High-resistance steering engine system and control method thereof

Abstract

The invention discloses a high-resistance steering engine system and a control method thereof, and belongs to the technical field of steering engines. The high-resistance steering engine system comprises a shell, an output shaft, a gear transmission module, an inductive brushless motor and a control assembly. One end of the output shaft is inserted into the shell, and the other end of the output shaft extends out of the shell; the gear transmission module, the inductive brushless motor and the control assembly are all located in the shell. The control assembly comprises a control panel, a first adapter plate, a magnetic angle detection chip and a magnet, the control panel is electrically connected with the first adapter plate and a Hall sensor of the inductive brushless motor, the magnetic angle detection chip is located on the first adapter plate, and the magnet is coaxially arranged at one end of the output shaft. According to the high-resistance steering engine system provided by the embodiment of the invention, the situation that the motor is repeatedly controlled and corrected due to control lag caused by backlash can be effectively avoided, so that the situation that the output shaft of the steering engine shakes at high frequency is avoided, and the stability and the anti-interference performance of the system are improved.

Description

Technical Field

[0001] This invention belongs to the field of servo motor technology, specifically relating to a high-resistance servo motor system and its control method. Background Technology

[0002] In recent years, with the continuous advancement of basic industrial levels and modern technology, servo systems are developing towards miniaturization, long lifespan, high efficiency, and maintenance-free design. As a core actuator in fields such as robotics, aerospace, and industrial automation, the control precision and dynamic performance of servo motors directly affect the stability and reliability of the system.

[0003] Currently, conventional servo systems primarily rely on feedback elements on their output shafts for control. These elements collect the output shaft's angle information in real time and transmit it to the controller. The controller then processes this information and generates real-time control signals to the motor until the output shaft reaches the target angle. However, especially with high-inertia servo blades, when the backlash in the servo system is significant, this backlash causes control lag. This necessitates repeated control corrections by the motor, resulting in high-frequency vibrations on the servo's output shaft. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a high-resistance servo system and its control method. Its purpose is to effectively avoid the situation where the control lag caused by backlash leads to repeated control correction of the motor, thereby avoiding high-frequency jitter of the servo output shaft and improving the stability and anti-interference of the system.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a high-resistance servo system, the high-resistance servo system comprising a housing, an output shaft, a gear transmission module, a sensor-driven brushless motor, and a control component; One end of the output shaft is rotatably inserted into the housing, and the other end of the output shaft extends out of the housing; The gear transmission module, the sensor-driven brushless motor, and the control component are all located inside the housing. The rotating shaft of the sensor-driven brushless motor is connected to the output shaft through the gear transmission module to reduce the speed of the output shaft. The control component includes a control board, a first adapter board, a magnetic angle detection chip, and a magnet. The control board is electrically connected to the first adapter board and the Hall sensor of the brushless motor. The magnetic angle detection chip is located on the first adapter board. The magnet is coaxially arranged on one end of the output shaft and opposite to the magnetic angle detection chip. The control board is configured to process and calculate the initial angle of the output shaft detected by the magnetic angle detection chip, the received control command, and the reduction ratio of the gear transmission module to form a corresponding motor angle control signal. The control board then sends the motor angle control signal to the Hall sensor of the brushless motor, so that the Hall sensor of the brushless motor controls the rotation of the brushless motor according to the motor angle control signal.

[0006] Optionally, the control assembly further includes a second adapter board, which is electrically connected to both the control board and the Hall sensor.

[0007] Optionally, the second adapter plate is arranged parallel to and spaced apart from the first adapter plate, and both are perpendicular to the control plate.

[0008] Optionally, the gear transmission module includes an input gear, a multi-stage gear, and an output gear, wherein the input gear, the multi-stage gear, and the output gear mesh sequentially, the input gear is mounted on the rotating shaft of the sensor-driven brushless motor, and the output gear is mounted on the output shaft.

[0009] Optionally, the multi-stage gear includes a first-stage gear, a second-stage gear, a third-stage gear, a fourth-stage gear, a fifth-stage gear, and a sixth-stage gear. The gear transmission module also includes a first rotating shaft and a second rotating shaft arranged rotatably. The first-stage gear, the second-stage gear, the fifth-stage gear, and the sixth-stage gear are all mounted on the first rotating shaft, and the third-stage gear and the fourth-stage gear are mounted on the second rotating shaft. The first-stage gear meshes with the input gear, the second-stage gear meshes with the third-stage gear, the fourth-stage gear meshes with the fifth-stage gear, and the sixth-stage gear meshes with the output gear.

[0010] Optionally, the housing includes a detachably connected upper housing and a lower housing, both ends of the output shaft pass through the upper housing, and one end of the output shaft extends into the lower housing. The shaft of the sensor-driven brushless motor extends into the upper housing, the gear transmission module is located in the upper housing, and the sensor-driven brushless motor and the control component are located in the lower housing.

[0011] Optionally, the lower housing includes a first lower half-shell and a second lower half-shell, which are detachably connected to form an accommodating space. The first lower half-shell is located between the upper housing and the second lower half-shell, and the sensor-driven brushless motor and the control component are located within the accommodating space.

[0012] Optionally, the upper shell and the lower shell are connected by a plurality of bolts.

[0013] Optionally, the outer wall of the housing is provided with a plurality of spaced connecting ears, and each connecting ear is provided with a mounting hole.

[0014] In a second aspect, the present invention provides a control method for a high-resistance servo system, the control method being based on the high-resistance servo system described in the first aspect, the control method comprising: The control board inputs control commands, and the control board processes and calculates the initial angle of the output shaft detected by the magnetic angle detection chip, the control commands, and the reduction ratio of the gear transmission module to form a corresponding motor angle control signal. The motor angle control signal is sent to the Hall sensor of the sensor-controlled brushless motor, and the Hall sensor of the sensor-controlled brushless motor controls the rotation of the sensor-controlled brushless motor according to the motor angle control signal.

[0015] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0016] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: In the high-resistance servo system provided in this embodiment of the invention, the housing provides support and positioning for the entire system, while the output shaft drives the servo blades. During use, the rotation of the shaft of the sensor-driven brushless motor drives the output shaft to rotate via the gear transmission module, which in turn drives the servo blades to rotate, thereby achieving servo blade adjustment (which also enables attitude adjustment of the corresponding product during movement).

[0017] Furthermore, when adjusting the rudder, firstly, a control command is input to the control board. The control board, based on the initial angle of the output shaft detected by the magnetic angle detection chip, the control command, and the reduction ratio of the gear transmission module, processes and calculates to generate the corresponding motor angle control signal. At this point, this step directly converts the required rotation angle of the output shaft (i.e., the difference between the target angle specified by the control and the initial angle) into the required rotation angle of the sensor-controlled brushless motor shaft through the reduction ratio. Finally, the motor angle control signal is sent to the Hall sensor of the sensor-controlled brushless motor. The Hall sensor controls the rotation of the sensor-controlled brushless motor based on the motor angle control signal. During this process, the Hall sensor continuously collects the angle of the shaft until the shaft completes the corresponding angle rotation, at which point it controls the sensor-controlled brushless motor to stop. At this point, the output shaft is considered to have rotated to the angle corresponding to the control command. In the above control process, the Hall sensor only controls the brushless motor to complete the corresponding rotation based on the motor angle control signal corresponding to the required rotation angle output by the control board. The brushless motor can complete closed-loop control with only one control adjustment (the brushless motor does not need to be continuously and repeatedly controlled), which improves the stability and anti-interference of the system. This method can effectively avoid the situation where the control lag caused by backlash leads to repeated control correction of the motor, thereby avoiding high-frequency jitter of the servo motor output shaft.

[0018] In other words, the high-resistance servo system provided by the embodiments of the present invention can effectively avoid the situation where the control lag caused by backlash leads to repeated control correction of the motor, thereby avoiding high-frequency jitter of the servo output shaft and improving the stability and anti-interference of the system. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a high-resistance servo system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a high-resistance servo system without a housing, provided by an embodiment of the present invention; Figure 3 This invention provides a control method for a high-resistance servo system.

[0020] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Housing; 11. Upper housing; 12. Lower housing; 121. First lower half housing; 122. Second lower half housing; 13. Connecting ear; 2. Output shaft; 3. Gear transmission module; 31. Input gear; 32. Multi-stage gear; 33. Output gear; 34. First rotating shaft; 35. Second rotating shaft; 4. Sensing brushless motor; 5. Control components; 51. Control board; 52. First adapter board; 53. Magnetic angle detection chip; 54. Magnet; 55. Second adapter board. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] Example: Figure 1 This is a schematic diagram of a high-resistance servo system provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of a high-resistance servo system without a housing, provided by an embodiment of the present invention. Figure 1 and Figure 2 As shown, the high-resistance servo system includes a housing 1, an output shaft 2, a gear transmission module 3, a sensor-driven brushless motor 4, and a control component 5.

[0027] One end of the output shaft 2 is inserted into the housing 1, and the other end of the output shaft 2 extends out of the housing 1.

[0028] The gear transmission module 3, the sensor-driven brushless motor 4, and the control component 5 are all located inside the housing 1. The rotating shaft of the sensor-driven brushless motor 4 is connected to the output shaft 2 through the gear transmission module 3 to reduce the speed of the output shaft 2.

[0029] The control component 5 includes a control board 51, a first adapter board 52, a magnetic angle detection chip 53, and a magnet 54. The control board 51 is electrically connected to the first adapter board 52 and the Hall sensor of the brushless motor 4. The magnetic angle detection chip 53 is located on the first adapter board 52. The magnet 54 is coaxially arranged on one end of the output shaft 2 and is arranged opposite to the magnetic angle detection chip 53. The control board 51 is configured to process and calculate the initial angle of the output shaft 2 detected by the magnetic angle detection chip 53, the received control command, and the reduction ratio of the gear transmission module 3 to form a corresponding motor angle control signal. The motor angle control signal is then transmitted to the Hall sensor of the brushless motor 4, so that the Hall sensor of the brushless motor 4 controls the rotation of the brushless motor 4 according to the motor angle control signal.

[0030] In the high-resistance servo system provided in this embodiment of the invention, the housing 1 provides support and positioning for the entire system, while the output shaft 2 drives the servo blades. During use, the rotating shaft of the sensor-driven brushless motor 4 drives the output shaft 2 to rotate via the gear transmission module 3, thereby ultimately driving the servo blades to rotate, thus achieving servo blade adjustment (which also enables attitude adjustment of the corresponding product during movement).

[0031] Furthermore, when adjusting the rudder, firstly, a control command is input to the control board 51. The control board 51, based on the initial angle of the output shaft 2 detected by the magnetic angle detection chip 53, the control command, and the reduction ratio of the gear transmission module 3, processes and calculates to form a corresponding motor angle control signal. At this time, through this step, the angle that the output shaft 2 needs to rotate (i.e., the difference between the target angle specified by the control and the initial angle) can be directly converted into the angle that the shaft of the sensor-controlled brushless motor 4 needs to rotate through the reduction ratio. Finally, the motor angle control signal is sent to the Hall sensor of the sensor-controlled brushless motor 4, and the Hall sensor of the sensor-controlled brushless motor 4 controls the rotation of the sensor-controlled brushless motor 4 according to the motor angle control signal. During this process, the Hall sensor will collect the angle of the shaft in real time until the shaft completes the corresponding angle rotation and controls the sensor-controlled brushless motor 4 to stop. At this time, the output shaft 2 is considered to have rotated to the angle corresponding to the control command. During the above control process, the Hall sensor only controls the brushless motor 4 to complete the corresponding rotation based on the motor angle control signal corresponding to the required rotation angle output by the control board 51. The brushless motor 4 can complete the closed-loop control with only one control adjustment (the brushless motor 4 does not need to be continuously and repeatedly controlled), which improves the stability and anti-interference of the system. This method can effectively avoid the situation where the control lag caused by backlash leads to repeated control correction of the motor, thereby avoiding the situation where the output shaft 2 of the servo motor experiences high-frequency jitter.

[0032] In other words, the high-resistance servo system provided by the embodiments of the present invention can effectively avoid the situation where the control lag caused by backlash leads to repeated control correction of the motor, thereby avoiding high-frequency jitter of the servo output shaft 2 and improving the stability and anti-interference of the system.

[0033] It is easy to understand that a magnet 54 is correspondingly installed on the output shaft 2, and the magnetic angle detection chip 53 determines the initial angle of the output shaft 2 when it is not adjusted by sensing the change in the magnetic field corresponding to the magnet 54. The magnetic angle detection chip 53 transmits the detected data to the control board 51 through the first adapter board 52.

[0034] See also Figure 2 The control component 5 also includes a second adapter board 55, which is electrically connected to the control board 51 and the Hall sensor. The second adapter board 55 serves to connect the control board 51 and the Hall sensor, ensuring a reliable electrical connection between them.

[0035] Furthermore, the second adapter plate 55 is arranged parallel to and spaced apart from the first adapter plate 52, and both are perpendicular to the control plate 51, thereby reducing the space occupied by the three circuit boards in the housing 1, making the overall structure more compact, and the three are arranged in a Z-shape.

[0036] In this embodiment, the gear transmission module 3 includes an input gear 31, a multi-stage gear 32, and an output gear 33. The input gear 31, the multi-stage gear 32, and the output gear 33 mesh sequentially. The input gear 31 is mounted on the rotating shaft of the sensor-driven brushless motor 4, and the output gear 33 is mounted on the output shaft 2. A reduction ratio can be formed through the input gear 31, the multi-stage gear 32, and the output gear 33, thereby facilitating precise adjustment and control.

[0037] Specifically, the multi-stage gear 32 includes a first-stage gear, a second-stage gear, a third-stage gear, a fourth-stage gear, a fifth-stage gear, and a sixth-stage gear. The gear transmission module 3 also includes a first rotating shaft 34 and a second rotating shaft 35 arranged rotatably. The first-stage gear, the second-stage gear, the fifth-stage gear, and the sixth-stage gear are all mounted on the first rotating shaft 34, and the third-stage gear and the fourth-stage gear are mounted on the second rotating shaft 35. The first-stage gear meshes with the input gear 31, the second-stage gear meshes with the third-stage gear, the fourth-stage gear meshes with the fifth-stage gear, and the sixth-stage gear meshes with the output gear 33. The multiple gears corresponding to the multi-stage gear 32 adopt a stacked coaxial design to form a multi-stage reduction.

[0038] In one implementation of the present invention, the housing 1 includes a detachably connected upper housing 11 and a lower housing 12. Both ends of the output shaft 2 pass through the upper housing 11, and the other end of the output shaft 2 extends into the lower housing 12. The shaft of the sensing brushless motor 4 extends into the upper housing 11. The gear transmission module 3 is located within the upper housing 11, and the sensing brushless motor 4 and control component 5 are located within the lower housing 12. The upper housing 11 can independently support and install the gear transmission module 3, while the lower housing 12 can independently support and install the sensing brushless motor 4 and control component 5, facilitating assembly and preventing mutual interference.

[0039] Furthermore, the lower shell 12 includes a first lower shell 121 and a second lower shell 122, which are detachably connected to form an accommodating space. The first lower shell 121 is located between the upper shell 11 and the second lower shell 122, and the sensor-controlled brushless motor 4 and the control component 5 are located within the accommodating space, thereby facilitating the installation and maintenance of the sensor-controlled brushless motor 4 and the control component 5.

[0040] For example, the upper shell 11 and the lower shell 12 are connected by a plurality of bolts.

[0041] In addition, the outer wall of the housing 1 is provided with a plurality of spaced connecting ears 13, and each connecting ear 13 is provided with a mounting hole, thereby achieving the fixed installation of the housing 1 through the plurality of mounting holes.

[0042] Figure 3 This invention provides a control method for a high-resistance servo system, such as... Figure 3 As shown, this control method is based on the aforementioned high-resistance servo system, and the control method includes: S1. Input control commands to the control board 51. The control board 51 processes and calculates the initial angle of the output shaft 2, the control commands, and the reduction ratio of the gear transmission module 3 based on the magnetic angle detection chip 53. This process generates the corresponding motor angle control signal.

[0043] S2. The motor angle control signal is sent to the Hall sensor of the sensor-controlled brushless motor 4. The Hall sensor of the sensor-controlled brushless motor 4 controls the rotation of the sensor-controlled brushless motor 4 according to the motor angle control signal.

[0044] When adjusting the rudder, firstly, a control command is input to the control board 51. The control board 51, based on the initial angle of the output shaft 2 detected by the magnetic angle detection chip 53, the control command, and the reduction ratio of the gear transmission module 3, processes and calculates to form a corresponding motor angle control signal. At this point, through this step, the angle that the output shaft 2 needs to rotate (i.e., the difference between the target angle specified by the control and the initial angle) can be directly converted into the angle that the shaft of the sensor-controlled brushless motor 4 needs to rotate through the reduction ratio. Finally, the motor angle control signal is sent to the Hall sensor of the sensor-controlled brushless motor 4. The Hall sensor of the sensor-controlled brushless motor 4 controls the rotation of the sensor-controlled brushless motor 4 according to the motor angle control signal. During this process, the Hall sensor will collect the angle of the shaft in real time until the shaft completes the corresponding angle rotation, at which point the sensor-controlled brushless motor 4 is stopped. At this point, the output shaft 2 is considered to have rotated to the angle corresponding to the control command. During the above control process, the Hall sensor only controls the brushless motor 4 to complete the corresponding rotation based on the motor angle control signal corresponding to the required rotation angle output by the control board 51. The brushless motor 4 can complete the closed-loop control with only one control adjustment (the brushless motor 4 does not need to be continuously and repeatedly controlled), which improves the stability and anti-interference of the system. This method can effectively avoid the situation where the control lag caused by backlash leads to repeated control correction of the motor, thereby avoiding the situation where the output shaft 2 of the servo motor experiences high-frequency jitter.

[0045] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-resistance servo system, characterized in that, The high-resistance servo system includes a housing, an output shaft, a gear transmission module, a sensor-driven brushless motor, and control components. One end of the output shaft is rotatably inserted into the housing, and the other end of the output shaft extends out of the housing; The gear transmission module, the sensor-driven brushless motor, and the control component are all located inside the housing. The rotating shaft of the sensor-driven brushless motor is connected to the output shaft through the gear transmission module to reduce the speed of the output shaft. The control component includes a control board, a first adapter board, a magnetic angle detection chip, and a magnet. The control board is electrically connected to the first adapter board and the Hall sensor of the brushless motor. The magnetic angle detection chip is located on the first adapter board. The magnet is coaxially arranged on one end of the output shaft and opposite to the magnetic angle detection chip. The control board is configured to process and calculate the initial angle of the output shaft detected by the magnetic angle detection chip, the received control command, and the reduction ratio of the gear transmission module to form a corresponding motor angle control signal. The control board then sends the motor angle control signal to the Hall sensor of the brushless motor, so that the Hall sensor of the brushless motor controls the rotation of the brushless motor according to the motor angle control signal.

2. The high-resistance servo system according to claim 1, characterized in that, The control assembly also includes a second adapter board, which is electrically connected to both the control board and the Hall sensor.

3. The high-resistance servo system according to claim 2, characterized in that, The second adapter plate is arranged parallel to and spaced apart from the first adapter plate, and both are perpendicular to the control plate.

4. The high-resistance servo system according to claim 1, characterized in that, The gear transmission module includes an input gear, a multi-stage gear, and an output gear. The input gear, the multi-stage gear, and the output gear mesh sequentially. The input gear is mounted on the rotating shaft of the sensor-driven brushless motor, and the output gear is mounted on the output shaft.

5. A high-resistance servo system according to claim 4, characterized in that, The multi-stage gear includes a first-stage gear, a second-stage gear, a third-stage gear, a fourth-stage gear, a fifth-stage gear, and a sixth-stage gear. The gear transmission module also includes a first rotating shaft and a second rotating shaft arranged rotatably. The first-stage gear, the second-stage gear, the fifth-stage gear, and the sixth-stage gear are all mounted on the first rotating shaft, and the third-stage gear and the fourth-stage gear are mounted on the second rotating shaft. The first-stage gear meshes with the input gear, the second-stage gear meshes with the third-stage gear, the fourth-stage gear meshes with the fifth-stage gear, and the sixth-stage gear meshes with the output gear.

6. A high-resistance servo system according to claim 1, characterized in that, The housing includes a detachably connected upper housing and a lower housing. Both ends of the output shaft pass through the upper housing, and one end of the output shaft extends into the lower housing. The shaft of the sensor-driven brushless motor extends into the upper housing. The gear transmission module is located in the upper housing, and the sensor-driven brushless motor and the control component are located in the lower housing.

7. A high-resistance servo system according to claim 6, characterized in that, The lower housing includes a first lower half-shell and a second lower half-shell, which are detachably connected to form an accommodating space. The first lower half-shell is located between the upper housing and the second lower half-shell, and the sensor-driven brushless motor and the control component are located within the accommodating space.

8. A high-resistance servo system according to claim 6, characterized in that, The upper shell and the lower shell are connected by multiple bolts.

9. A high-resistance servo system according to any one of claims 1-8, characterized in that, The outer wall of the housing is provided with a plurality of spaced connecting ears, and each connecting ear is provided with a mounting hole.

10. A control method for a high-resistance servo system, characterized in that, The control method is based on a high-resistance servo system according to any one of claims 1-9, and the control method includes: The control board inputs control commands, and the control board processes and calculates the initial angle of the output shaft detected by the magnetic angle detection chip, the control commands, and the reduction ratio of the gear transmission module to form a corresponding motor angle control signal. The motor angle control signal is sent to the Hall sensor of the sensor-controlled brushless motor, and the Hall sensor of the sensor-controlled brushless motor controls the rotation of the sensor-controlled brushless motor according to the motor angle control signal.

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