Power supply control device of electromechanical servo mechanism

Abstract

A power supply control device of an electromechanical servo mechanism adopts a Darlington tube optocoupler and relay interlocking circuit, realizes multi-path power supply cooperative control and remote management through a USB concentrator and an Ethernet interface, and realizes high-precision isolation acquisition of voltage / current signals by utilizing an optocoupler isolation amplifier and a high-precision ADC (+ / -0.5% precision). And the STM32F407 single-chip microcomputer is used for realizing electromechanical servo'two-electricity 'automatic control, replacing manual operation, supporting local control / remote control mode switching and networking matching, and being suitable for electromechanical servo single-machine test and digital production line construction.

Description

Technical Field

[0001] This invention relates to a power supply control device for an electromechanical servo mechanism, belonging to the field of ground power management technology for electromechanical servo mechanisms. Background Technology

[0002] When aerospace electromechanical servo mechanisms are tested on the ground, ground equipment needs to provide 24-33V DC control power and 160V or 270V DC power (referred to as "two power supplies") to the servo controller and driver. Since both power supplies have strict start-up and shutdown logic requirements in addition to meeting technical specifications such as output power, power accuracy and ripple, they are generally operated manually during ground testing. It is impossible to guarantee 100% normal control timing. If you are not careful, in serious cases, the servo may over-oscillate, causing damage to the engine nozzle and resulting in a safety accident.

[0003] Existing ground equipment uses a test instrument to provide DC control power to the servo digital controller and drivers, and a combined general-purpose DC power supply to provide power to the servo digital controller and drivers. These two power supplies are unconnected and lack hardware-level interlocking protection, relying solely on personnel to ensure operational safety, which carries significant risks. There have been instances where human error has damaged control and driver products, disrupting mass production. Therefore, designing a unified, highly reliable servo ground power management circuit system that eliminates the risk of human error is both necessary and urgent.

[0004] In their paper "Design of Digital Logic Control Circuit for Accelerator Magnet Power Supply" (Nuclear Electronics & Detection Technology, Vol. 28, No. 3, May 2008, p. 567), Long Fengli et al. introduced a design scheme for a digital logic control circuit for an accelerator magnet power supply. The paper addresses the issue that the main magnet power supply of the Beijing Electron-Positron Collider (BEPC) uses relays for logic protection and control. Due to limitations in relay anti-interference, flexibility, and lifespan, the BEPC power system suffers from significant time consumption due to relay logic protection fault repairs. The paper presents two methods for implementing power supply logic control functions using FPGAs, which can replace PLCs currently used in power supply systems. However, both the hardware description language-based and soft-core processor-based methods proposed in the paper are difficult to develop, have long development cycles, and inevitably lead to higher research and development costs.

[0005] The utility model patent "A Switching Power Supply Logic Protection Drive Circuit" (CN218897164U, Shaanxi Changling Maiteng Electronics Co., Ltd., 20230421) discloses a switching power supply logic protection drive circuit, which belongs to the same field as this invention. It includes a logic NAND circuit, an isolation circuit, a logic protection circuit, and a level conversion circuit. This utility model provides accurate drive signals, a simple circuit, low cost, excellent performance, and is easy to implement. However, the logic device combination circuit used in this patent has limited functional adaptability, poses a risk of operational errors, and is not suitable for power supplies that use software protocol control. Summary of the Invention

[0006] The technical problem solved by this invention is: in the existing technology, the control of the "two electricitys" during ground testing of electromechanical servo is guaranteed by manual operation and lacks logic protection, which may lead to servo over-swing or equipment damage. Therefore, this invention proposes a power supply control device for electromechanical servo mechanisms.

[0007] The present invention solves the above-mentioned technical problem through the following technical solution:

[0008] A power supply control device for an electromechanical servo mechanism includes a servo ground power management circuit, a servo controller and driver, a DC control power supply, a DC power supply group, and a host computer control terminal, wherein:

[0009] The servo ground power management circuit is located inside the test instrument chassis. Its operating modes include local control mode and remote control mode. The test instrument chassis panel has power on / off, control on / off switches. In local control mode, pressing the switches according to preset power control logic controls the power supply to the corresponding servo controller and driver. In remote control mode, it receives start or stop commands from the host computer to power the corresponding servo controller and driver. The servo ground power management circuit is directly connected to the DC control power and DC power supply group, providing DC control power or DC power to the servo controller and driver according to the operating mode requirements and power supply needs.

[0010] The servo ground power management circuit includes a control circuit group, a single-chip microcomputer minimum system circuit, an Ethernet interface circuit, a display interface circuit, and a USB hub circuit.

[0011] The servo ground power management circuit is connected to the DC control circuit through the control circuit group to provide DC control power. The servo ground power management circuit is connected to the DC power supply group through the USB hub circuit to provide DC power. In local control mode, the microcontroller minimum system circuit receives the I / O signals output by the control circuit group through optocoupler isolation and switches to local control mode using interrupt acquisition triggering. The microcontroller minimum system circuit is connected to the USB hub circuit to realize the connection with the DC power supply group. In remote control mode, the host computer sends start or stop commands to the microcontroller minimum system circuit through the Ethernet interface circuit according to the custom TCP / IP data protocol. The microcontroller minimum system circuit outputs GPIO signals to the control circuit group to control the DC control power. The control circuit group triggers the Darlington tube optocoupler circuit to output control signals, which are then output by the microcontroller minimum system circuit to the USB hub circuit to connect to the DC power supply group to provide DC power.

[0012] The preset power control logic is: control power start, power power start, power power shutdown, and control power shutdown.

[0013] The control circuit group includes a control circuit, an optocoupler-isolated input circuit, and a Darlington transistor optocoupler output circuit, wherein:

[0014] The control circuit is connected to the microcontroller minimum system circuit via an optocoupler isolation input circuit. The optocoupler isolation input circuit receives the I / O signals output by the control circuit group to achieve local control mode switching. The microcontroller minimum system circuit receives control commands from the host computer via an Ethernet interface circuit. The control circuit receives GPIO signals via a Darlington transistor optocoupler circuit, generates control signals, and sends them to the microcontroller minimum system circuit. The microcontroller minimum system circuit connects the control signals to the DC power supply group via a USB hub circuit to achieve control of the DC power supply.

[0015] The control circuit group also includes a voltage and current measurement circuit. The control circuit acquires the voltage and current signal parameters of the DC control power supply through the voltage and current measurement circuit. After the acquisition is carried out by the dual-channel ACD of the single-chip microcomputer minimum system circuit, it is connected to an external display screen through the display interface circuit for output display. The output display content includes: the on and off status of each DC control power supply and the voltage and current signal parameters.

[0016] The control circuit uses the control command information from the host computer and the minimum system circuit of the microcontroller to control the DC power supply. The voltage and current measurement circuit collects the switching status and voltage and current parameters of each DC power supply in the DC power supply group, and connects to an external display screen through the display interface circuit for output display.

[0017] The local and remote control selection circuit adopts a U5 selection switch circuit, including contact one, contact two, contact three, signal relay group, and freewheeling diode D1. The signal relay group includes signal relay K1 and signal relay K2. Signal relay K1 includes signal relays K1.2-K1.7, and signal relay K2 includes signal relays K2.2-K2.7.

[0018] Select the operating mode of DC control power supply and DC power supply. In the default local control mode, contacts one and two of U5 selector switch are closed, the coils of signal relays K1 and K2 are not energized, and all contacts of U5 selector switch are in the default position.

[0019] In remote control mode, contacts two and three of the U5 selector switch are closed, energizing the coils of signal relays K1 and K2. The normally open contacts are closed, and the normally closed contacts are open. Signal relays K1.3 and K1.4 are connected, and signal relays K1.6 and K1.5 are connected. Signal relays K1.3 and K1.2 are disconnected, and signal relays K1.6 and K1.5 are disconnected. The freewheeling diode D1 is used to eliminate the back electromotive force generated when the relay coils of signal relays K1 and K2 are de-energized.

[0020] The control circuit implements power distribution control in local or remote control mode while also providing logic protection, wherein:

[0021] The control circuit includes a U5 selector switch circuit, switches SW1, SW2, SW3, and SW4, a signal relay group, freewheeling diodes D2 and D4, and the signal relay group includes signal relays K3, K4, K5, and K6.

[0022] When the U5 selector switch circuit is in the local control position, and contacts K1.2 and K1.3 in the local control / remote control selection circuit are connected and switch SW1 is pressed, the coils of signal relays K3 and K4 are connected to the +5V power supply. Contacts K3.3 and K3.4 in signal relay K3 are connected to lock the two ends of switch SW1. When switch SW1 rebounds and opens, signal relays K3 and K4 remain connected. At the same time, contacts K3.6 and K3.5 are connected to control signal feedback, contacts K4.3 and K4.4 are connected to connect the power supply circuit and open the power supply logic protection when the 28V power supply is connected, and contacts K4.6 and K4.5 are connected to turn on the local control mode indicator light.

[0023] When the U5 selector switch circuit is in the local control position, and contacts K2.2 and K2.3 in the local / remote control selection circuit are connected, when switch SW3 is pressed, signal relays K3 and K4 are connected, and the coils of signal relays K5 and K6 are connected to the +5V power supply. Contacts K5.3 and K5.4 are connected to lock the two ends of switch SW3; contacts K5.5 and K5.6 are connected to control signal feedback; contacts K6.3 and K6.4 are connected to lock switch SW2 to achieve logic protection that prevents the 28V power supply from being disconnected when the power supply is on; contacts K6.6 and K6.5 are connected to turn on the local control mode indicator light.

[0024] When the power supply needs to be disconnected, control switch SW4 is disconnected, signal relays K5 and K6 are disconnected, all contacts return to their initial positions, and the power supply is disconnected from the control circuit. Then, the 28V power supply and switch SW2 are disconnected, and the coils of signal relays K3 and K4 are disconnected, and all contacts are returned to their initial positions. Freewheeling diodes D2 and D3 are used to eliminate the back electromotive force generated when the relay coils of signal relays K1, K2, K3, and K4 are de-energized.

[0025] The Darlington optocoupler output circuit includes a four-channel Darlington optocoupler, pull-up resistors R1, R2, and R3, and a 3V3IN power supply. In the local control mode, contacts K3.6 and K3.5 are used for the 28V power supply on state input, contacts K5.6 and K5.5 are used for the power supply on state input, and contacts K1.6 and K1.5 are used for the working mode input. The +5V power supply is connected to the input terminal of the four-channel optocoupler through each contact. The output terminal of the four-channel optocoupler is connected to the pull-up resistors R1, R2, and R3 and the 3V3IN power supply through the collector of the Darlington transistor. The emitter of the Darlington transistor is connected to signal ground.

[0026] The servo ground power management circuit also includes a power output circuit and a power remote control indicator circuit. The power output circuit uses a Darlington transistor optocoupler, which consists of an input LED and an output Darlington transistor. When the LED is energized, it illuminates, triggering the Darlington transistor to conduct and drive the coil of the power relay K6. The power remote control indicator circuit is connected to the microcontroller minimum system circuit. In remote control mode, the microcontroller in the microcontroller minimum system circuit outputs a 28V LED signal and a 270V LED signal through pins PA9 and PA10, respectively. Optocouplers U13 and U14, which transmit LED signals to the power remote control indicator circuit, drive signal relays K8 and K9, controlling contacts K8.5 and K8.6 to connect and contacts K9.5 and K9.6 to connect, thereby activating the power indicator circuit. Diodes D7 and D8 in the power remote control indicator circuit are used to eliminate the back electromotive force generated when signal relays K8 and K9 are closed. Voltage divider resistors R33 and R34 are used to prevent induced voltage from causing false activation when the optocouplers are floating.

[0027] The power indicator circuit includes a control power indicator and a power power indicator. In the local control mode, LED1 (28V power indicator) is directly connected by contacts K4.5 and K4.6, LED2 (power power indicator) is connected by contacts K6.5 and K6.6, LED3 (local control indicator) is connected by contacts K2.6 and K2.7, LED4 (remote control indicator) is connected by contacts K2.6 and K2.5, 28V control power indicator is connected by contacts K8.5 and K8.6, and power power indicator is connected by contacts K9.5 and K9.6.

[0028] The advantages of this invention compared to the prior art are:

[0029] (1) The present invention provides an electromechanical servo mechanism power supply control device, which realizes the integrated control of electromechanical servo ground power supply based on STM32F407 microcontroller, replaces manual operation or traditional PLC control, realizes integrated control logic, improves system reliability and automation level, and at the same time adopts high voltage / low voltage isolation driven by Darlington tube optocoupler to enhance anti-interference ability and extend the service life of power relay;

[0030] (2) This invention adopts multi-channel power supply collaborative control, realizes digital collaborative management of multi-channel DC power supply through 4-channel USB hub, and adopts hardware and software combined logic protection. Through relay interlock circuit and microcontroller program logic, i.e., the method of controlling the power supply to turn on before power is turned on and power is turned off before control is turned off, the power supply start and stop sequence is forced to be standardized to avoid operational errors.

[0031] (3) This invention achieves ±0.5% precision control and TFTLCD display by integrating an optocoupler isolation amplifier, realizes real-time monitoring and feedback of voltage, current and status, and has remote communication and networking capabilities. It supports remote control and data interaction through the RMII protocol of the Ethernet interface, and is adapted to the needs of digital production lines. Attached Figure Description

[0032] Figure 1 A schematic diagram of the power supply control device for the electromechanical servo mechanism provided by the present invention;

[0033] Figure 2 This is a schematic diagram of the local / remote control selection circuit provided by the present invention;

[0034] Figure 3 The control circuit provided by this invention is used as a start-stop and interlock circuit.

[0035] Figure 4 A schematic diagram of the control signal acquisition circuit provided by the present invention;

[0036] Figure 5 A schematic diagram of the Darlington transistor optocoupler 28V power supply output circuit provided by the present invention;

[0037] Figure 6 The power supply / power remote control indicator circuit diagram provided by the present invention;

[0038] Figure 7 The circuit diagram of the power indicator light corresponding to the self-control mode provided by this invention;

[0039] Figure 8 A schematic diagram of the 28V power acquisition and 28V current acquisition circuit provided by the present invention;

[0040] Figure 9 A schematic diagram of the power supply circuit for power control and measurement provided by the present invention;

[0041] Figure 10 This is a schematic diagram of a USB hub circuit provided by the present invention;

[0042] Figure 11 A schematic diagram of the EA-PSI power USB basic instruction format provided by the present invention;

[0043] Figure 12 This is a schematic diagram of the Ethernet interface circuit provided by the present invention;

[0044] Figure 13 The TCP / IP command parsing flowchart provided by this invention;

[0045] Figure 14 The STM32F407 on-chip program control logic flowchart provided for this invention;

[0046] Figure 15 This is a schematic diagram of the display interface circuit provided by the present invention;

[0047] Figure 16 The FSMC control timing diagram provided for this invention. Detailed Implementation

[0048] An electromechanical servo mechanism power supply control device is disclosed. It adopts Darlington transistor optocoupler and relay interlock circuit, realizes multi-channel power supply collaborative control and remote management through USB hub and Ethernet interface, and uses optocoupler isolation amplifier and high-precision ADC (±0.5% accuracy) to achieve high-precision isolated acquisition of voltage / current signals. It realizes the automated control of electromechanical servo "two-electric" systems through STM32F407 microcontroller, replacing manual operation, supports local / remote control mode switching and networking, and is suitable for electromechanical servo single-machine testing and digital production line construction.

[0049] The circuit components of the power supply control device include:

[0050] It includes a servo ground power management circuit, servo control and driver, DC control power supply, DC power supply group and host computer control terminal, wherein:

[0051] The servo ground power management circuit is located inside the test instrument chassis. Its operating modes include local control mode and remote control mode. The test instrument chassis panel has power on / off, control on / off switches. In local control mode, pressing the switches according to preset power control logic controls the power supply to the corresponding servo controller and driver. In remote control mode, it receives start or stop commands from the host computer to power the corresponding servo controller and driver. The servo ground power management circuit is directly connected to the DC control power and DC power supply group, providing DC control power or DC power to the servo controller and driver according to the operating mode requirements and power supply needs.

[0052] The servo ground power management circuit includes a control circuit group, a microcontroller minimum system circuit, an Ethernet interface circuit, a display interface circuit, and a USB hub circuit;

[0053] The servo ground power management circuit is connected to the DC control circuit through the control circuit group to provide DC control power. The servo ground power management circuit is connected to the DC power supply group through the USB hub circuit to provide DC power. In local control mode, the microcontroller minimum system circuit receives the I / O signals output by the control circuit group through optocoupler isolation and switches to local control mode using interrupt acquisition triggering. The microcontroller minimum system circuit is connected to the USB hub circuit to realize the connection with the DC power supply group. In remote control mode, the host computer sends start or stop commands to the microcontroller minimum system circuit through the Ethernet interface circuit according to the custom TCP / IP data protocol. The microcontroller minimum system circuit outputs GPIO signals to the control circuit group to control the DC control power. The control circuit group triggers the Darlington tube optocoupler circuit to output control signals, which are then output by the microcontroller minimum system circuit to the USB hub circuit to connect to the DC power supply group to provide DC power.

[0054] The preset power control logic is: control power start, power power start, power power shutdown, and control power shutdown.

[0055] The control circuit group includes a control circuit, an optocoupler-isolated input circuit, and a Darlington transistor optocoupler output circuit, wherein:

[0056] The control circuit is connected to the microcontroller minimum system circuit via an optocoupler isolation input circuit. The optocoupler isolation input circuit receives the I / O signals output by the control circuit group to achieve local control mode switching. The microcontroller minimum system circuit receives control commands from the host computer via an Ethernet interface circuit. The control circuit receives GPIO signals via a Darlington transistor optocoupler circuit, generates control signals, and sends them to the microcontroller minimum system circuit. The microcontroller minimum system circuit connects the control signals to the DC power supply group via a USB hub circuit to achieve control of the DC power supply.

[0057] The control circuit group also includes a voltage and current measurement circuit. The control circuit acquires the voltage and current signal parameters of the DC control power supply through the voltage and current measurement circuit. After the acquisition is carried out by the dual-channel ACD of the microcontroller minimum system circuit, the output is connected to an external display screen through the display interface circuit for display. The output display includes: the on and off status of each DC control power supply and the voltage and current signal parameters.

[0058] The control circuit uses the control command information from the host computer and the minimum system circuit of the microcontroller to control the DC power supply. The voltage and current measurement circuit collects the switching status and voltage and current parameters of each DC power supply in the DC power supply group, and connects to an external display screen through the display interface circuit for output display.

[0059] The remote control selection circuit uses a U5 selection switch circuit, including contact one, contact two, contact three, signal relay group, and freewheeling diode D1. The signal relay group includes signal relay K1 and signal relay K2. Signal relay K1 includes signal relays K1.2-K1.7, and signal relay K2 includes signal relays K2.2-K2.7.

[0060] Select the operating mode of DC control power supply and DC power supply. In the default local control mode, contacts one and two of U5 selector switch are closed, the coils of signal relays K1 and K2 are not energized, and all contacts of U5 selector switch are in the default position.

[0061] In remote control mode, contacts two and three of the U5 selector switch are closed, energizing the coils of signal relays K1 and K2. The normally open contacts are closed, and the normally closed contacts are open. Signal relays K1.3 and K1.4 are connected, and signal relays K1.6 and K1.5 are connected. Signal relays K1.3 and K1.2 are disconnected, and signal relays K1.6 and K1.5 are disconnected. The freewheeling diode D1 is used to eliminate the back electromotive force generated when the relay coils of signal relays K1 and K2 are de-energized.

[0062] The control circuit implements power distribution control in either local or remote control mode while also providing logic protection, wherein:

[0063] The control circuit includes a U5 selector switch circuit, switches SW1, SW2, SW3, and SW4, a signal relay group, freewheeling diodes D2 and D4, and the signal relay group includes signal relays K3, K4, K5, and K6.

[0064] When the U5 selector switch circuit is in the local control position, and contacts K1.2 and K1.3 in the local control / remote control selection circuit are connected and switch SW1 is pressed, the coils of signal relays K3 and K4 are connected to the +5V power supply. Contacts K3.3 and K3.4 in signal relay K3 are connected to lock the two ends of switch SW1. When switch SW1 rebounds and opens, signal relays K3 and K4 remain connected. At the same time, contacts K3.6 and K3.5 are connected to control signal feedback, contacts K4.3 and K4.4 are connected to connect the power supply circuit and open the power supply logic protection when the 28V power supply is connected, and contacts K4.6 and K4.5 are connected to turn on the local control mode indicator light.

[0065] When the U5 selector switch circuit is in the local control position, and contacts K2.2 and K2.3 in the local / remote control selection circuit are connected, when switch SW3 is pressed, signal relays K3 and K4 are connected, and the coils of signal relays K5 and K6 are connected to the +5V power supply. Contacts K5.3 and K5.4 are connected to lock the two ends of switch SW3; contacts K5.5 and K5.6 are connected to control signal feedback; contacts K6.3 and K6.4 are connected to lock switch SW2 to achieve logic protection that prevents the 28V power supply from being disconnected when the power supply is on; contacts K6.6 and K6.5 are connected to turn on the local control mode indicator light.

[0066] When the power supply needs to be disconnected, control switch SW4 is disconnected, signal relays K5 and K6 are disconnected, all contacts return to their initial positions, and the power supply is disconnected from the control circuit. Then, the 28V power supply and switch SW2 are disconnected, and the coils of signal relays K3 and K4 are disconnected, and all contacts are returned to their initial positions. Freewheeling diodes D2 and D3 are used to eliminate the back electromotive force generated when the relay coils of signal relays K1, K2, K3, and K4 are de-energized.

[0067] The Darlington transistor optocoupler output circuit includes a four-channel Darlington transistor optocoupler, pull-up resistors R1, R2, and R3, and a 3V3IN power supply. In local control mode, contacts K3.6 and K3.5 are used for 28V power supply on-state input, contacts K5.6 and K5.5 are used for power supply on-state input, and contacts K1.6 and K1.5 are used for operating mode input. The +5V power supply is connected to the input terminals of the four-channel optocoupler through matching contacts. The output terminals of the four-channel optocoupler are connected to pull-up resistors R1, R2, and R3 and the 3V3IN power supply through the collector of the Darlington transistor. The emitter of the Darlington transistor is connected to signal ground.

[0068] The servo ground power management circuit also includes a power output circuit and a power remote control indicator circuit. The power output circuit uses a Darlington transistor optocoupler, which consists of an input LED and an output Darlington transistor. When the LED is energized, it illuminates, triggering the Darlington transistor to conduct and drive the coil of power relay K6. The power remote control indicator circuit is connected to the microcontroller minimum system circuit. In remote control mode, the microcontroller in the minimum system circuit outputs a 28V LED signal and a 270V LED signal through pins PA9 and PA10, respectively. The optocouplers U13 and U14 of the ED signal to the power remote control indicator circuit are used to drive signal relays K8 and K9, control contacts K8.5 and K8.6 to connect, and contacts K9.5 and K9.6 to connect, thereby connecting the control power indicator circuit. Diodes D7 and D8 in the power remote control indicator circuit are used to eliminate the back electromotive force generated when signal relays K8 and K9 are closed. Voltage divider resistors R33 and R34 are used to prevent the induced voltage from misleading the connection when the optocouplers are floating.

[0069] The power indicator circuit includes a control power indicator and a power power indicator. In local control mode, LED1 (28V power indicator) is directly connected via contacts K4.5 and K4.6; LED2 (power power indicator) is connected via contacts K6.5 and K6.6; LED3 (local control indicator) is connected via contacts K2.6 and K2.7; LED4 (remote control indicator) is connected via contacts K2.6 and K2.5; 28V control power indicator is connected via contacts K8.5 and K8.6; and power power indicator is connected via contacts K9.5 and K9.6.

[0070] The following description, in conjunction with the accompanying drawings and preferred embodiments, provides further details:

[0071] In the current embodiment, the electromechanical servo mechanism power supply management device consists of a DC control power supply local / remote control and measurement circuit, an STM32F407 microcontroller minimum system circuit, a 4-channel USB hub circuit, an Ethernet interface circuit, a display interface circuit, and a microcontroller. Figure 1 The diagram shown is a system framework diagram of the power supply management device. First, the local control mode or the remote control mode (by the host computer software) can be selected according to the local / remote control selection switch on the tester chassis panel.

[0072] In this control mode, the DC control power output can be turned on via the "Control Power On" switch on the tester's chassis panel, and turned off via the "Control Power Off" switch. When the DC power supply needs to be turned on, the STM32F407 microcontroller receives the I / O signal output from the "Power On" switch via optocoupler isolation, and switches to this control flow using an interrupt acquisition trigger method. The on-chip USB interface is set as the host end (HOST) as the uplink of the 4-channel USB hub circuit, communicating with the downstream combined DC power supplies 1, 2, 3, and 4 (which can be customized according to actual power requirements) equipped with USB interfaces to control the DC power supply to turn on. When the DC power supply needs to be turned off, the STM32F407 microcontroller receives the I / O signal output from the "Power Power Off" switch via optocoupler isolation, and controls the DC power supply to turn off using a similar method as described above.

[0073] In remote control mode, the host computer software sends start or stop commands to the STM32F407 via an Ethernet interface circuit according to a custom TCP / IP data protocol. The STM32F407 outputs corresponding GPIO signals to trigger the Darlington transistor optocoupler circuit, driving the power relay to turn the DC power supply on or off. When it is necessary to turn the DC power supply on or off, the same method as in local control mode is used, controlling the DC power supply on or off through four USB interfaces to achieve system-wide status feedback and display.

[0074] To meet the operational logic of starting the "control power" first and then starting the "power power", and shutting down the "power power" first and then shutting down the "control power", the system adopts a combination of hardware and software for logic protection.

[0075] In the DC control power supply local / remote control and measurement circuit, the DC control power supply voltage and current signals are measured through an optocoupler isolation amplifier circuit. The data is acquired using channels 1 and 2 of the on-chip ADC1 of the STM32F407. In the display interface circuit, the STM32F407 is connected to the TFTLCD display screen through the FSMC interface. The on / off status and voltage and current signals of the aforementioned DC control power supply, as well as the on / off status and voltage and current parameters of the DC power supply, are all displayed in real time on the TFTLCD display screen.

[0076] The power supply local / remote control and measurement circuit consists of a local / remote control selection circuit, a local control power supply start / stop and interlock circuit, a 28V control power supply output circuit, a 28V power supply / power remote control indicator circuit, a control signal feedback circuit, a power indicator circuit, a 28V voltage acquisition circuit and a 28V current acquisition circuit, and a power supply control measurement circuit.

[0077] like Figure 2The diagram shows the local / remote control selection circuit. Switch U5 is used to select the operating mode of the DC control power supply and the DC power supply. In the default local control mode, contact 2 of U5 is connected to contact 1, the coils of signal relays K1 and K2 are not energized, and all contacts are in their default positions. In remote control mode, contact 2 of U5 is connected to contact 3, the coils of signal relays K1 and K2 are energized, the normally open contacts of relays K1 and K2 are closed, and the normally closed contacts are open. That is, K1.3 and K1.4 are connected, K1.6 and K1.5 are connected, K1.3 and K1.2 are disconnected, and K1.6 and K1.5 are disconnected. The freewheeling diode D1 is used to eliminate the back electromotive force generated when the coils of relays K1 and K2 are de-energized.

[0078] like Figure 3 The diagram shows the main body of the control circuit, namely the start / stop and interlock circuits. Figure 3 The upper part is powered by 28V, and the control logic relationship is as follows: Figure 2 When switch U5 is in the self-controlled position, contacts K1.2 and K1.3 are connected. When switch SW1 (non-locking switch) is pressed, the coils of signal relays K3 and K4 are connected to the +5V power supply (by...). Figure 9 The U12 power supply circuit provides the power. Contacts K3.3 and K3.4 are connected to lock the two ends of SW1. When SW1 rebounds and disconnects, K3 and K4 remain connected. Simultaneously, contacts K3.6 and K3.5 are connected for control signal feedback. Contacts K4.3 and K4.4 are connected to connect the power supply circuit, implementing logic protection that allows the power supply to be turned on only when the 28V power supply is connected. Contacts K4.6 and K4.5 are connected to turn on the local control status indicator light.

[0079] Figure 3 The control logic relationship of the lower power supply is as follows: Figure 2 When switch U5 is in the self-controlled position, contacts K2.2 and K2.3 are connected. When the "Power On" switch SW3 (non-locking switch) is pressed, simultaneously signal relays K3 and K4 are connected, and the coils of signal relays K5 and K6 are connected to the +5V power supply (by...). Figure 9 The U12 power supply circuit provides the power. Contacts K5.3 and K5.4 are connected to lock the two ends of SW3. Contacts K5.5 and K5.6 are connected for control signal feedback. Contacts K6.3 and K6.4 are connected to lock the SW2 switch to achieve logic protection that prevents the 28V power supply from being disconnected when the power supply is on. Contacts K6.6 and K6.5 are connected to turn on the local control status indicator light.

[0080] When the power supply needs to be disconnected, switch SW4 is turned off, K5 and K6 are turned off, all contacts return to their initial positions, and the power supply is disconnected. Only then can the 28V power supply be disconnected. Switch SW2 is turned off, K3 and K4 coils are turned off, and all contacts return to their initial positions.

[0081] The freewheeling diodes D2 and D3 are used to eliminate the back electromotive force generated when the relay coils K1, K2, K3, and K4 are de-energized.

[0082] like Figure 4 The diagram shows the control signal acquisition circuit, specifically the Darlington transistor optocoupler circuit. In local control mode, contacts K3.6 and K3.5 are used for the 28V power supply on-state input, contacts K5.6 and K5.5 are used for the power supply on-state input, and contacts K1.6 and K1.5 are used for local / remote control state selection input. The +5V power supply is connected to the input terminal of the 4-channel TLP521-4GR optocoupler through the above contacts. The collector of the Darlington transistor at the optocoupler output terminal is connected to pull-up resistors R1, R2, and R3 and the 3V3IN power supply. The emitter of the Darlington transistor is connected to signal ground. Signal 2... After K3.6 and K3.5 are turned on, the 8VON1 signal changes from a high level of 3.3V to a low level. After K5.6 and K5.5 are turned on, the 270VON1 signal changes from a high level of 3.3V to a low level. After K1.6 and K1.5 are turned on, the L_R signal changes from a high level of 3.3V to a low level. 28VON1, 270VON1, and L_R are simultaneously connected to the PA5, PA6, and PA7 input terminals of the STM32F407 microcontroller. R4 and C3, R11 and C7, and R13 and C9 form a low-pass filter for debouncing when the contacts are turned on and off.

[0083] like Figure 5 The diagram shows a 28V power output circuit using a U11TLP627M Darlington transistor optocoupler. The Darlington transistor optocoupler consists of an input LED and an output Darlington transistor. When the LED is energized, it illuminates, triggering the Darlington transistor to conduct, thereby driving the coil of power relay K6. The Darlington structure increases the current amplification factor, making it suitable for driving relays with higher power. Simultaneously, the input and output sides are optically isolated to prevent high-voltage interference with the low-voltage control circuit.

[0084] After receiving the control feedback signal 28VON1 through pin PA5 of the STM32F407 microcontroller, it outputs a high-level signal 28V_ON through pin PA8. Figure 3 The 28V_ON voltage, after passing through the current-limiting resistor R29 and the filter capacitor C23, enters the input terminal of the Darlington transistor optocoupler U11. The specific calculation is as follows:

[0085] Input current Where 3.3V is the high level output of PA8, V FThe maximum forward voltage drop of the TLP627M is 1.1V to 1.4V. F = 9.5~11mA, take 10mA.

[0086] With an input current IF = 10mA, the TLP627M has a minimum current transfer ratio (CTR) of 500%. The TLP627M output terminal K6 power relay has a rated voltage of 12V, a coil resistance of 272Ω, a rated operating current of 44mA, a current-limiting resistor R51 = 43Ω, and a pull-up power supply of 15V. Therefore, the output current is:

[0087]

[0088] Among them, V CEsat Collector-emitter saturation voltage = 0.3~1.2V (I F When the current is 10mA, the maximum value is 1.2V. The output current I is calculated using formula (1). c =43.8mA, which meets the operating current requirement. Also, because: The Darlington optocoupler is already reliably operating in the saturation range, thus ensuring that the TLP627M can reliably drive the relay.

[0089] The input terminals R29 and C23 form a low-pass filter to filter out common switching noise (>8kHz) and maintain the optocoupler response time <10μs. Diode D3 is mainly used to eliminate the back electromotive force generated when the K6 power relay is turned off, protecting the Darlington optocoupler from the absorption of surge voltage and thus extending its service life. Resistor R30 is connected between pin 4 of the optocoupler and ground to prevent induced voltage from causing false turn-on when the optocoupler is floating.

[0090] like Figure 6 The diagram shows a 28V power supply / power indicator remote control circuit. In remote control mode, the STM32F407 microcontroller outputs a 28V_LED signal and a 270V_LED signal to optocouplers U13 and U14 via pins PA9 and PA10 respectively, driving signal relays K8 and K9. This connects control contacts K8.5 and K8.6, and K9.5 and K9.6, thereby activating... Figure 6 The power indicator circuit includes a 28V power indicator light and a power indicator light. Diodes D7 and D8 are mainly used to eliminate the back electromotive force generated when relays K8 and K9 are turned off. Resistors R33 and R34 prevent induced voltage from causing false turn-on when the optocoupler is floating.

[0091] like Figure 7The diagram shows the power indicator circuit. In local control mode, contacts K4.5 and K4.6 directly connect to LED128V power indicator, K6.5 and K6.6 connect to LED2 power indicator, K2.6 and K2.7 connect to LED3 local control indicator, and K2.6 and K2.5 connect to LED4 remote control indicator. In remote control mode, the circuit is as shown above. Figure 7 As mentioned above, contacts K8.5 and K8.6 connect to the 28V power indicator, and K9.5 and K9.6 connect to the power indicator.

[0092] like Figure 8 As shown, the circuits for acquiring 28V power supply and 28V current are combined with optocoupler isolation amplifier and ADC sampling to achieve high-precision isolated measurement of voltage / current signals (±0.5% accuracy), effectively avoiding data distortion caused by high voltage interference.

[0093] The 28V voltage acquisition uses five resistors: R5, R6, R7, R8, and R9. 10 Where R5 = R6 = R7 = R8 = 60kΩ, R 10 =10KΩ) to proportionally adjust the input voltage to suit the input range of the voltage sensor.

[0094] According to the formula

[0095]

[0096] In formula (2): V IN1 The voltage (measured voltage) is the voltage to ground at the input terminal IN1 of the voltage divider network. IN Sampling resistor R 10 The voltage across the terminals, after being stepped down to the input voltage V IN The U4 optocoupler isolation amplifier is used for detection, generating a differential output voltage proportional to the input voltage on the output side. After the U4 optocoupler isolation amplifier, the U6 operational amplifier is used to convert the differential signal into a single-ended output. The amplifier is designed with a gain of 1. R14 and U7 form a limiting circuit to ensure that the voltage output to the STM32F407 microcontroller's ADC123_IN12 channel (pin 28) is below 3.3V.

[0097] Figure 8 As can be seen, R19 is a 20mΩ shunt sampling resistor. The voltage generated across R19 is input to the U8 optocoupler isolation amplifier for detection. The differential output of U8 is converted into a single-ended output voltage by the U9 operational amplifier.

[0098] The relationship between the input and output voltages VOUT and VIN of U8 is approximately as follows:

[0099] VOUT=8.2×VIN......(3)

[0100] Here: VIN = R19 x IIN1 (current being measured), that is: the resistance value of the shunt sampling resistor is multiplied by the current being measured.

[0101] From the input resistors R20 and R24 and the feedback resistor R17 of U9, we know the current measurement value: IOUT1 = VOUT, from which we derive formula (4):

[0102] IOUT1=8.2×R19×IIN……(4)

[0103] R21 and U10 form a limiting circuit to ensure that the voltage output to the STM32F407 microcontroller's ADC123_IN13 channel (pin 29) is below 3.3V.

[0104] like Figure 9 As shown, this is the power supply circuit for power control and measurement. The initial power supply 28V_1 is connected to the DC-DC power chip U12XL1509-5.0, which outputs +5V. The XL1509 is a 150KHz fixed-frequency PWM step-down DC-DC converter chip that can efficiently drive a 2A load. It has low ripple and good line and load regulation capabilities. It is used to power the coils of signal relays K1, K2, K3, K4, K5, K7, K8, and K9 in this system circuit, to power the power indicators LED1, LED2, LED3, and LED4, and to power the input terminals of the optocoupler isolation amplifiers in the 28V voltage and 28V current acquisition circuits. At the same time, the +5V is connected to the isolated DC-DC output VDD2 power supply, which is used to power the output terminals of the optocoupler isolation amplifiers in the 28V voltage and 28V current acquisition circuits.

[0105] The initial power supply 28V_1 is connected to the adjustable DC-DC power chip U16 XL1509-ADJ, and the output is adjusted to 15V through the voltage divider circuit of R52 and R53. The 15V power supply is used to power the coil of the power relay K6.

[0106] like Figure 10The diagram shows a 4-channel USB hub circuit. It connects to the U18FE1.1S hub chip via the USB host interface of the STM32F407 to expand four USB ports, allowing simultaneous connection of multiple USB slave devices. X1 is a 12MHz passive crystal oscillator providing the system clock for the U18 hub chip. Pins 4 to 11 of the U18 are four pairs of high-speed differential signal lines, connected to downstream ports USB1 to USB4. Pin 14 is connected to signal ground via resistor R35 to provide an internal bias reference. Pins 15 and 16 connect to pins 103 and 104 of the upstream STM32F407 U17 chip, serving as the USB host side. Pin 17 of the U18 serves as a reset signal, pulled up to 3.3V via resistor R36. Pin 18 serves as the VUSB monitor signal, obtained from the 5V power supply via a voltage divider connected to resistors R37 and R38. Pin 19 serves as the bus power indicator, pulled up to 3.3V via resistor R39. Pin 20 is the 5V power input, used for integrated 5V to 3.3V regulation. Pin 21 is the 3.3V power output, requiring a R36 decoupling capacitor connected to ground. Pin 22 is the LED drive control signal. Pin 23 is used to control the LEDs on ports 1 and 3, and pin 24 is used to control the LEDs on ports 2 and 4. Together with LEDs 5, 6, 7, 8, and 9, they form the output indicators.

[0107] like Figure 11 As shown, the USB basic command format is described. This invention controls multiple DC power supplies through a USB hub circuit. The DC power supplies used are generally standard power supplies, such as the EA-PSI series DC power supply products. The USB communication protocol of the EA-PSI series DC power supplies is usually based on the SCPI (Standard Commands for Programmable Instruments) standard and is implemented through a USB virtual serial port.

[0108] like Figure 12 The diagram shows the Ethernet interface circuit. The STM32F407 chip has a built-in network MAC (Media Access Control) controller, which enables network communication via the U19 chip. The YT8512C chip is chosen as the PHY chip for the STM32F407. This chip uses RMII (Simplified Media Independent Interface) to communicate with the STM32F407, consuming fewer I / O pins and supporting automatic crossover / straight-through cable identification. Together with the RJ45 connector with its built-in network transformer in J1, it forms a 10M / 100M adaptive network card. Figure 12 middle:

[0109] ETH_MDIO / ETH_MDC / RMII_TXD0 / RMII_TXD1 / RMII_TX_EN / RMII_RXD0 / RMII_RXD1 / RMII_CRS_DV / RMII_REF_CLK / ETH_RESET are connected to PA2 / PC1 / PG13 / PG14 / PG11 / PC4 / PC5 / PA7 / PA1 / PD3 of STM32F407 respectively.

[0110] like Figure 13 The diagram shows the Ethernet TCP / IP command parsing flowchart. The YT8512C Ethernet chip receives TCP / IP data packets, parses custom protocols, and verifies data integrity. Command type judgment is performed, supporting five independent control commands: 1. Start 28V power supply, 2. Stop 28V power supply, 3. Start EA-PSI power supply, 4. Stop EA-PSI power supply, 5. Status query. Based on the command type, the corresponding control flow in the STM32F407 on-chip software is invoked, the operation result and status information are organized, and a response is returned to the host computer. Command parsing is complete, and preparation is made to receive the next command.

[0111] like Figure 14 The diagram shows the on-chip program control logic flowchart for the STM32F407. First, it receives control commands from the host computer, determines the type of the control command, and executes the following processes based on the determination result: 1) Start the 28V power supply process:

[0112] 1. Check the current status of the 28V power supply.

[0113] 2. If the 28V power supply is off, then turn on the 28V power supply.

[0114] 3. If the 28V power supply is already running, return an error.

[0115] 2) Procedure to stop 28V power supply:

[0116] 1. Check the status of all EA-PSI power supplies.

[0117] 2. If all EA-PSI power supplies are off, then stop the 28V power supply.

[0118] 3. If an EA-PSI power supply is still running, return an error.

[0119] 3) Start the EA-PSI power supply process:

[0120] 1. Check the 28V power supply status.

[0121] 2. If the 28V power supply is already running, then start the EA-PSI power supply.

[0122] 3. If the 28V power supply is not activated, an error will be returned.

[0123] 4) Stop the EA-PSI power supply process:

[0124] 1. Directly stop the EA-PSI power supply.

[0125] On-chip program execution logic protection mechanism:

[0126] To activate EA-PSI power protection: the 28V power supply must be activated before the EA-PSI power supply can be activated; to deactivate 28V power protection: all EA-PSI power supplies must be deactivated before the 28V power supply can be deactivated.

[0127] like Figure 15 As shown, this is the display interface circuit. It uses a TFT-LCD liquid crystal display screen, model HS28B02A, 2.8 inches, with a resolution of 240×320. The TFT-LCD collects and displays the 28V voltage, 28V current, local and remote control status, 270V power supply voltage, current, and fault status. U21 is the TFT-LCD display screen driver chip ILI9341. U21 is connected to the FSMC (Flexible Static Memory Controller) bus of U17STM32F407 in parallel, which can significantly improve the refresh rate of the LCD. Figure 15 middle:

[0128] The T_MISO, T_MOSI, T_PEN, T_SCK, and T_CS signals are connected to pins PB2, PF11, PB1, PB0, and PC13 of U17. These signals are used to control the LCD touchscreen (supporting both resistive and capacitive touchscreens). LCD_BL is connected to pin PB15 of U17 and controls the LCD backlight. The LCD reset signal RESET is directly connected to the reset button on the STM32F407 minimum system.

[0129] like Figure 16The diagram shows the FSMC control timing of the STM32F407. For write operations, this diagram illustrates that a memory operation cycle consists of an address setup cycle (ADDSET) and a data setup cycle (DATAST). During the address setup cycle, the NWE signal is pulled low during the data setup cycle to issue a write signal. Then, the FSMC transfers the data to the memory via the data lines. The read operation timing is similar, except that one memory operation cycle consists of an address setup cycle (ADDSET), a data setup cycle (DATAST), and two HCLK cycles. During the data setup cycle, the address lines issue the address to be accessed, the data mask signal lines indicate the high and low bytes of the address to be read, and the chip select signal enables the memory chip. After the address setup cycle ends, the read enable signal lines issue a read enable signal, and then the memory transfers the target data to the FSMC via the data lines. The FSMC then delivers the data to the STM32F407 core. Figure 15 In the middle, FSMC_NE4 is used as the chip select signal, and the RS signal is connected to FSMC_A6 to realize the function of automatically switching between commands and data through the address.

[0130] The STM32F407 microcontroller minimum system circuit mentioned in this embodiment is a reference operating circuit well-known to those skilled in the art. It includes a clock source, a reset circuit, and a power supply circuit, forming a reference topology that satisfies the normal operation of the processor core. The reference operating circuit adopts a general implementation method that conforms to the ARM Cortex-M4 processor technical specifications. Its specific circuit parameters and connection relationships are common knowledge in the field of embedded system design and will not be described in detail here.

[0131] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0132] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A power supply control device for an electromechanical servo mechanism, characterized in that: It includes a servo ground power management circuit, servo control and driver, DC control power supply, DC power supply group and host computer control terminal, wherein: The servo ground power management circuit is located inside the test instrument chassis. Its operating modes include local control mode and remote control mode. The test instrument chassis panel has power on / off, control on / off switches. In local control mode, pressing the switches according to preset power control logic controls the power supply to the corresponding servo controller and driver. In remote control mode, it receives start or stop commands from the host computer to power the corresponding servo controller and driver. The servo ground power management circuit is directly connected to the DC control power and DC power supply group, providing DC control power or DC power to the servo controller and driver according to the operating mode requirements and power supply needs.

2. The electromechanical servo mechanism power supply control device according to claim 1, characterized in that: The servo ground power management circuit includes a control circuit group, a single-chip microcomputer minimum system circuit, an Ethernet interface circuit, a display interface circuit, and a USB hub circuit. The servo ground power management circuit is connected to the DC control circuit through the control circuit group to provide DC control power. The servo ground power management circuit is connected to the DC power supply group through the USB hub circuit to provide DC power. In local control mode, the microcontroller minimum system circuit receives the I / O signals output by the control circuit group through optocoupler isolation and switches to local control mode using interrupt acquisition triggering. The microcontroller minimum system circuit is connected to the USB hub circuit to realize the connection with the DC power supply group. In remote control mode, the host computer sends start or stop commands to the microcontroller minimum system circuit through the Ethernet interface circuit according to the custom TCP / IP data protocol. The microcontroller minimum system circuit outputs GPIO signals to the control circuit group to control the DC control power. The control circuit group triggers the Darlington tube optocoupler circuit to output control signals, which are then output by the microcontroller minimum system circuit to the USB hub circuit to connect to the DC power supply group to provide DC power.

3. The electromechanical servo mechanism power supply control device according to claim 2, characterized in that: The preset power control logic is: control power start, power power start, power power shutdown, and control power shutdown. The control circuit group includes a control circuit, an optocoupler-isolated input circuit, and a Darlington transistor optocoupler output circuit, wherein: The control circuit is connected to the microcontroller minimum system circuit via an optocoupler isolation input circuit. The optocoupler isolation input circuit receives the I / O signals output by the control circuit group to achieve local control mode switching. The microcontroller minimum system circuit receives control commands from the host computer via an Ethernet interface circuit. The control circuit receives GPIO signals via a Darlington transistor optocoupler circuit, generates control signals, and sends them to the microcontroller minimum system circuit. The microcontroller minimum system circuit connects the control signals to the DC power supply group via a USB hub circuit to achieve control of the DC power supply.

4. The electromechanical servo mechanism power supply control device according to claim 3, characterized in that: The control circuit group also includes a voltage and current measurement circuit. The control circuit acquires the voltage and current signal parameters of the DC control power supply through the voltage and current measurement circuit. After the acquisition is carried out by the dual-channel ACD of the single-chip microcomputer minimum system circuit, it is connected to an external display screen through the display interface circuit for output display. The output display content includes: the on and off status of each DC control power supply and the voltage and current signal parameters. The control circuit uses the control command information from the host computer and the minimum system circuit of the microcontroller to control the DC power supply. The voltage and current measurement circuit collects the switching status and voltage and current parameters of each DC power supply in the DC power supply group, and connects to an external display screen through the display interface circuit for output display.

5. The electromechanical servo mechanism power supply control device according to claim 3, characterized in that: The local and remote control selection circuit adopts a U5 selection switch circuit, including contact one, contact two, contact three, signal relay group, and freewheeling diode D1. The signal relay group includes signal relay K1 and signal relay K2. Signal relay K1 includes signal relays K1.2-K1.7, and signal relay K2 includes signal relays K2.2-K2.

7. Select the operating mode of DC control power supply and DC power supply. In the default local control mode, contacts one and two of U5 selector switch are closed, the coils of signal relays K1 and K2 are not energized, and all contacts of U5 selector switch are in the default position. In remote control mode, contacts two and three of the U5 selector switch are closed, energizing the coils of signal relays K1 and K2. The normally open contacts are closed, and the normally closed contacts are open. Signal relays K1.3 and K1.4 are connected, and signal relays K1.6 and K1.5 are connected. Signal relays K1.3 and K1.2 are disconnected, and signal relays K1.6 and K1.5 are disconnected. The freewheeling diode D1 is used to eliminate the back electromotive force generated when the relay coils of signal relays K1 and K2 are de-energized.

6. The electromechanical servo mechanism power supply control device according to claim 3, characterized in that: The control circuit implements power distribution control in local or remote control mode while also providing logic protection, wherein: The control circuit includes a U5 selector switch circuit, switches SW1, SW2, SW3, and SW4, a signal relay group, freewheeling diodes D2 and D4, and the signal relay group includes signal relays K3, K4, K5, and K6. When the U5 selector switch circuit is in the local control position, and contacts K1.2 and K1.3 in the local control / remote control selection circuit are connected and switch SW1 is pressed, the coils of signal relays K3 and K4 are connected to the +5V power supply. Contacts K3.3 and K3.4 in signal relay K3 are connected to lock the two ends of switch SW1. When switch SW1 rebounds and opens, signal relays K3 and K4 remain connected. At the same time, contacts K3.6 and K3.5 are connected to control signal feedback, contacts K4.3 and K4.4 are connected to connect the power supply circuit and open the power supply logic protection when the 28V power supply is connected, and contacts K4.6 and K4.5 are connected to turn on the local control mode indicator light. When the U5 selector switch circuit is in the local control position, and contacts K2.2 and K2.3 in the local / remote control selection circuit are connected, when switch SW3 is pressed, signal relays K3 and K4 are connected, and the coils of signal relays K5 and K6 are connected to the +5V power supply. Contacts K5.3 and K5.4 are connected to lock the two ends of switch SW3; contacts K5.5 and K5.6 are connected to control signal feedback; contacts K6.3 and K6.4 are connected to lock switch SW2 to achieve logic protection that prevents the 28V power supply from being disconnected when the power supply is on; contacts K6.6 and K6.5 are connected to turn on the local control mode indicator light.

7. The electromechanical servo mechanism power supply control device according to claim 6, characterized in that: When the power supply needs to be disconnected, control switch SW4 is disconnected, signal relays K5 and K6 are disconnected, all contacts return to their initial positions, and the power supply is disconnected from the control circuit. Then, the 28V power supply and switch SW2 are disconnected, and the coils of signal relays K3 and K4 are disconnected, and all contacts are returned to their initial positions. Freewheeling diodes D2 and D3 are used to eliminate the back electromotive force generated when the relay coils of signal relays K1, K2, K3, and K4 are de-energized.

8. The electromechanical servo mechanism power supply control device according to claim 7, characterized in that: The Darlington optocoupler output circuit includes a four-channel Darlington optocoupler, pull-up resistors R1, R2, and R3, and a 3V3IN power supply. In the local control mode, contacts K3.6 and K3.5 are used for the 28V power supply on state input, contacts K5.6 and K5.5 are used for the power supply on state input, and contacts K1.6 and K1.5 are used for the working mode input. The +5V power supply is connected to the input terminal of the four-channel optocoupler through each contact. The output terminal of the four-channel optocoupler is connected to the pull-up resistors R1, R2, and R3 and the 3V3IN power supply through the collector of the Darlington transistor. The emitter of the Darlington transistor is connected to signal ground.

9. The electromechanical servo mechanism power supply control device according to claim 7, characterized in that: The servo ground power management circuit also includes a power output circuit and a power remote control indicator circuit. The power output circuit adopts a Darlington tube optocoupler, which consists of an input light-emitting diode and an output Darlington transistor. When the light-emitting diode is powered on, it illuminates and triggers the Darlington transistor to conduct in order to drive the coil of the power relay K6. The power remote control indicator circuit is connected to the microcontroller minimum system circuit. In remote control mode, the microcontroller in the minimum system circuit outputs 28V_LED and 270V_LED signals through pins PA9 and PA10 respectively to optocouplers U13 and U14 of the power remote control indicator circuit. These signals drive signal relays K8 and K9, controlling contacts K8.5 and K8.6 to connect, and contacts K9.5 and K9.6 to connect, thereby activating the power indicator circuit. Diodes D7 and D8 in the power remote control indicator circuit are used to eliminate the back electromotive force generated when signal relays K8 and K9 are closed. Voltage divider resistors R33 and R34 are used to prevent induced voltage from causing false activation when the optocouplers are floating.

10. The electromechanical servo mechanism power supply control device according to claim 9, characterized in that: The power indicator circuit includes a control power indicator and a power power indicator. In the local control mode, LED1 (28V power indicator) is directly connected by contacts K4.5 and K4.6, LED2 (power power indicator) is connected by contacts K6.5 and K6.6, LED3 (local control indicator) is connected by contacts K2.6 and K2.7, LED4 (remote control indicator) is connected by contacts K2.6 and K2.5, 28V control power indicator is connected by contacts K8.5 and K8.6, and power power indicator is connected by contacts K9.5 and K9.6.

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