Parallload braking control method for electric steering engine

Abstract

The invention provides an electric steering engine load braking control method, and belongs to the field of aircraft control. According to the method, on the premise of no current closed-loop control, the current peak value and the pumping voltage of the electric steering engine under the load braking working condition are remarkably reduced, and the impact on a controller is reduced. An electric steering engine load braking module is designed, an output voltage amplitude limiting value is dynamically adjusted through an electric steering engine speed signal, reverse voltage braking is used when the load speed is too high, the electric steering engine is decelerated and braked in advance, braking energy is reduced, and finally the braking current peak value and pumping voltage are reduced. A speed weighting calculation module is synchronously designed, and an electric steering engine speed input signal with higher signal quality is provided for a load braking module. The method realizes the suppression of the braking current and the pumping voltage of the electric steering engine under the condition of no current closed-loop control, and has the characteristics of simple algorithm, low hardware requirement and good suppression effect.

Description

Technical Field

[0001] This invention belongs to the field of aircraft control technology, and in particular relates to an electric servo motor load-following braking control method. Background Technology

[0002] During operation, the electric servo motor of the control surface servo system bears aerodynamic loads through the aircraft's control surfaces, exhibiting both reverse and parallel load conditions. Under parallel load conditions, the aerodynamic load is in the same direction as the electric servo motor's movement, propelling it to a higher speed and accumulating significant kinetic energy. When the electric servo motor reaches the target position to brake, a large braking current and a high boost voltage are generated to quickly reduce its speed to zero.

[0003] For a control surface servo system with a current sensor that can achieve closed-loop current control, although the current can be controlled to not exceed the limit value, the small braking current limits the braking capability of the electric servo and prolongs the braking time. Ultimately, this manifests as significant overshoot in the electric servo's position tracking, affecting flight quality.

[0004] For a control surface servo system that relies solely on closed-loop position control without a current sensor, the braking current and pump-up voltage are uncontrollable. The large braking current and high pump-up voltage generated during braking will impact the servo controller or the onboard power supply, potentially damaging the servo controller or power supply and affecting flight safety. Summary of the Invention

[0005] Purpose of the invention: This invention provides an electric servo motor load-following braking control method that does not rely on a current closed loop, which significantly reduces the braking current and pump-up voltage during the braking process and improves the safety of flight missions.

[0006] Technical solution: A method for controlling the on-load braking of an electric servo motor includes the following steps: S1, calculate the speed of the electric servo motor; S2, calculate the upper limit of the load-bearing braking module based on the speed of the electric servo motor; S3, calculate the lower limit of the load braking module based on the speed of the electric servo motor; S4 controls the voltage output value based on the upper and lower limits of the amplitude limit; S5, repeat steps S1 to S4.

[0007] Furthermore, in S1, the electric servo motor speed v The calculation formula is as follows: v=α * v hall +(1- α )* v pos α These are weighting coefficients; v pos The speed calculated by the electric servo motor position sensor. v hall The speed calculated by the Hall sensor of the electric servo motor. v pos Calculated by differentiating the position signal from the electric servo motor; v hall Calculated from the Hall sensor count value.

[0008] Further, S2, calculate the positive voltage limit value of the voltage dynamic braking module, including: When the servo speed v ∈[-∞, - v 1], positive voltage limit value U up =U 2; When the servo speed v ∈(- v [1, 0], positive voltage limit value U up = ( U 1- U 2)* v / v 1 + U 1; When the servo speed v ∈(0, v 2], positive voltage limit value U up = U 1; When the servo speed v ∈( v 2, v 3], positive voltage limit value U up = ( U 3- U 1)* v / ( v 3- v 2)+( U 1-( U 3- U 1)* v 2 / ( v 3- v 2)); When the servo speed v ∈( v 3, +∞], positive voltage limit value U up = U 3.

[0009] in U 1 represents the maximum driving voltage in the direction of motion. U 2 represents the maximum braking voltage in the direction of motion. U 3 represents the active braking voltage in the direction of motion.

[0010] Furthermore, the input parameters of the braking module must satisfy specific logical relationships, including: Servo speed corresponding to positive voltage driving the servo v >0; The velocity parameter satisfies 0 < v 1 < Servo idle speed < v 2< v 3; Voltage parameters meet U 3 < 0 < U 2< U 1.

[0011] Further, S3, calculate the negative voltage limit value of the voltage dynamic braking module, including: When the servo speed v ∈[ v 1, +∞], negative voltage limit value U lo = - U 2; When the servo speed v ∈[0, v 1) Negative voltage limit value U lo = ( U 1- U 2)* v / v 1- U 1; When the servo speed v ∈[- v 2,0), negative voltage limit value U lo = - U 1; When the servo speed v ∈[- v 3, - v 2) Negative voltage limiting value U lo = ( U 3- U 1)* v / ( v 3- v 2)-( U 1-( U 3-U 1)* v 2 / ( v 3- v 2)); When the servo speed v ∈[-∞, - v 3) Negative voltage limit value U lo = - U 3.

[0012] Furthermore, S4 controls the voltage output value based on the limiting value, including: When voltage U > U up hour, U = U up ; When voltage U < U lo hour, U = U lo ; Other cases U = U .

[0013] Furthermore, based on the maximum speed achievable by the electric servo motor... v max Use the sigmoid function to construct the weighting coefficients. α，α= 1 / (1+ exp (- k ( abs ( v pos / v max -0.5) k ≥10, v pos ≤ v max .

[0014] A computer-readable storage medium includes: a memory and a processor; The memory is configured to store executable instructions; The processor is configured to implement the electric servo motor load-following braking control method when executing the executable instructions stored in the memory.

[0015] The advantages and effects of this invention can be: (1) It does not rely on current sensors and current closed-loop control, and has low hardware requirements; (2) The output voltage is controlled by the load braking module, which does not directly participate in the closed-loop control of the control law, and has little impact on the control law; (3) The speed of the electric servo motor is calculated by weighting the speed of the electric servo motor position sensor and the speed of the motor Hall sensor, which overcomes the problems of low refresh rate at low speed and high noise at high speed of a single speed source, and has high compatibility with the load braking module. (4) The control method uses speed to determine the amount of braking energy and triggers multiple slight braking during the electric servo motor's load-carrying process, which significantly reduces the braking current and pump voltage, resulting in good braking effect; (5) The algorithm is universal and applicable to the control of various types of current-free closed-loop electric servo motors. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram illustrating the principle of an electric servo motor load-following braking control method according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of an embodiment of the electric servo motor load-following braking control method of the present invention; Figure 3 This is a schematic diagram of the control law architecture of an electric servo motor according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the principle of the load-carrying braking module involved in this invention; Figure 5 This is a schematic diagram of the speed-weighted calculation module involved in this invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0020] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0022] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0024] Figure 1 This is a schematic diagram illustrating the principle of an electric servo motor load-following braking control method according to an embodiment of the present invention.

[0025] like Figure 1 As shown, the method may include the following steps: Step 1: Read the speed of the electric servo motor; Step 2: Calculate the positive voltage limit value of the on-the-fly braking module; Step 3: Calculate the negative voltage limit value of the on-the-fly braking module; Step 4: Control the voltage output value according to the limiting value; Step 5: Repeat steps 1 through 4.

[0026] Figure 2 This is a schematic flowchart of an electric servo motor load-following braking control method according to an embodiment of the present invention.

[0027] like Figure 2 As shown, the method may include the following steps: Step 1: Execute

[101] to calculate the weighting coefficients. α= 1 / (1+ exp (- k ( abs ( v pos / v max -0.5) k≥ 10; Step 2: Execute

[102] to calculate the servo speed. v=α * v hall +(1- α )* v pos ; Step 3: Execute

[103] to compare servo speeds. v and braking module speed parameters v 1. If v ≤- v 1. Select the positive voltage limiting value. U up =U 2. Execute

[107] , otherwise, execute

[104] ; Step 4: Execute

[104] to determine the servo speed. v Direction, if if v ≤0, take the positive voltage limit value. U up = ( U 1- U 2)* v / v 1 + U 1. Execute

[107] , otherwise, execute

[105] ; Step 5: Execute

[105] to compare servo speeds. v and braking module speed parameters v 2, if v ≤ v 2. Select the positive voltage limiting value. U up = U 1. Execute

[107] , otherwise, execute

[106] ; Step 6: Execute

[106] to compare servo speeds.v and braking module speed parameters v 3. If v ≤ v 3. Select the positive voltage limiting value. U up = ( U 3- U 1)* v / ( v 3- v 2)+( U 1-( U 3- U 1)* v 2 / ( v 3- v 2)) Execute

[107] , otherwise, take the positive voltage limit value. U up = U 3. Execute

[107] ; Step 7: Execute

[107] to compare servo speeds. v and braking module speed parameters v 1. If v ≥ v 1. Select the negative voltage limiting value. U lo = - U 2. Execute

[111] , otherwise, execute

[108] ; Step 8: Execute

[108] to determine the servo speed. v Direction, if if v ≥0, take the negative voltage limit value. U lo= ( U 1- U 2)* v / v 1- U 1. Execute

[111] , otherwise, execute

[109] ; Step 9: Execute

[109] to compare servo speeds. v and braking module speed parameters v 2, if v ≥- v 2. Take the negative voltage limiting value. U lo= - U 1. Execute

[111] , otherwise, execute

[110] ; Step 10: Execute

[110] to compare servo speeds. v and braking module speed parameters v 3. If v ≥- v 3. Select the negative voltage limiting value.U lo= ( U 3- U 1)* v / ( v 3- v 2)-( U 1-( U 3- U 1)* v 2 / ( v 3- v 2)) Execute

[111] , otherwise, take the negative voltage limit value. U lo= - U 3. Execute

[111] ; Step 11: Execute

[111] and read the output voltage calculated by the control law. U ; Step 12: Execute

[112] to compare the output voltage. U and positive voltage limit value U up ,if U ≥ U up Take the output voltage U =U up If the condition is met, execute

[114] ; otherwise, execute

[113] . Step 13: Execute

[113] to compare the output voltage. U and negative voltage limit value U lo ,if U ≤ U lo Take the output voltage U = U lo Execute

[114] if necessary, otherwise execute

[114] ; Step 14: Execute

[114] to complete the control law calculation and output voltage. U Calculate, then proceed to execution

[101] ; Step 15: Execute

[115] , the program ends.

[0028] In some embodiments, a method for controlling the on-load braking of an electric servo motor is described in detail below.

[0029] One method for controlling the on-load braking of an electric servo motor is to add an on-load braking module after the output voltage is calculated by the servo control law of the electric servo motor.

[0030] Figure 3 This is a schematic diagram of the control law architecture of an electric servo motor according to an embodiment of the present invention.

[0031] like Figure 3 As shown, the electric servo motor control law receives the target position command. cmd Then, the current actual position of the electric servo motor is collected. back Calculate the error between the target position and the current position. e1=cmd - back Position error is achieved through... PI The control circuit generates the output voltage. u1 The output voltage passes through the load-carrying braking module. Break_Con The output voltage after limiting is then obtained. u2 , u2 The final control voltage applied to the electric servo motor U Among them, the on-load braking module Break_Con Relying on electric servo speed v Limit the amplitude.

[0032] Among them, the speed of the electric servo motor v It is based on the speed of the electric servo motor position sensor. v pos Motor Hall sensor speed v hall As input, it is processed by the speed calculation module. Speed It is generated after weighted calculation.

[0033] Figure 4 This is a schematic diagram of the principle of the load-carrying braking module involved in this invention.

[0034] like Figure 4 As shown, the on-load braking module calculated the positive voltage limiting value respectively. U up and negative voltage limit value U lo This makes the final output voltage U Always in U up and U lo between.

[0035] For electric servos, when the output voltage U and servo speed v When the signs are opposite, the servo is operating in braking mode. Servo speed v The larger the value, the more energy the servo mechanism requires for braking, and thus the higher the output voltage. U This will generate significant braking current and pump-up voltage. Especially when the servo motor is operating under load, its speed may exceed its no-load speed. If braking and deceleration are not performed in advance, it may eventually damage the controller or the onboard power supply.

[0036] The on-load braking module primarily achieves braking control through two methods, reducing braking current and boosting voltage. This is based on servo motor speed. v Examples of cases greater than 0, v The case of values ​​greater than 0 is similar: First, for normal braking conditions, the output voltage is negatively limited based on the speed to avoid excessive output voltage. U .

[0037] When the servo speed is low, that is v Not greater than v In case 1, the braking energy required by the servo is not large, and the negative output voltage limit is [not specified]. U lo Can be designed - U 1 to - U A linear transition of 2. In v= At time 0, there is no braking condition, and the negative output voltage is limited. U lo = - U 1. Forward output voltage limit value U up =U 1, U 1 represents the maximum output voltage. v= v At time 1, negative output voltage limit value U lo = - U 2. Forward output voltage limit value U up =U 1, U 2 is typically 10% of the maximum output voltage and is mainly used for braking.

[0038] When the servo speed is within the normal operating range, that is v Greater than v 1, but not exceeding v 2, of which v 2 is greater than the no-load speed. At this time, the negative output voltage limit value... U lo = - U 2. Forward output voltage limit value U up =U 1.

[0039] Second, for on-load braking conditions, the output voltage is positively limited according to the speed, so that the positive limit value of the output voltage is negative, forcing the servo motor to brake and decelerate in advance.

[0040] When the servo speed v Greater thanv At speed 2, the servo motor's speed exceeds its maximum unloaded speed, indicating that it is being driven by a load and is in a load-carrying condition. This load-carrying condition is accompanied by... v Increase, then begin to decrease the positive output voltage limit. U up To make it reach v At 3, U up = U 3, U 3 represents a negative voltage. At this time, the negative output voltage limit is... U lo = - U 2, therefore the output voltage U When the value is negative, the servo begins to brake and decelerate in advance, preventing the servo speed from increasing. v The increased size allowed for the early release of the steering mechanism's braking energy.

[0041] Therefore, the positive output voltage limit value U up The calculation is as shown in formula (1): (1) Negative output voltage limit U lo The calculation is as shown in formula (2): (2) Figure 5 This is a schematic diagram of the speed-weighted calculation module involved in this invention.

[0042] The main function of the speed weighted calculation module is to calculate the speed of the electric servo motor position sensor. v pos Motor Hall sensor speed v hall A weighted calculation is performed. Therefore, a weighted formula is constructed. v=α * v hall +(1- α )* v pos ,in α These are the weighting coefficients.

[0043] like Figure 5 As shown, the weighting coefficients α pass v pos Calculate, so that in - v max / 2 to v max / Between 2, vpos Weighting is significant, other intervals v hall The weight is significant. It achieves speed control in the low-speed range primarily relying on the electric servo motor position sensor. v pos In the high-speed range, the speed is mainly determined by the motor's Hall sensor. v hall The effect.

[0044] Electric servo motor position sensor speed v pos It is mainly obtained by differentiating the position signal from the electric servo motor, characterized by a high signal refresh rate but relatively high noise. Electrode Hall sensor speed. v hall It is mainly obtained from the commutation count value of the motor Hall sensor. Its characteristics are low signal noise, but slow commutation at low speed results in a low refresh rate.

[0045] On-load braking module Break_Con The speed input signal delay is relatively sensitive in the low-speed range, so the speed weighted calculation module... Speed By weighted calculation, two velocity sources with different characteristics are integrated to provide a load-carrying braking module. Break_Con It provides a higher quality speed input signal, overcoming the problems of low refresh rate at low speeds and high noise at high speeds with a single speed source.

[0046] It should be noted that the above process operations can be combined to varying degrees. For the sake of simplicity, the implementation methods of various combinations will not be elaborated further. Those skilled in the art can flexibly adjust or combine the order of the steps of the above method (or the position of the product components) according to the actual situation.

[0047] It should be noted that the functional components shown in the above embodiments can be implemented in hardware, software, or a combination of both. When implemented in hardware, they can be electronic circuits, application-specific integrated circuits (ASICs), plug-ins, function cards, etc. When implemented in software, they can be programs or code segments used to perform the required tasks. The programs or code segments can be stored in a machine or readable medium, or they can be transmitted over a transmission medium or communication link via data signals carried in a carrier wave.

[0048] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A method for controlling the on-load braking of an electric servo motor, characterized in that, Includes the following steps: S1, calculate the speed of the electric servo motor; S2, calculate the upper limit of the load-bearing braking module based on the speed of the electric servo motor; S3, calculate the lower limit of the load braking module based on the speed of the electric servo motor; S4 controls the voltage output value based on the upper and lower limits of the amplitude limit; S5, repeat steps S1 to S4.

2. The method according to claim 1, characterized in that, In S1, the electric servo speed v The calculation formula is as follows: v=α * v hall +(1- α )* v pos α These are weighting coefficients; v pos The speed calculated by the electric servo motor position sensor. v hall The speed calculated by the Hall sensor of the electric servo motor. v pos Calculated by differentiating the position signal from the electric servo motor; v hall Calculated from the Hall sensor count value.

3. The method according to claim 2, characterized in that, S2, calculate the positive voltage limit value of the voltage dynamic braking module, including: When the servo speed v ∈[-∞, - v 1], positive voltage limit value U up =U 2; When the servo speed v ∈(- v [1, 0], positive voltage limit value U up = ( U 1- U 2)* v / v 1 + U 1; When the servo speed v ∈(0, v 2], positive voltage limit value U up = U 1; When the servo speed v ∈( v 2, v 3], positive voltage limit value U up = ( U 3- U 1)* v / ( v 3- v 2)+( U 1-( U 3- U 1)* v 2 / ( v 3- v 2)); When the servo speed v ∈( v 3, +∞], positive voltage limit value U up = U 3. in U 1 represents the maximum driving voltage in the direction of motion. U 2 represents the maximum braking voltage in the direction of motion. U 3 represents the active braking voltage in the direction of motion.

4. The method according to claim 3, characterized in that, The input parameters of the braking module must meet specific logical relationships, including: Servo speed corresponding to positive voltage driving the servo v >0; The velocity parameter satisfies 0 < v 1 < Servo idle speed < v 2< v 3; Voltage parameters meet U 3 < 0 < U 2< U 1.

5. The method according to claim 4, characterized in that, S3, calculate the negative voltage limit value of the voltage dynamic braking module, including: When the servo speed v ∈[ v 1, +∞], negative voltage limit value U lo = - U 2; When the servo speed v ∈[0, v 1) Negative voltage limit value U lo = ( U 1- U 2)* v / v 1- U 1; When the servo speed v ∈[- v 2,0), negative voltage limit value U lo = - U 1; When the servo speed v ∈[- v 3, - v 2) Negative voltage limiting value U lo = ( U 3- U 1)* v / ( v 3- v 2)-( U 1-( U 3- U 1)* v 2 / ( v 3- v 2)); When the servo speed v ∈[-∞, - v 3) Negative voltage limit value U lo = - U 3.

6. The method according to claim 5, characterized in that, S4 controls the voltage output value based on the limiting value, including: When voltage U > U up hour, U = U up ; When voltage U < U lo hour, U = U lo ; Other cases U = U .

7. The method according to claim 2, characterized in that, Based on the maximum speed that the electric servo motor can achieve v max Use the sigmoid function to construct the weighting coefficients. α，α= 1 / (1+ exp (- k ( abs ( v pos / v max -0.5) k ≥10, v pos ≤ v max .

8. A computer-readable storage medium, characterized in that, include: Memory and processor; The memory is configured to store executable instructions; The processor is configured to implement, when executing the executable instructions stored in the memory, an electric servo motor load-following braking control method as described in any one of claims 1 to 7.

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