High-power-density driving and energy control integrated electromechanical servo mechanism

Abstract

The invention discloses a high-power-density driving and energy control integrated electromechanical servo mechanism. Control drive components are integrated into an intelligent microsystem through the SIP stacking technology, high integration and miniaturization of a control driver are achieved, and the problems of heat dissipation and heat conduction are solved by attaching the metal adapter plate to the surface of the shell. The semi-solid lithium ion battery pack is used as an energy part, the appearance of the battery pack is designed according to shell structure matching, and the total envelope size is reduced. Meanwhile, the peak current output capability of the power supply is fused with a motor acceleration control method, and the regenerative electric energy absorption capability of the power supply is fused with a motor deceleration control method; a driver direct current bus input filter capacitor and a power supply output capacitor are fused, power supply output current and voltage detection and driver bus voltage monitoring are fused, and the optimal design of energy control driving comprehensive performance is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerospace electromechanical actuators, and in particular to a high-power-density drive-control-energy integrated electromechanical servo mechanism. BACKGROUND

[0002] In the field of aerospace, the traditional electromechanical servo system includes multiple independent single machines such as electromechanical actuators, control drivers, cable networks, and servo power supplies. With the development of materials, manufacturing, and electronic technologies, new demands for miniaturization, lightweight, and intelligentization of electromechanical servo systems in the field of aerospace equipment have further increased. In the traditional electromechanical servo system, the weight of each single machine structure is difficult to further reduce, and the cable connection relationship between each single machine is complex, and a large number of connection cables and connectors cannot be simplified.

[0003] The existing integrated servo motor only involves a motor module and a drive module, and does not integrate transmission components such as screw rods or gear reducers of the electromechanical servo system. The system using the existing integrated servo motor still has more single machines, and the supporting relationship is complex. The aerospace equipment field has higher requirements for the miniaturization and lightweight of the electromechanical servo system, and the existing integrated servo motor still needs to be matched with corresponding transmission components, energy modules, and power supply cable networks, so it is difficult to further reduce the total weight of the electromechanical servo system.

[0004] The current integrated electromechanical servo mechanism has simplified the connection relationship between each single machine after integrating the control driver and the electromechanical actuator (including the servo motor and the transmission component). However, the integrated electromechanical servo mechanism still has power cable connections with the energy part. If the electromechanical actuator and the servo power supply are integrated, the technical difficulties lie in the heat generation, heat dissipation, and heat conduction of the servo power supply, which are difficult to solve, and the influence on the servo motor position sensor and the control driver is difficult to reduce. At the same time, higher requirements are put forward for the power density, mechanical environment adaptability, and safety performance of the control driver and the energy part. SUMMARY

[0005] The present application provides a high-power-density drive-control-energy integrated electromechanical servo mechanism, which is a highly integrated servo mechanism with transmission, driving, control, and energy. By highly integrating the control driving module intelligent microsystem, the semi-solid lithium ion battery pack, the high-speed lightweight frameless motor, the ball screw, and the sensing and measuring part, the assembly integration of the electromechanical servo system is realized, the connection cables of each single machine of the transmission electromechanical servo system are simplified, and the power density of the electromechanical servo system is further improved.

[0006] In a first aspect, a high-power-density drive-control-energy integrated electromechanical servo mechanism is provided, which includes an actuator housing, a screw transmission part, a servo motor, a control driving intelligent microsystem, a semi-solid battery pack, an upper ear assembly, and a lower ear assembly.

[0007] The actuator shell comprises a motor cavity, a screw cavity, a control drive cavity, a battery pack cavity, and a lead slot; the upper lug assembly, the motor cavity, the screw cavity, and the lower lug assembly are sequentially distributed along the axis; the servo motor is accommodated in the motor cavity, the screw transmission part is accommodated in the screw cavity, and the servo motor is used to provide driving to the screw transmission part; the control drive cavity is located at the first side of the motor cavity and the screw cavity; the control drive intelligent microsystem is accommodated in the control drive cavity; the battery pack cavity is located at the second side of the motor cavity and the screw cavity; the semi-solid battery pack is accommodated in the battery pack cavity; the lead slot is connected between the control drive cavity and the battery pack cavity in a direction perpendicular to the axis of the motor cavity and the screw cavity, and is located at one side of the screw cavity; the power output line of the semi-solid battery pack in the battery pack cavity is accommodated in the lead slot, so that the power output line is guided to the control drive intelligent microsystem in the control drive cavity; the motor cavity and the control drive cavity are communicated through a through hole; the lead of the servo motor is directly introduced into the control drive cavity through the through hole.

[0008] In combination with the first aspect, in some implementations of the first aspect, the actuator shell forms a first shell opening at the side of the motor cavity, so that the servo motor is loaded into the motor cavity through the first shell opening; the actuator shell forms a second shell opening at the side of the screw cavity, so that the screw transmission part is loaded into the screw cavity through the second shell opening; the actuator shell forms a third shell opening at the side of the control drive cavity, so that the control drive intelligent microsystem is loaded into the control drive cavity through the third shell opening; and the actuator shell forms a fourth shell opening at the side of the battery pack cavity, so that the semi-solid battery pack is loaded into the battery pack cavity through the fourth shell opening.

[0009] In combination with the first aspect, in some implementations of the first aspect, the integrated electromechanical servo mechanism further comprises an input filter capacitor and a contactor, the input filter capacitor and the contactor are accommodated in the control drive cavity, and the input filter capacitor and the contactor are located on both sides of the control drive intelligent microsystem; the input filter capacitor is the input filter capacitor of the driver DC bus; and the contactor is used for switching control of the power output by the semi-solid battery pack.

[0010] In combination with the first aspect, in some implementations of the first aspect, the contactor comprises a coil and an internal contact; the coil inputs a timing control signal through a coil lead-out line; the internal contact is a switch between the semi-solid battery pack and the servo motor; in addition, the input filter capacitor and the control drive microsystem power module are also connected between the semi-solid battery pack and the servo motor.

[0011] With the first aspect, in some implementations of the first aspect, when the coil of the contactor is input with +28V control voltage through the coil lead-out wire by external timing control signal, the internal contact is connected, and the power output by the semi-solid battery pack is connected to the input end of the control and drive micro-system power module; the control and drive micro-system power module converts the power output by the semi-solid battery pack into three-phase power for rotating the servo motor and outputs the three-phase power to the servo motor.

[0012] When the +28V control voltage at both ends of the coil lead-out wire of the contactor is disconnected, the internal contact is disconnected, and the input end of the control and drive micro-system power module is not connected to the high-voltage power signal.

[0013] With the first aspect, in some implementations of the first aspect, the input filter capacitor is integrated with the power supply output capacitor, the power supply output current and voltage detection are integrated with the driver bus voltage monitoring, the motor acceleration control method is combined with the current peak output capability through the bus current low spike control technology, and the motor deceleration control method is combined with the regenerative power absorption capability of the power supply.

[0014] With the first aspect, in some implementations of the first aspect, the control and drive intelligent micro-system is integrated into an intelligent micro-system through a SIP stacking process and is attached to the surface of the actuator shell through a metal adapter plate.

[0015] With the first aspect, in some implementations of the first aspect, all the device lines in the integrated electromechanical servo mechanism are connected to the outside through an electrical connector, so that the number of electromechanical servo system devices is reduced to one.

[0016] With the first aspect, in some implementations of the first aspect, the semi-solid battery pack structure is matched with the battery pack cavity of the actuator shell, and the semi-solid battery pack is attached to the surface of the metal shell.

[0017] The second aspect provides an aerospace equipment, which comprises the integrated electromechanical servo mechanism according to any one of the implementations of the first aspect.

[0018] Compared with the prior art, the scheme provided by the present application has at least the following beneficial technical effects:

[0019] (1) The present application proposes a scheme in which the main components of the control and drive system are integrated into an intelligent micro-system through a SIP stacking process and are attached to the surface of the shell through a metal adapter plate, further realizing the high integration and miniaturization of the control and drive, and solving the heat dissipation and heat conduction problem after the integration of the drive controller and the actuator. The present application matches the energy part shape with the actuator shell structure, highly utilizes the irregular space in the actuator shell, and further reduces the overall envelope size of the integrated servo mechanism.

[0020] (2) The design scheme of the application uses a semi-solid lithium ion battery group with high energy density as an energy source part, which can highly utilize the irregular space in the actuator shell, match the battery group shape according to the actuator shell structure, and place the control driving module and the energy module on both sides of the transmission assembly, thereby reasonably partitioning strong and weak electrical signals and further reducing the total envelope size of the system. The above-mentioned high integration and integration overall design scheme makes the servo mechanism have higher power density and safety, and at the same time, the number of electromechanical servo system devices is reduced to one, there is no connection cable between devices, and the weight is reduced by more than 20% compared with the weight of the traditional same grade servo system.

[0021] (3) The application proposes an electromechanical servo control driving strategy based on energy bidirectional management and control. In terms of control strategy, the power supply peak current output capability is combined with the motor acceleration control method, and the power supply regenerative energy absorption capability is combined with the motor deceleration control method; in terms of hardware, the drive DC bus input filter capacitor is combined with the power supply output capacitor, and the power supply output current and voltage detection is combined with the drive bus voltage monitoring, thereby realizing the optimal design of the comprehensive performance of energy control driving without affecting the high dynamic characteristics of the servo system.

[0022] (4) The application realizes the high integration and integration of transmission, control, driving and energy of the electromechanical servo system overall design, so that the number of electromechanical servo system devices is reduced to one, there is no connection cable between devices, and the total weight is reduced by more than 20% compared with the total weight of the traditional same power level servo system. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a general layout diagram in the embodiment of the application.

[0024] Figure 2 It is an actuator shell structure diagram in the embodiment of the application.

[0025] Figure 3 It is an integrated actuator assembly diagram in the embodiment of the application.

[0026] Figure 4 It is a control driving part structure diagram in the embodiment of the application.

[0027] Figure 5 It is a servo energy part structure diagram in the embodiment of the application.

[0028] Figure 6 It is a power electrical connection principle diagram in the embodiment of the application.

[0029] Figure 7 It is a schematic diagram of the electromechanical servo control driving strategy based on energy bidirectional management and control in the embodiment of the application. DETAILED DESCRIPTION

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 As shown, the present invention provides a high power density drive and control integrated electromechanical servo mechanism, including an actuator housing 1, a lead screw transmission part 2, a servo motor 3, a control and drive intelligent microsystem 4, a semi-solid battery pack 5, an upper support assembly 6, and a lower support assembly 7.

[0032] like Figure 2 As shown, the actuator housing 1 includes a motor cavity 8, a lead screw cavity 9, a control drive cavity 10, a battery pack cavity 11, and a lead wire groove 12. The upper support assembly 6, motor cavity 8, lead screw cavity 9, and lower support assembly 7 are sequentially distributed along the axis. A servo motor 3 is housed within the motor cavity 8, and a lead screw transmission part 2 is housed within the lead screw cavity 9. The servo motor 3 provides drive to the lead screw transmission part 2. The control drive cavity 10 is located on the first side of both the motor cavity 8 and the lead screw cavity 9. A control drive intelligent microsystem 4 is housed within the control drive cavity 10. The battery pack cavity 11 is located on the second side of both the motor cavity 8 and the lead screw cavity 9. A semi-solid-state battery pack 5 is housed within the battery pack cavity 11. The lead wire groove 12 connects the control drive cavity 10 and the battery pack cavity 11 along a direction perpendicular to the axis of the motor cavity 8 and the lead screw cavity 9, and is located on one side of the lead screw cavity 9. The power output lines of the semi-solid-state battery pack 5 within the battery pack cavity 11 are housed in the lead groove 12, allowing the power output lines to be guided to the control drive intelligent microsystem 4 within the control drive cavity 10. Furthermore, the motor cavity 8 and the control drive cavity 10 are connected via a through-hole. The leads of the servo motor 3 are directly introduced into the control drive cavity 10 through this through-hole.

[0033] The actuator housing 1 achieves a compact, integrated layout of all parts of the servo mechanism, enabling a rational arrangement of internal leads and proper partitioning of strong and weak electrical signals to improve anti-interference performance. The control and drive intelligent microsystem and the semi-solid-state battery pack are attached to the surface of the metal housing, improving heat dissipation and thermal conductivity.

[0034] like Figure 3As shown, the actuator housing 1 forms a first housing opening on the motor cavity 8 side, so that the servo motor 3 is loaded into the motor cavity 8 through the first housing opening. The actuator housing 1 forms a second housing opening on the screw cavity 9 side, so that the screw transmission part 2 is loaded into the screw cavity 9 through the second housing opening. The actuator housing 1 forms a third housing opening on the control drive cavity 10 side, so that the control drive intelligent microsystem 4 is loaded into the control drive cavity 10 through the third housing opening. The actuator housing 1 forms a fourth housing opening on the battery cavity 11 side, so that the semi-solid battery pack 5 is loaded into the battery cavity 11 through the fourth housing opening. The four housing openings respectively assemble the servo motor 3, the screw transmission part 2, the control drive intelligent microsystem 4 and the semi-solid battery pack 5, which improves the assembly process and meets the requirement of the integrated housing to enhance the structural rigidity.

[0035] As shown, Figure 4 The control drive intelligent microsystem 4 and peripheral components (input filter capacitor 13, contactor 14, which can be located on both sides of the control drive intelligent microsystem 4) are placed in the control drive cavity 10 of the actuator housing. The control drive intelligent microsystem 4 is composed of 3 layers of PCB, from bottom to top, SiC-MOS circuit layer, control circuit layer, power circuit layer. No pin design is used, all electrical signals and power inputs connected to the outside are realized through the embedded connector in the module. High-power devices (mainly SiC) are placed close to the bottom of the module. When the module is encapsulated, the heat conduction block is exposed to the outer surface of the module. During operation, the heat is mainly transferred to the outside of the module through the heat conduction block on the bottom surface, and is attached to the surface of the actuator housing, and the heat is conducted to the outside. The addition of a 30μF drive DC bus input filter capacitor 13 can effectively improve the dynamic characteristics of the servo system and realize the optimal design of the energy control drive comprehensive performance. The use of contactor 14 for switching control of battery power output can improve the safety of the electromechanical servo system. In order to realize the arrangement in a narrow space, a small contactor with a rated current ≥20A, a rated voltage ≥270V and an insulation resistance ≥1000MΩ is customized and developed. The contactor is placed in the lead slot position to reduce the length of the lead wire drawn from the battery part, and the contactor is installed horizontally to reduce the total height of the control drive cavity as much as possible. The components in the control drive cavity are arranged compactly, making efficient use of the internal space of the servo mechanism housing, so as to minimize the overall volume of the servo mechanism. The control drive intelligent microsystem is attached to the surface of the housing through a metal adapter plate, improving the heat dissipation and heat conduction capacity. Each component line is connected to the outside through an electrical connector 15, eliminating the connection cables of each device in the traditional electromechanical servo system, reducing the number of electromechanical servo system devices to one.

[0036] As shown, Figure 5As shown, the application has good comprehensive maintenance, low heating, high energy density, and the ability to absorb and regenerate electric energy. The semi-solid lithium ion battery of the NCA ternary system with good comprehensive performance is used to form the battery scheme of the semi-solid battery pack 5 by optimizing the arrangement of single cell combination. At the same time, the battery pack is not provided with an outer shell, and is integrally installed in the reserved space of the shell. The semi-solid battery pack 5 structure is matched with the actuator shell 1, effectively utilizing the irregular space inside the shell after the installation of the screw transmission part 2 and the servo motor 3, further reducing the total envelope size of the system, and at the same time, the battery pack can be attached to the surface of the metal shell, improving the heat dissipation and heat conduction capacity, and the temperature rise is about 4℃ after 2500s of work. The energy scheme improves the space compactness of the servo mechanism, realizes the high power density requirement and high integration target.

[0037] As shown in Figure 6 The power part of the integrated electromechanical servo mechanism is controlled by means of the contactor 14, which realizes the control of the internal high-voltage power signal by the external low-voltage signal. The contactor 14 includes a coil and internal contacts. The coil inputs the timing control signal through the coil lead-out line. The internal contacts are switches between the semi-solid battery pack 5 and the servo motor 3. In addition, an input filter capacitor 13 and a control driving microsystem power module are connected between the semi-solid battery pack 5 and the servo motor 3.

[0038] When the coil of the contactor 14 is input with +28V control voltage through the coil lead-out line by the external timing control signal, the internal contacts are connected, and the power output by the semi-solid battery pack 5 can be conducted to the input end of the control driving microsystem power module; at the same time, the input filter capacitor 13 is connected in parallel, which effectively improves the dynamic characteristics of the servo system. The control driving microsystem power module converts the power output by the semi-solid battery pack 5 into three-phase power for controlling the rotation of the servo motor 3, and outputs it to the servo motor 3. When the +28V control voltage at both ends of the coil lead-out line of the contactor is disconnected, the internal contacts are disconnected, and there is no high-voltage power signal at the input end of the control driving microsystem power module, which realizes the control of the internal high-voltage power signal by the external low-voltage signal through the above principle.

[0039] Figure 7 It is a schematic diagram of the electromechanical servo control driving strategy based on energy bidirectional control in the embodiment of the application. As shown in Figure 7As shown, in terms of hardware design, the drive DC bus input filter capacitor is integrated with the power output capacitor, and the power output current and voltage detection are integrated with the drive bus voltage monitoring. In terms of control algorithm, the low peak current control drive algorithm reduces the demand for peak current, the TD generates error, which can avoid the current spike caused by instruction mutation, suppress the control quantity fluctuation, smooth the phase current, and reduce the bus current spike from the source; at the same time, the ESO is used for disturbance compensation, which further reduces the current fluctuation caused by load mutation; the motor deceleration control method is integrated with the regenerative power absorption capacity of the power supply, which reduces the demand for battery absorption capacity. Without affecting the high dynamic characteristics of the servo system, the weight of the energy part is further reduced, and the optimal design of the comprehensive performance of the energy control drive is realized.

[0040] The high-power-density drive-control-energy integrated electromechanical servo mechanism provided by the application integrates the control drive module intelligent microsystem, the high-speed lightweight frameless motor, the ball screw and the sensing measurement part, realizes the integration of the electromechanical servo system, simplifies the connection cable of each single machine of the transmission electromechanical servo system, and further improves the power density of the electromechanical servo system. The control drive intelligent microsystem and the semi-solid battery pack are attached to the surface of the metal shell, the heat dissipation and conduction capacity are improved; at the same time, the control drive module and the energy module are arranged on the two sides of the transmission assembly, the strong and weak electricity are separated, the anti-interference, the mechanical environment adaptability and the safety of the integrated electromechanical servo mechanism are improved. Through the control strategy based on energy two-way control, the motor acceleration control method is combined with the current peak output capacity, the demand for peak current and battery absorption capacity is reduced, and the battery weight is further reduced. Through the above integrated control and management strategy of control / drive / energy management, the optimal design of the comprehensive performance of the drive-control-energy integrated electromechanical servo mechanism is realized.

[0041] Although the application is disclosed with the preferred embodiments as above, it is not intended to limit the application, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the application, therefore, the protection scope of the application should be subject to the scope defined by the claims of the application.

Claims

1. A high-power-density integrated electromechanical servo mechanism for drive and control, characterized in that, The actuator shell (1) includes a motor cavity (8), a screw cavity (9), a control driving cavity (10), a battery cavity (11), a lead slot (12); the upper lug assembly (6), the motor cavity (8), the screw cavity (9), and the lower lug assembly (7) are sequentially distributed along the axis, the servo motor (3) is accommodated in the motor cavity (8), the screw driving part (2) is accommodated in the screw cavity (9), and the servo motor (3) is used to provide driving to the screw driving part (2); the control driving cavity (10) is located at the first side of the motor cavity (8) and the screw cavity (9); the control driving intelligent microsystem (4) is accommodated in the control driving cavity (10); the battery cavity (11) is located at the second side of the motor cavity (8) and the screw cavity (9); the semi-solid battery pack (5) is accommodated in the battery cavity (11); the lead slot (12) is connected between the control driving cavity (10) and the battery cavity (11) in a direction perpendicular to the axis of the motor cavity (8) and the screw cavity (9), and is located on one side of the screw cavity (9); the power output line of the semi-solid battery pack (5) in the battery cavity (11) is accommodated in the lead slot (12), so that the power output line is guided to the control driving intelligent microsystem (4) in the control driving cavity (10); the motor cavity (8) and the control driving cavity (10) are communicated through a through hole; the lead of the servo motor (3) is directly introduced into the control driving cavity (10) through the through hole. The actuator shell (1) forms a first shell opening at the side of the motor cavity (8) to enable the servo motor (3) to be loaded into the motor cavity (8) through the first shell opening; the actuator shell (1) forms a second shell opening at the side of the screw cavity (9) to enable the screw driving part (2) to be loaded into the screw cavity (9) through the second shell opening; the actuator shell (1) forms a third shell opening at the side of the control driving cavity (10) to enable the control driving intelligent microsystem (4) to be loaded into the control driving cavity (10) through the third shell opening; the actuator shell (1) forms a fourth shell opening at the side of the battery cavity (11) to enable the semi-solid battery pack (5) to be loaded into the battery cavity (11) through the fourth shell opening.

2. The integrated electromechanical actuator of claim 1, wherein, The integrated electromechanical servo mechanism further comprises an input filter capacitor (13) and a contactor (14), which are accommodated in the control driving cavity (10) and located on both sides of the control driving intelligent microsystem (4); the input filter capacitor (13) is an input filter capacitor of a driver DC bus; the contactor (14) is used for switching control of the power output by the semi-solid battery pack (5).

3. The integrated electromechanical actuator of claim 1, wherein, ​ 4. An integrated electromechanical actuator according to claim 3, wherein, The contactor (14) includes a coil and an internal contact; the coil inputs a timing control signal through a coil lead-out wire; the internal contact is a switch between the semi-solid battery pack (5) and the servo motor (3); in addition, an input filter capacitor (13) and a control driving micro-system power module are connected between the semi-solid battery pack (5) and the servo motor (3).

5. An integrated electromechanical actuator according to claim 4, wherein, When the coil of the contactor (14) inputs a +28V control voltage through the coil lead-out wire from an external timing control signal, the internal contact is connected, and the power output by the semi-solid battery pack (5) is connected to the input end of the control driving micro-system power module; the control driving micro-system power module converts the power output by the semi-solid battery pack (5) into three-phase power for rotating the servo motor (3) and outputs the three-phase power to the servo motor (3). When the +28V control voltage at both ends of the coil lead-out wire of the contactor is disconnected, the internal contact is disconnected, and the input end of the control driving micro-system power module has no high-voltage power signal.

6. The integrated electromechanical actuator of claim 3, wherein, The input filter capacitor (13) is integrated with the power output capacitor, the power output current and voltage detection are integrated with the driver bus voltage monitoring, the motor acceleration control method is combined with the current peak output capability through the bus current low spike control technology, and the motor deceleration control method is combined with the regenerative power absorption capability of the power supply.

7. The integrated electromechanical actuator of claim 1, wherein, The control driving intelligent micro-system (4) is integrated into an intelligent micro-system through an SIP stacking process and is attached to the surface of the actuator shell (1) through a metal adapter plate.

8. The integrated electromechanical actuator of claim 1, wherein, All the lines of the components in the integrated electromechanical servo mechanism are connected to the outside through the electrical connector (15), so that the number of electromechanical servo system devices is reduced to one.

9. The integrated electromechanical actuator of claim 1, wherein, The semi-solid battery pack (5) is matched with the battery pack cavity (11) of the actuator shell (1) in structure and is attached to the surface of the metal shell.

10. An aerospace equipment, characterized by, The aerospace equipment includes the integrated electromechanical servo mechanism according to any one of claims 1 to 9.

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