltage range requirements of the A / D converter through the conditioning circuit. The secondary power supply for the servo drive device is completed based on the field-replaceable power management unit. The control power supply Vc first passes through the soft start circuit and is transformed twice to generate +5V±0.1V, +12V±0.5V, and -12V±0.5V to power the field-replaceable control unit, and is transformed into 6 isolated +15V±0.5V power supplies to power the gate drive circuit. The system uses a replaceable control unit to collect motor position data, motor three-phase current data, and main circuit power-on ready signal data.

2. The field-replaceable servo drive device for an integrated artillery electronic system according to claim 1, characterized in that, The effective level is either high or low.

3. The field-replaceable servo drive device for an integrated artillery electronic system according to claim 1, characterized in that, The τ D The range of values ​​is 0.5s≤τ D ≤5s.

4. The field-replaceable servo drive device for an integrated artillery electronic system according to claim 1, characterized in that, The three-phase inverter bridge circuit uses IGBTs or MOSFETs.

5. A field-replaceable servo drive device for an integrated artillery electronic system according to claim 1, characterized in that, The control steps for the servo drive device based on the field-replaceable control unit are as follows: Step 1: Read the motor position θ m (k), calculate the motor angular velocity ω m (k)=[θ m (k)-θ m (k-1)] / T k , where θ m (k) and θ m (k-1) represent the motor position at sampling time k and sampling time k-1, respectively, T k The sampling period; Step 2: Read the motor angular velocity setpoint ω m * (k), calculate the angular velocity error e ω (k)=ω m * (k)-ω m (k); Step 3: Calculate the logical variables: a(k)=[(I * (k-1)≥I lim )AND(e ω (k)<0)]OR[(I * (k-1)≤-I lim )AND(e ω (k)>0)] OR[|I * (k-1)|<I lim ] Among them, I * (k-1) is the current reference value at sampling time k-1, I lim This is the current limiting value, and its range is 0. lim ≤I max ,​ I max This represents the maximum output current of the motor. AND is the logical AND operation, and OR is the logical OR operation. The value is 1 when the expression a(k) is true, and 0 otherwise. Step 4: When the main circuit is powered on and ready to output a valid signal level, calculate the accumulated angular velocity error S. ω (k)=S ω (k-1)+a(k)e ω (k), otherwise S ω (k)=0, where S ω (k), S ω (k-1) represents the cumulative angular velocity error at sampling time k and sampling time k-1, respectively; Step 5: Calculate the angular velocity controller output u ω (k)=k pω e ω (k)+k iω S ω (k)T k , where k pω =2Jω n / C T , Where J is the total moment of inertia referred to the motor shaft, and C T Motor torque current coefficient, ω n The desired frequency response of angular velocity, with a value range of 10s. -1 ≤ω n ≤60s -1 ; Step 6: Calculate the variables Where I lim This is the current limiting value; Step 7: Calculate the current setpoint I * (k)=(1-b(k))(1-c(k))u ω (k)+I lim b(k)-I lim c(k); Step 8: Update Status I * (k-1)=I * (k), S ω (k-1)=S ω (k); Step 9: Read the three-phase current value i of the motor A (k), i B (k), i C (k); Step 10: Calculate the motor electrical angle θ e (k)=p n (θ m (k)-θ m0 ), where p n Let θ be the number of pole pairs of the motor. m0 This refers to the zero-position angle of the motor rotary transformer. Step 11: Calculate the motor d-axis current I d (k) and q-axis current I q (k): Step 12: Calculate the motor d-axis current setpoint and q-axis current setpoint in, A = ψ r / (2(L d -L q )), L d L q These are the d-axis inductance and q-axis inductance of the motor, respectively, ψ r For the magnetic flux linkage of the motor rotor poles; Step 13: Calculate the motor d-axis current error e d (k) and q-axis current error e q (k): Step 14: Calculation: Among them, U d (k-1), U q (k-1) represent the d-axis voltage and q-axis voltage at time k-1, respectively. dlim U qlim These are the d-axis voltage limiting and the q-axis voltage limiting, with a value range of U. dlim ≤0.5U dc U qlim ≤0.5U dc U dc This is the bus voltage of the servo drive device. It takes the value of 1 when the expression is true, and 0 otherwise. Step 15: When the main circuit is powered on and ready to output a valid signal level, calculate the cumulative value S of the motor d-axis current error. d (k) and q-axis current error cumulative value S q (k): Otherwise, S d (k)=0、S q (k) = 0, where S d (k-1), S d (k) represents the cumulative d-axis current error at time k-1 and time k, respectively, S q (k-1), S q (k) represents the cumulative q-axis current error at time k-1 and time k, respectively; Step 16: Calculate the d-axis current controller output u d (k)=k pd e d (k)+k id S d (k)T k and the output u of the q-axis current controller q (k)=k pq e q (k)+k iq S q (k)T k , where k pd =L d / T ex k id =R / T ex k pq =L q / T ex k iq =R / T ex R is the resistance of each phase winding of the motor, T ex The desired closed-loop time constant is defined as 0.5 ms ≤ T. ex ≤2ms; Step 17: Calculate the d-axis voltage and q-axis voltage of the motor: Step 18: Data Update S d (k-1)=S d (k), S q (k-1)=S q (k), U d (k-1)=U d (k), U q (k-1)=U q (k); Step 19: Calculate the three-phase stator voltage of the motor; As input for PWM modulation.

6. A field-replaceable servo drive device for an integrated artillery electronic system according to claim 5, characterized in that, The sampling period T k The value range is 0.02ms ≤ T k ≤0.2ms.

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