Steering engine limiting device based on photoelectric matrix

Abstract

The invention relates to the technical field of steering engine limiting, particularly discloses a steering engine limiting device based on a photoelectric matrix, and aims at solving the technical problems that a traditional steering engine limiting scheme is high in cost, complex in control and the like. The device comprises a photoelectric limiting main control module, a signal conversion and transmission module, a photoelectric matrix detection array, a shielding piece linkage mechanism, an operation state monitoring module and a fault early warning and protection module. Wherein the photoelectric limiting main control module can collect steering engine and environment data, and can complete control linkage and alarm early warning; the photoelectric matrix detection array adopts a non-contact detection principle, and captures the motion state of the steering engine through a shielding piece linkage mechanism; the signal conversion and transmission module is used for guaranteeing stable communication among all parts, and the operation state monitoring module can obtain equipment parameters. Mechanical abrasion can be avoided so that the service life can be prolonged, the environmental reliability under the complex working condition can be improved, the maintenance cost can be reduced, the limiting requirements of different devices can be met, and stable and reliable limiting performance can be kept.

Description

TECHNICAL FIELD

[0001] The application relates to a rudder limiting device based on an optoelectronic matrix. BACKGROUND

[0002] In the current market, a rudder is a key part of a system such as an unmanned aerial vehicle, a robot or an aerospace device, and the limiting control of the rudder will directly affect the stability of the device. However, the traditional rudder limiting scheme mainly includes mechanical limiting, single-encoder limiting and multi-stage mechanical structure limiting, wherein the mechanical limiting limits the rotation range of the rudder through a physical stop block, has the problems of large wear, short service life and high response delay; the single-encoder limiting detects the position by using a Hall encoder, is prone to misjudgment due to electromagnetic interference and has limited resolution; and the multi-stage mechanical structure limiting realizes multi-stage limiting through a gear set, also has the problems of complex structure, large size and high cost. At present, as a non-contact detection technology, the optoelectronic matrix has the advantages of high resolution, wear resistance and fast response speed, but in the application of the rudder limiting field, the optoelectronic matrix still faces problems such as how to ensure high-density light path layout and signal stability in a limited space. SUMMARY

[0003] The application aims to provide a rudder limiting device based on an optoelectronic matrix.

[0004] To achieve the above-mentioned purpose, the application provides the following technical scheme.

[0005] A rudder limiting device based on an optoelectronic matrix, comprising an optoelectronic limiting master module, a signal conversion and transmission module, an optoelectronic matrix detection array, a shielding piece linkage mechanism, an operating state monitoring module and a fault early warning and protection module.

[0006] The optoelectronic limiting master module realizes control linkage and alarm and early warning functions through collected rudder and environmental data; the signal conversion and transmission module realizes communication management of the whole system; the optoelectronic limiting master module is connected with the optoelectronic matrix detection array and the operating state monitoring module through the signal conversion and transmission module; the optoelectronic limiting master module is connected with the shielding piece linkage mechanism; the optoelectronic limiting master module and the fault early warning and protection module are in bidirectional communication; the shielding piece linkage mechanism and the optoelectronic matrix detection array are mechanically coupled, and the operating state monitoring module and the optoelectronic matrix detection array are electrically connected.

[0007] Preferably, the operating state monitoring module comprises a rudder physical parameter acquisition unit and an electrical performance monitoring unit; the rudder physical parameter acquisition unit is used for acquiring temperature and vibration parameters of the rudder; and the electrical performance monitoring unit is used for monitoring current and voltage parameters of the rudder.

[0008] Preferably, the photoelectric limit master module obtains the rudder movement trajectory parameters collected by the photoelectric matrix detection array through the signal conversion and transmission module, then filters, amplifies and digitally de-bounces the rudder movement trajectory parameters, and outputs the PWM control signal to the shielding piece linkage mechanism; the photoelectric limit master module sends the rudder limit state data to the aircraft master control system through the ARINC429 bus; at the same time, the photoelectric limit master module receives the running state monitoring module to collect preferably, the photoelectric matrix detection array includes a 0.3mm thick titanium alloy shielding piece rotating synchronously with the rudder shaft, a fixedly installed 8x8 micro photoelectric pair tube array, and a photoelectric signal jump detection mechanism based on light path shielding; the photoelectric signal jump detection mechanism based on light path shielding adopts Manchester coding.

[0009] Preferably, the photoelectric matrix detection array transmits the collected rudder position data back to the photoelectric limit master module through the signal conversion and transmission module, forming a closed loop control; the resolution of the rudder position data is 0.05°.

[0010] Preferably, the signal conversion and transmission module is a self-developed intelligent gateway (1.0), which supports 485 bus and WiFi communication, and is used to connect the photoelectric matrix detection array and the running state monitoring module.

[0011] Preferably, the running state monitoring module is a self-developed signal sampling center (1.0), which obtains the signals of the rudder physical parameter acquisition unit and the electrical performance monitoring unit through the bus.

[0012] Preferably, the rudder physical parameter acquisition unit and the electrical performance monitoring unit are both self-developed signal sampling nodes (1.0); the rudder physical parameter acquisition unit is also used to collect illumination and dust environmental parameters; the electrical performance monitoring unit is used to collect voltage and current electrical parameters of the rudder.

[0013] Preferably, the fault warning and protection module includes an audible and visual alarm unit and a smoke alarm unit, both of which are controlled by the photoelectric limit master module.

[0014] Preferably, the photoelectric limit master module includes a self-developed flat end management control system (1.0), which runs an autonomous operating system and is used to realize data acquisition, rudder control, alarm and interaction with the aircraft master control system.

[0015] The application can solve the technical problems of high cost and complex control of the traditional rudder limiting scheme, and can meet the demand of high-precision equipment for rudder limiting.

[0016] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, and can be implemented according to the content of the specification, the following is the preferred embodiment of the application and the detailed description of the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a schematic diagram of the main structure of the application;

[0018] Fig. 2 It is a schematic diagram of the running state monitoring module structure of the application;

[0019] In the figure: 1-optoelectronic limiting main control module; 2-signal conversion and transmission module; 3-optoelectronic matrix detection array; 4-shielding piece linkage mechanism; 5-running state monitoring module; 6-fault early warning and protection module; 7-rudder physical parameter acquisition unit; 8-electrical performance monitoring unit; 9-aircraft main control system. DETAILED DESCRIPTION

[0020] The technical scheme of the application will be described in detail below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the application.

[0021] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0023] As shown in Figs. 1-2 A kind of rudder limit position device based on photoelectric matrix, including photoelectric limit master module 1, signal conversion and transmission module 2, photoelectric matrix detection array 3, shielding piece linkage mechanism 4, operating state monitoring module 5, fault early warning and protection module 6.

[0024] Photoelectric limit master module 1 is used to realize control linkage and alarm warning function by the collected rudder and environmental data;Signal conversion and transmission module 2 is used to realize the communication management of the whole system;Photoelectric limit master module 1 is connected with photoelectric matrix detection array 3 and operating state monitoring module 5 through signal conversion and transmission module 2;Photoelectric limit master module 1 and shielding piece linkage mechanism 4 are connected;Photoelectric limit master module 1 and fault early warning and protection module 6 are in two-way communication;Shielding piece linkage mechanism 4 and photoelectric matrix detection array 3 are mechanically coupled, and operating state monitoring module 5 and photoelectric matrix detection array 3 are electrically connected.

[0025] Specifically, operating state monitoring module 5 includes rudder physical parameter acquisition unit 7 and electrical performance monitoring unit 8;Rudder physical parameter acquisition unit 7 is used to collect the temperature, vibration parameters of rudder;Electrical performance monitoring unit 8 is used to monitor the current, voltage parameters of rudder.

[0026] Specifically, photoelectric limit master module 1 obtains the rudder motion trajectory parameters collected by photoelectric matrix detection array 3 through signal conversion and transmission module 2, carries out filtering, amplification and digital de-bouncing processing on the rudder motion trajectory parameters, and then outputs PWM control signal to shielding piece linkage mechanism 4;Photoelectric limit master module 1 sends rudder limit position state data to aircraft master control system 9 through ARINC429 bus;At the same time, photoelectric limit master module 1 receives the parameters collected by operating state monitoring module 5, and triggers fault early warning and protection module 6 based on preset threshold.

[0027] Specifically, the photoelectric matrix detection array 3 includes a 0.3mm thick titanium alloy shield that rotates synchronously with the rudder shaft, an 8x8 micro photoelectric tube array fixedly installed, and a photoelectric signal jump detection mechanism based on light path shielding; the edge precision of the 0.3mm thick titanium alloy shield is ±0.01mm; the pitch of the 8x8 micro photoelectric tube array is 0.5mm, and a time division multiplexing addressing mode is adopted; the photoelectric signal jump detection mechanism based on light path shielding adopts Manchester coding, and the service life of the photoelectric matrix detection array 3 is >100 million times.

[0028] Specifically, the photoelectric matrix detection array 3 transmits the collected rudder position data to the photoelectric limit main control module 1 through the signal conversion and transmission module 2, forming a closed-loop control; the resolution of the rudder position data is 0.05°.

[0029] Specifically, the signal conversion and transmission module 2 is a self-developed intelligent gateway (1.0), which supports 485 bus and WiFi communication, and is used to connect the photoelectric matrix detection array 3 and the running state monitoring module 5.

[0030] Specifically, the running state monitoring module 5 is a self-developed signal sampling terminal (1.0), which acquires signals of the rudder physical parameter acquisition unit 7 and the electrical performance monitoring unit 8 through a bus.

[0031] Specifically, the rudder physical parameter acquisition unit 7 and the electrical performance monitoring unit 8 are both self-developed signal sampling nodes (1.0); the rudder physical parameter acquisition unit 7 is also used to collect illumination and dust environmental parameters; the electrical performance monitoring unit 8 is used to collect voltage and current electrical parameters of the rudder.

[0032] Specifically, the fault early warning and protection module 6 includes an audible and visual alarm unit and a smoke alarm unit, both of which are controlled by the photoelectric limit main control module 1.

[0033] Specifically, the photoelectric limit main control module 1 includes a self-developed tablet terminal management control system (1.0), which runs an independent operating system and is used to realize data acquisition, rudder control, alarm, and interaction with the aircraft main control system 9.

[0034] In this embodiment, the photoelectric matrix-based rudder limit device is applied to the rudder control system of a certain civil passenger aircraft. As the core component of aircraft attitude control, the rudder needs to meet the requirements of a limit precision not greater than ±0.05 degrees, a response time not greater than 10 milliseconds, and a service life not less than 100 million times, and needs to operate stably in an aviation environment of minus 55 degrees Celsius to 125 degrees Celsius and strong electromagnetic interference, in order to solve the technical problems of traditional mechanical limit wear and drift, and single-encoder limit misjudgment caused by electromagnetic interference.

[0035] Each module of this system is equipped as described above, conforming to the aviation-grade DC servo motor's rated voltage of 28V, rated current of 3A, and maximum rotation angle of ±45 degrees. The photoelectric limit main control module 1 has a built-in self-developed tablet terminal management and control system and supports the ARINC429 bus. The photoelectric matrix detection array 3 is equipped with an 8×8 miniature photoelectric pair array and a 0.3 mm thick titanium alloy shielding plate, adopting a Manchester encoding detection mechanism with a position data resolution of 0.05 degrees. The signal conversion and transmission module 2 is a self-developed intelligent gateway supporting 485 bus and WiFi communication. The operation status monitoring module 5 includes a servo motor physical parameter acquisition unit 7 and an electrical performance monitoring unit 8, which can collect physical parameters such as temperature and vibration, as well as electrical parameters such as current and voltage. The fault early warning and protection module 6 is equipped with audible and visual alarms and smoke alarms.

[0036] In terms of system connection, the titanium alloy shielding plate is coaxially connected to the servo shaft via a coupling, maintaining a 1.0 mm non-contact gap with the photoelectric pair array. The photoelectric matrix detection array 3 is fixed to the servo housing via an aluminum alloy bracket. In terms of electrical connection, the photoelectric matrix detection array 3 is connected to the intelligent gateway via a shielded 485 bus, and then communicates with the photoelectric limit control module 1 via WiFi. The acquisition nodes of the operation status monitoring module 5 are respectively installed on the servo housing and the power supply line and cascaded to the gateway. The photoelectric limit control module 1 is connected to the aircraft main control system 9 via an ARINC429 bus. The fault warning and protection module 6 is connected to the photoelectric limit control module 1 via an I2C bus. All wiring uses aviation-grade shielded wire and follows the corresponding specifications.

[0037] The system operates using a closed-loop feedback mechanism. After the aircraft is powered on, the photoelectric limit control module 1 completes a self-test and sends a "ready signal." Then, the operation status monitoring module 5 initiates sensor calibration and sets parameter thresholds. When the aircraft main control system 9 sends a rotation command, the servo shaft drives the shield to rotate synchronously. Subsequently, the photoelectric matrix detection array 3 converts the optical path obstruction signal into an electrical signal and parses it into position data. This data is then transmitted to the photoelectric limit control module 1 via the gateway. The main control module filters and de-jitters the data and outputs a PWM control signal to the shield linkage mechanism 4. The servo damping is finely adjusted to achieve the limit, and then the limit is sent back to the aircraft main control system 9. During operation, the operation status monitoring module 5 collects data in real time. When parameters exceed the limits, the photoelectric limit control module 1 triggers a fault warning and the protection module 6 initiates alarm and protection measures. In case of extreme faults, the servo power supply will be cut off and the backup limit will be activated. The system automatically completes three-point calibration every hour of operation to ensure long-term operational accuracy.

[0038] In summary

[0039] Applying this device can extend the service life of servo motors without mechanical wear, reduce maintenance costs, improve limit accuracy, meet aviation standards for electromagnetic interference resistance, and shorten downtime due to malfunctions. This device can also be adapted to UAV servo motors by adjusting dimensions and power supply methods, and to industrial robot servo motors by expanding bus functions and adding sensors, showing great market potential.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A photoelectric matrix-based rudder position limiting invention device, characterized in that, It comprises a photoelectric limit main control module (1), a signal conversion and transmission module (2), a photoelectric matrix detection array (3), a shielding piece linkage mechanism (4), an operating state monitoring module (5), a fault early warning and protection module (6). The photoelectric limit main control module (1) realizes control linkage and alarm warning functions through collected rudder and environmental data; the signal conversion and transmission module (2) realizes communication management of the whole system; the photoelectric limit main control module (1) is connected with the photoelectric matrix detection array (3) and the operating state monitoring module (5) through the signal conversion and transmission module (2); the photoelectric limit main control module (1) is connected with the shielding piece linkage mechanism (4); the photoelectric limit main control module (1) and the fault early warning and protection module (6) are in bidirectional communication; the shielding piece linkage mechanism (4) and the photoelectric matrix detection array (3) are mechanically coupled, and the operating state monitoring module (5) and the photoelectric matrix detection array (3) are electrically connected.

2. The photoelectric matrix-based rudder position limiting device according to claim 1, characterized in that, The operating state monitoring module (5) comprises a rudder physical parameter acquisition unit (7) and an electrical performance monitoring unit (8); the rudder physical parameter acquisition unit (7) is used for collecting temperature and vibration parameters of the rudder; and the electrical performance monitoring unit (8) is used for monitoring current and voltage parameters of the rudder.

3. The photoelectric matrix-based rudder position limiting device according to claim 1, characterized in that, The photoelectric limit main control module (1) obtains rudder motion trajectory parameters collected by the photoelectric matrix detection array (3) through the signal conversion and transmission module (2), then carries out filtering, amplification and digital de-bouncing processing on the rudder motion trajectory parameters, and outputs a PWM control signal to the shielding piece linkage mechanism (4); the photoelectric limit main control module (1) sends rudder limit state data to an aircraft main control system (9) through an ARINC429 bus; at the same time, the photoelectric limit main control module (1) receives parameters collected by the operating state monitoring module (5), and triggers the fault early warning and protection module (6) based on a preset threshold.

4. The photoelectric matrix-based rudder position limiting device according to claim 3, characterized in that, The photoelectric matrix detection array (3) comprises a 0.3mm-thick titanium alloy shielding piece rotating synchronously with a rudder shaft, a fixedly installed 8x8 micro photoelectric pair tube array and a photoelectric signal jump detection mechanism based on light path shielding; the photoelectric signal jump detection mechanism based on light path shielding adopts Manchester coding.

5. A photoelectric matrix-based rudder limiter device according to claim 4, characterized in that The photoelectric matrix detection array (3) returns collected rudder position data to the photoelectric limit main control module (1) through the signal conversion and transmission module (2), forming a closed-loop control; the resolution of the rudder position data is 0.05°.

6. The photoelectric matrix-based rudder position limiting device according to claim 1, characterized in that The signal conversion and transmission module (2) is a self-developed intelligent gateway (1.0) supporting 485 bus and WiFi communication, and is used for connecting the photoelectric matrix detection array (3) and the operating state monitoring module (5).

7. The photoelectric matrix based rudder position limiting device of claim 1, wherein, The operating state monitoring module (5) is a self-developed signal acquisition terminal (1.0) obtaining signals of the rudder physical parameter acquisition unit (7) and the electrical performance monitoring unit (8) through a bus.

8. The photoelectric matrix-based rudder position limiting device according to claim 2, characterized in that, The rudder physical parameter acquisition unit (7) and the electrical performance monitoring unit (8) are both self-developed signal acquisition nodes (1.0); the rudder physical parameter acquisition unit (7) is also used for collecting illumination and dust environment parameters; the electrical performance monitoring unit (8) is used for collecting voltage and current electrical parameters of the rudder.

9. The photoelectric matrix based rudder position limiting device of claim 1, wherein, The fault early warning and protection module (6) comprises an audible and visual alarm unit and a smoke alarm unit, both of which are controlled by the photoelectric limit master control module (1).

10. The photoelectric matrix based rudder position limiting device of claim 1, wherein, The photoelectric limit master control module (1) comprises a self-developed flat end management control system (1.0), which runs an autonomous operating system and is used for realizing data acquisition, rudder control, alarm and interaction with the aircraft master control system (9).

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