Central information controller of multi-channel permanent magnet synchronous electromechanical servo system

Abstract

The invention relates to a central information controller of a multi-channel permanent magnet synchronous electromechanical servo system, and belongs to the technical field of servo control. According to the controller, an integrated hardware architecture of double DSP + high-speed double-port RAM (Random Access Memory) is adopted, and the design of a double-redundancy RS-422 communication interface and a hierarchical isolation power supply circuit is matched, so that multi-channel parallel cooperative control, multi-sensing information rapid processing and high-reliability communication are realized, and meanwhile, the controller has the advantages of miniaturization, low cost and strong anti-interference capability; the high-performance application requirement of the permanent magnet synchronous electromechanical servo system in the fields of numerical control machine tools, industrial robots, aerospace actuating mechanisms, radar antenna servo and the like can be effectively met, the technical defects of a traditional controller in the aspects of processing performance, size, cost and reliability are overcome, and the industrial application prospect is good.

Description

Technical Field

[0001] This invention relates to the field of servo control technology, and in particular to a central information controller for a multi-channel permanent magnet synchronous electromechanical servo system. Background Technology

[0002] Permanent magnet synchronous motors are widely used in multi-axis servo systems due to their advantages of high power density, high control precision, and low loss. Current multi-channel servo control systems mostly adopt a "main controller + distributed driver" architecture. The main controller is only responsible for motion planning and command issuance, while the acquisition of core information such as motor current, speed, and position, as well as the underlying control algorithms, are all completed in the distributed driver.

[0003] The architecture has the following drawbacks: First, the information from each channel is scattered, and the main controller cannot obtain complete multi-channel operating data in real time, making it difficult to achieve cross-channel collaborative optimization and global fault diagnosis. Second, the control algorithms of the distributed drivers run independently, resulting in poor synchronization of control commands between channels and easy trajectory deviation during multi-axis collaborative motion. Third, the system wiring is complex, communication delays are large, and the hardware and software configurations of each driver differ, increasing the difficulty of system debugging and maintenance. Fourth, the fault detection of existing controllers is mostly single-channel independent detection, lacking the ability to identify faults associated with multiple channels, resulting in slow fault response speed and affecting system reliability.

[0004] Therefore, there is an urgent need for a central information controller that integrates multi-channel information acquisition, real-time collaborative control, and global fault management to solve the technical problems of information dispersion, poor coordination, and low reliability in existing multi-channel permanent magnet synchronous servo systems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a central information controller for a multi-channel permanent magnet synchronous electromechanical servo system. This controller solves the technical problems of insufficient processing performance, large size, high cost, and low communication reliability of traditional controllers. It enables multi-channel parallel collaborative control, rapid processing of multi-sensor information, and highly reliable redundant communication, while also taking into account the miniaturization and economy of the controller.

[0006] The technical solution adopted in this invention is as follows:

[0007] A central information controller for a multi-channel permanent magnet synchronous electromechanical servo system includes a secondary power supply circuit, a tertiary power supply circuit, a master-slave dual DSP digital signal processing circuit, and a peripheral control interface circuit.

[0008] The secondary power supply circuit includes a first-stage filter circuit, a secondary power supply module, and a second-stage filter circuit.

[0009] The tertiary power supply circuit is used to filter and isolate the output of the secondary power supply circuit to serve as the power supply for the master DSP and slave DSP in the master-slave dual DSP digital signal processing circuit.

[0010] The master-slave dual-DSP digital signal processing circuit is used to realize the rapid calculation of multi-channel sensor information, parallel collaborative control instruction generation, multi-state information monitoring and fault diagnosis, and scheduling management of various peripheral interface circuits, including master DSP, slave DSP, clock circuit, reset circuit, JTAG circuit, and high-speed dual-port RAM circuit.

[0011] The peripheral control interface circuit is used to connect the controller with external actuators and sensing elements, including an A / D conversion circuit, an SVPWM drive interface circuit, an RDC excitation decoding circuit, and a communication interface circuit.

[0012] In some embodiments of the present invention, the input of the secondary power supply circuit is a +28V power supply. The +28V input power supply is filtered by the first-stage filter circuit and then sent to the secondary power supply module. After the secondary power supply module completes the isolation transformation, it is filtered again by the second-stage filter circuit, and finally outputs mutually isolated +5V power supply and ±12V power supply. After filtering, three power supplies of +5VCC, +5VA and ±12V are obtained.

[0013] In some embodiments of the present invention, the input of the tertiary power supply circuit is +5VCC output from the secondary power supply circuit. The circuit first performs input filtering on +5VCC, and then sends the filtered +5VCC to the LDO circuit. The LDO circuit completes the isolation conversion and finally outputs two power supplies, 3.3V and 1.9V, which serve as dedicated power supplies for the master DSP and slave DSP, respectively.

[0014] In some embodiments of the present invention, the main DSP receives external control system instructions transmitted by the communication interface circuit, formulates a global control strategy for the four-channel permanent magnet synchronous electromechanical servo system, schedules the slave DSP to complete the calculation and processing of multi-channel sensor information, realizes real-time monitoring of multi-state information, fault diagnosis and fault early warning, manages the working status of each peripheral control interface circuit, completes the global allocation of data and the unified issuance of instructions, and is responsible for transmitting system operating status, fault information and other data back to the external control system to realize global data interaction with the outside.

[0015] In some embodiments of the present invention, the DSP receives scheduling instructions from the main DSP and is responsible for parallel high-speed calculation of multi-physical quantity sensing information collected by the A / D conversion circuit and the RDC excitation decoding circuit; according to the global control strategy of the main DSP, the DSP generates and issues drive instructions for the SVPWM drive interface circuit in real time; the DSP completes real-time closed-loop control calculation and simultaneously transmits the calculation results and channel operating status data back to the main DSP in real time, thus cooperating with the main DSP to complete global control.

[0016] In some embodiments of the present invention, the A / D conversion circuit is used to convert various analog sensing signals in a four-channel permanent magnet synchronous electromechanical servo system into digital signals to realize the front-end signal acquisition for closed-loop control of the servo system.

[0017] In some embodiments of the present invention, the SVPWM drive interface circuit receives the SVPWM digital control command output by the master-slave dual DSP digital signal processing circuit. After circuit conditioning and power amplification, it outputs a PWM pulse signal that meets the requirements of permanent magnet synchronous motor drive and transmits it to the motor drive module of the four-channel electromechanical actuator to control the motor speed, torque, direction and position. At the same time, it can collect fault feedback signals during the motor drive process and send them back to the master-slave dual DSP digital signal processing circuit to realize fault monitoring and protection.

[0018] In some embodiments of the present invention, the RDC excitation decoding circuit converts the analog signals of the motor rotor mechanical position and speed collected by the rotary transformer into digital signals through excitation power supply and signal decoding.

[0019] In some embodiments of the present invention, the communication interface circuit adopts an RS-422 dual-channel isolated bus design, and the isolated transmitter circuit adopts a B26C31T chip. Based on this chip, two redundant bus transmission channels, A and B, are constructed to form an A and B redundant dual-bus isolated transmitter circuit.

[0020] In some embodiments of the present invention, the intelligent communication controller circuit uses the SM16C854 chip, which is a multi-channel intelligent transceiver communication controller; the opto-isolation receiving circuit uses the GH22412J high-speed optocoupler to achieve opto-isolation between external communication signals and the internal circuit of the controller.

[0021] This invention provides a central information controller for a multi-channel permanent magnet synchronous electromechanical servo system. The technical solution provided by the embodiments of this invention brings at least the following beneficial effects:

[0022] (1) The present invention adopts a hardware architecture of master-slave dual DSP + high-speed dual-port RAM as the information and control processing center. The dual DSP circuits are integrated on a single circuit board, which can effectively realize the parallel collaborative control of the four-channel permanent magnet synchronous electromechanical servo system, meet the system's rapid processing requirements for multi-physical quantity sensing information, multi-state quantity detection and fault diagnosis, and solve the problem of insufficient processing performance of traditional single DSP. At the same time, the program and storage adopt the FLASH and SRAM integrated inside the DSP, without the need for external storage units, avoiding the performance loss of peripheral bus reading and writing, greatly reducing the size of the controller, and realizing miniaturized design.

[0023] (2) The communication interface circuit of the present invention adopts RS-422 dual-channel isolation bus to realize dual redundant communication of channels A and B. With the selection and design of SM16C854 intelligent communication controller, B26C31T isolation transmitter and GH22412J high-speed optocoupler, it not only improves the communication reliability under electromagnetic disturbance environment, but also alleviates DSP overhead through the autonomous transceiver function of intelligent communication controller. Moreover, the redundant design can be realized without adding an extra hardware communication bus link, effectively controlling the design cost.

[0024] (3) The present invention implements a hierarchical isolation design for the power supply circuit. The secondary power supply circuit and the tertiary power supply circuit provide independent and stable isolated power supply for different functional modules, which improves the anti-interference capability and operational stability of the controller. At the same time, the overall hardware architecture abandons the complex design of traditional DSP+FPGA, reduces the number of power supply circuits and types, and has both good economic and miniaturization advantages. It can also realize multi-state information monitoring, fault diagnosis and good maintainability and testability.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0026] 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. Obviously, 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.

[0027] Figure 1 This is a schematic diagram of the central information controller for a four-channel permanent magnet synchronous electromechanical servo system.

[0028] Figure 2 This is a schematic diagram of the secondary power supply circuit.

[0029] Figure 3A schematic diagram showing the connection between the master DSP, slave DSP, and high-speed dual-port RAM circuit.

[0030] Figure 4 This is a schematic diagram of the communication interface circuit. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] Before describing the technical solution of the present invention in detail, the technical background and technical terms involved in the technical solution will be explained first:

[0033] Permanent magnet synchronous electromechanical servo system: A high-performance electromechanical transmission system that uses a permanent magnet synchronous motor as power source, combined with a servo driver and feedback device, to precisely control position, speed, and torque.

[0034] LDO (Low Dropout Regulator): A type of DC linear regulated power supply circuit, and a core component for realizing the voltage conversion of the three power supply circuits. It plays a crucial role in the power supply architecture of the central information controller of the four-channel permanent magnet synchronous electromechanical servo system, and is a key component for achieving accurate, stable, and low-interference power supply from +5VCC to the DSP-specific 3.3V / 1.9V.

[0035] RDC (Resolver-to-Digital Converter): RDC excitation decoding is a dedicated signal processing technology for resolvers. It is implemented by the RDC excitation decoding circuit and is the core link in the servo system to obtain key physical quantities such as motor rotor position and speed. In this application, the RDC excitation decoding circuit is one of the core components of the peripheral control interface circuit and is designed specifically for the electromechanical actuator of the four-channel permanent magnet synchronous electromechanical servo system.

[0036] Figure 1 This is a schematic diagram of the central information controller for a four-channel permanent magnet synchronous electromechanical servo system. The controller includes a secondary power supply circuit, a tertiary power supply circuit, a master-slave dual-DSP digital signal processing circuit, and a peripheral control interface circuit. The master-slave dual-DSP digital signal processing circuit is integrated on a single circuit board, enabling parallel collaborative control and sensor information processing of the four-channel permanent magnet synchronous electromechanical servo system. The specific structure and connection relationships of each circuit module are as follows:

[0037] 1. Secondary power supply circuit

[0038] Figure 2 This is a schematic diagram of the secondary power supply circuit. The secondary power supply circuit includes a first-stage filter circuit, a secondary power supply module, and a second-stage filter circuit. The input to this circuit is a +28V power supply. After being filtered by the first-stage filter circuit, the +28V input power is sent to the secondary power supply module. After isolation and transformation by the secondary power supply module, it passes through the second-stage filter circuit for secondary filtering, ultimately outputting isolated +5V and ±12V power supplies. After further filtering, these are obtained as +5VCC, +5VA, and ±12V power supplies. The +5VCC supply powers the entire controller's digital system, the ±12V supply specifically powers the linear displacement feedback potentiometers of the four-channel electromechanical actuators, and the +5VA supply specifically powers the RDC excitation decoding circuits of the four-channel electromechanical actuators.

[0039] 2. Three-stage power supply circuit

[0040] The input of the tertiary power supply circuit is the +5VCC output from the secondary power supply circuit. This circuit first performs input filtering on the +5VCC, and then sends the filtered +5VCC to the LDO circuit. The LDO circuit completes the isolation conversion and finally outputs two power supplies, 3.3V and 1.9V, which serve as dedicated power supplies for the master DSP and slave DSP, respectively, providing stable power support for the dual DSP digital signal processing circuit.

[0041] As a type of linear regulator, the core advantage of LDO circuits is their low dropout voltage. When the output voltage is stable, the difference between the input and output voltages is much smaller than that of traditional linear regulators, requiring only a few hundred millivolts to achieve stable voltage regulation. In the context of the industrial control scenario described in this invention, its key characteristics are: High voltage regulation accuracy: It can output a stable DC voltage with minimal ripple, meeting the power supply requirements of high-precision digital signal processing chips such as DSPs, and avoiding processing errors and data loss caused by voltage fluctuations; Simple circuit structure: It eliminates the need for complex energy storage and oscillation circuits, facilitating the miniaturization and low-cost design of the controller in this invention, aligning with the core design philosophy of abandoning complex peripherals and promoting integrated design in the patent; Low ripple and noise: The linear regulation mode results in output voltage ripple and electromagnetic interference that are far less than those of switching regulators, effectively reducing power supply noise interference to precision circuits such as DSPs, high-speed dual-port RAM, and communication interfaces, thus improving the overall stability of the controller; Fast response speed: It can quickly respond to changes in input voltage and load current, adjusting the output voltage in a timely manner to adapt to the dynamic load requirements of DSPs during parallel processing and high-speed data interaction.

[0042] 3. Master-Slave Dual DSP Digital Signal Processing Circuit

[0043] The master-slave dual-DSP digital signal processing circuit is the core information and control processing unit of the central information controller of this four-channel permanent magnet synchronous electromechanical servo system. It undertakes core functions such as rapid calculation of multi-channel sensor information, parallel collaborative control instruction generation, multi-state information monitoring and fault diagnosis, and scheduling and management of various peripheral interface circuits. The circuit adopts a master-slave architecture dual-DSP + high-speed dual-port RAM hardware design, which is integrated on a single circuit board. The program and data storage rely on the internal integrated unit of the DSP to achieve a design without external expansion. This design is in line with the core design concept of miniaturization, high reliability, and high processing efficiency of the controller, and perfectly adapts to the performance requirements of the four-channel permanent magnet synchronous electromechanical servo system for processing multi-physical quantity sensor information and multi-channel parallel control. Figure 3 This is a schematic diagram showing the connection between the master DSP, slave DSP, and high-speed dual-port RAM circuit.

[0044] The master-slave dual-DSP digital signal processing circuit adopts a master-slave collaborative dual-DSP hardware architecture, equipped with a high-speed dual-port RAM as a dedicated data interaction channel between the master and slave DSPs. It also integrates auxiliary function circuits such as clock, reset, and JTAG. All units are integrated on a single circuit board, significantly reducing hardware size and avoiding signal interference and transmission delays caused by multiple board connections. The circuit uses the master DSP as the core control terminal, responsible for overall system scheduling, external communication interaction, fault diagnosis, and global control strategy formulation. The slave DSP acts as the slave execution terminal, responsible for parallel acquisition and processing of multi-channel sensor information, and real-time generation and issuance of servo drive commands. The master and slave DSPs achieve latency-free and highly reliable data interaction through the high-speed dual-port RAM, forming a "master-level coordination, slave-level execution, and collaborative computation" working mode to meet the high-speed processing requirements of four-channel parallel collaborative control. The core control software of the circuit is pre-loaded inside the master and slave DSPs, with no external program storage unit. All data computation and temporary storage are completed using the storage units integrated inside the DSPs, reducing the performance loss of peripheral bus read / write at the hardware level and improving overall processing efficiency.

[0045] The master-slave dual-DSP digital signal processing circuit includes a master DSP, a slave DSP, a clock circuit, a reset circuit, a JTAG circuit, and a high-speed dual-port RAM circuit. Each unit functions independently yet works in concert to form a complete digital signal processing system. The specific functions and hardware selections of each unit are as follows:

[0046] (1) Main DSP: The core coordination unit of the circuit is responsible for receiving external control system instructions transmitted by the communication interface circuit, formulating the global control strategy of the four-channel permanent magnet synchronous electromechanical servo system; scheduling the DSP to complete the calculation and processing of multi-channel sensor information; realizing real-time monitoring of multi-state information, fault diagnosis and fault warning; managing the working status of each peripheral control interface circuit, completing the global allocation of data and unified issuance of instructions; and at the same time, responsible for transmitting system operating status, fault information and other data back to the external control system to realize global data interaction with the outside.

[0047] (2) The parallel execution unit of the DSP circuit receives the scheduling instructions of the main DSP and is specifically responsible for the parallel high-speed calculation of the multi-physical quantity sensing information (position, speed, current, voltage, temperature, displacement, etc.) collected by the four-channel A / D conversion circuit and the RDC excitation decoding circuit; according to the global control strategy of the main DSP, it generates and sends out the precise drive instructions of the four-channel SVPWM drive interface circuit in real time; it completes the real-time closed-loop control calculation of the four-channel servo system, and at the same time, it sends back the calculation results, channel running status and other data to the main DSP in real time to cooperate with the main DSP to complete the global control.

[0048] (3) Clock circuit: provides a high-precision and high-stability clock reference signal for the entire master-slave dual DSP digital signal processing circuit. It provides independent and synchronous clock signals for the master DSP and slave DSP respectively, ensuring that the operation rhythm of the master and slave DSP is consistent and avoiding data interaction errors and operation deviations caused by clock asynchrony. The frequency of the clock signal matches the operation rate of the DSP to meet the requirements of high-speed digital signal processing.

[0049] (4) Reset circuit: Provides power-on reset and fault reset functions for the circuit. When the controller is powered on, the reset circuit sends a reset signal to the master and slave DSPs to ensure that the DSPs start running from the initial state and avoid abnormal program operation caused by power-on garbled codes. When the circuit has problems such as operation failure or data transmission error, the reset circuit can receive the reset command of the master DSP or the external reset signal to synchronously reset the master and slave DSPs, restore the normal working state of the circuit, and improve the fault tolerance of the circuit.

[0050] (5) JTAG circuit: It serves as the interface for program download, online debugging and fault detection of the circuit. It follows the JTAG standard hardware interface specification to realize the online burning and updating of control software to the master and slave DSPs. At the same time, it supports developers to perform online real-time debugging of the operating status, operation process and data storage of the master and slave DSPs, which facilitates the research and development, production testing and later maintenance of the circuit, and improves the testability and maintainability of the controller.

[0051] (6) High-speed dual-port RAM circuit: It is a dedicated high-speed data interaction channel between the master and slave DSPs and is the core hardware for realizing master-slave collaboration. The hardware selection is the SM70V28 chip. This chip is a dual-port high-speed RAM that can be read and written independently. The read and write cycle can reach 20ns and the storage capacity is 64kx16bits. It can meet the needs of high-speed interaction of large amounts of data between the master and slave DSPs without delay. The chip is also equipped with a handshake control signal terminal, which is connected to the I / O ports of the master and slave DSPs to form a resource competition error prevention mechanism to ensure the accuracy of data interaction.

[0052] The power supply of the master-slave dual DSP digital signal processing circuit is deeply integrated with the overall secondary + tertiary hierarchical isolation power supply architecture of the controller. The power supply link is as follows: the +5VCC output from the secondary power supply circuit is filtered by the input of the tertiary power supply circuit and then sent to the LDO circuit for isolation conversion to generate two isolated power supplies of 3.3V and 1.9V, which are dedicated to powering the master DSP and slave DSP. The clock circuit, reset circuit, JTAG circuit, and high-speed dual-port RAM circuit are all powered by the 3.3V power supply output from the tertiary power supply circuit, realizing a unified isolated power supply for the entire digital signal processing circuit.

[0053] In the master-slave dual-DSP digital signal processing circuit, both program storage and data storage rely on the FLASH and SRAM integrated within the master DSP and slave DSP.

[0054] Program storage: The core control software of the controller (including the global scheduling program, fault diagnosis program, and communication management program of the main DSP, the parallel operation program, closed-loop control program, and peripheral interface driver program of the slave DSP) are all stored in the FLASH integrated inside the main and slave DSPs. FLASH is a non-volatile storage unit, and the program is not lost after power failure, ensuring that the controller can run normally as soon as it is powered on.

[0055] Data storage: Temporary data generated by the master and slave DSPs during operation, acquired sensor data, and generated control command data are all stored in the internally integrated SRAM. SRAM is a high-speed volatile memory unit with fast read and write speed, which matches the high-speed operation requirements of the DSP and avoids the performance loss caused by external storage reading and writing through the peripheral bus.

[0056] This storage design not only significantly reduces the hardware size of the circuit and lowers hardware costs, but also improves data read / write speed and circuit anti-interference capabilities, making it one of the core designs for achieving controller miniaturization and low cost.

[0057] 4. Peripheral control interface circuit

[0058] The peripheral control interface circuit serves as the bridge connecting the controller to external actuators and sensors. It includes an A / D conversion circuit, an SVPWM drive interface circuit, an RDC excitation decoding circuit, and a communication interface circuit. Each sub-circuit performs its specific function, completing analog signal conversion, servo drive signal output, resolver signal decoding, and external communication. The communication interface circuit is a dual-redundant RS-422 communication interface, specifically designed for dual-redundant communication between channels A and B, significantly improving the reliability of bus communication. These will be described in detail below:

[0059] (1) A / D conversion circuit

[0060] An A / D conversion circuit, or analog-to-digital conversion circuit, is a dedicated circuit that converts various analog sensor signals in a four-channel permanent magnet synchronous electromechanical servo system into digital signals. It provides identifiable and computable digital sensor inputs for the dual DSP digital signal processing circuit and is the core of the front-end signal acquisition for realizing closed-loop control of the servo system.

[0061] This system enables synchronous acquisition and analog-to-digital conversion of various analog sensing signals from four-channel electromechanical actuators, including but not limited to current detection signals, voltage detection signals, temperature detection signals, and analog voltage signals from linear displacement feedback potentiometers. It achieves parallel acquisition and conversion of four-channel analog signals to meet the signal acquisition requirements of multi-channel parallel collaborative control.

[0062] The power supply of the A / D conversion circuit is deeply integrated with the overall power architecture of the controller. It can receive isolated power supplies such as +5VCC and ±12V from the secondary power supply circuit, achieving power isolation from other modules, avoiding distortion of analog signal acquisition caused by power interference, and ensuring the accuracy of analog-to-digital conversion. At the same time, the conversion rate and resolution of the circuit match the processing speed of the dual DSPs. The converted digital signal can be directly transmitted to the master and slave dual DSPs without the need for additional signal conditioning circuits, reducing hardware overhead.

[0063] The A / D conversion circuit adopts a multi-channel parallel acquisition architecture, which can simultaneously convert the analog sensor signals of four electromechanical actuators synchronously without conversion delay, ensuring the synchronization of multi-channel signal acquisition. It has high conversion accuracy and low ripple, and can accurately capture subtle changes in analog signals, avoiding the decrease in servo control accuracy due to conversion errors. The circuit has an anti-interference design, adapting to the electromagnetic disturbance working environment of electromechanical servo systems, and effectively suppressing the influence of external interference on analog signals.

[0064] The A / D conversion circuit and the master-slave dual DSP digital signal processing circuit are connected in a bidirectional hardware manner. The converted digital sensing signal is transmitted to the master DSP / slave DSP through a dedicated data bus. At the same time, it can receive acquisition control commands (such as acquisition frequency, acquisition channel selection, gain adjustment, etc.) sent by the dual DSPs, so as to realize programmable control of the signal acquisition process.

[0065] (2) SVPWM drive interface circuit

[0066] The SVPWM drive interface circuit, also known as the space vector pulse width modulation drive interface circuit, is a dedicated circuit in this controller that converts the digital control instructions of the dual DSPs into PWM drive signals to drive the permanent magnet synchronous motor. It is the core of the drive command output connecting the digital control center and the external permanent magnet synchronous motor, and it is also a key link in realizing high-precision vector control of the permanent magnet synchronous motor.

[0067] The SVPWM drive interface circuit receives the SVPWM digital control commands output by the master and slave dual DSPs. After circuit conditioning and power amplification, it outputs PWM pulse signals that meet the requirements of permanent magnet synchronous motor drive and transmits them to the motor drive module of the four-channel electromechanical actuator to control the motor's speed, torque, direction and position. At the same time, it can collect fault feedback signals such as overcurrent, overvoltage and phase loss during the motor drive process and send them back to the dual DSPs to realize fault monitoring and protection.

[0068] The SVPWM drive interface circuit uses +5VCC from the secondary power supply circuit as the digital power supply and ±12V as the power supply to achieve power isolation between the digital circuit and the power circuit, avoiding the influence of voltage fluctuations in the power circuit on the digital control signal. The circuit's output power, pulse frequency, and duty cycle adjustment range match the drive requirements of the four-channel permanent magnet synchronous motor, and supports the parallel output of four PWM drive signals to achieve independent drive and coordinated control of the four-channel motor.

[0069] The SVPWM drive interface circuit features high-speed command response, enabling it to follow the SVPWM command changes of the dual DSPs in real time, ensuring the dynamic responsiveness of the motor drive. It boasts high PWM signal output accuracy and high duty cycle adjustment resolution, achieving precise speed and torque control of the motor. The circuit integrates overcurrent, overvoltage, and short-circuit protection functions. When a motor drive abnormality is detected, it can immediately cut off the PWM output and send a fault signal to the dual DSPs, improving the operational safety of the servo system. It employs an anti-interference differential signal output method, effectively suppressing electromagnetic disturbances that interfere with the PWM drive signal, ensuring the stability of signal transmission.

[0070] The SVPWM drive interface circuit enables bidirectional communication with the master and slave dual DSPs, receiving SVPWM digital commands (including pulse frequency, duty cycle, vector angle, etc.) sent by the dual DSPs, and simultaneously sending back motor drive status signals (such as output current, voltage, fault codes, etc.) to the dual DSPs, thus cooperating with the dual DSPs to achieve closed-loop vector control of the permanent magnet synchronous motor.

[0071] (3) RDC excitation decoding circuit

[0072] The RDC excitation decoding circuit is a dedicated signal processing circuit for the rotary transformer in a four-channel electromechanical actuator. Through excitation power supply and signal decoding, it converts the analog signal of the motor rotor mechanical position / speed collected by the rotary transformer into a digital signal. It is the core sensing circuit for the servo system to achieve high-precision closed-loop position control (the rotary transformer is the core detection element of the rotor position / speed of the permanent magnet synchronous motor, which is resistant to vibration and electromagnetic interference and is suitable for harsh industrial conditions).

[0073] The RDC excitation decoding circuit provides a dedicated AC excitation power supply for the rotary transformer of the four-channel electromechanical actuator. At the same time, it collects, conditions, and decodes the analog induction signal output by the rotary transformer that is sine / cosine related to the rotor angle, and finally converts it into digital signals of rotor absolute position and speed that can be recognized by the dual DSP. This provides precise position / speed feedback for the dual DSP to realize vector control and position servo control of the permanent magnet synchronous motor.

[0074] The RDC excitation and decoding circuit is powered by an independent +5VA isolated power supply from the secondary power supply circuit, which is completely isolated from the +5VCC of the digital system and the ±12V of the linear displacement feedback potentiometer. This avoids interference from other modules at the power supply level, ensuring the stability of the excitation signal and the accuracy of the decoding signal. This is one of the core design features of this invention. The circuit's excitation frequency and amplitude match the working requirements of the rotary transformer, supporting synchronous excitation and decoding of four rotary transformers and meeting the needs of four-channel parallel collaborative control. The excitation end can generate a stable sinusoidal AC excitation voltage (e.g., 10kHz), with high amplitude and frequency stability of the excitation signal and no distortion, ensuring the normal operation of the rotary transformer. The decoding end uses a dedicated rotary transformer digital converter (RDC) chip, which converts the sine / cosine analog signal of the rotary transformer into a high-precision digital angle value through phase detection, amplitude detection, or tracking algorithms. The decoding accuracy can reach the level of arcminutes / arcseconds, ensuring the accuracy of motor rotor position detection. It has signal conditioning and filtering functions, which can effectively suppress noise interference in the rotary transformer analog signal and improve decoding accuracy. It supports real-time speed calculation, and can quickly calculate the motor speed by the rate of change of rotor position, providing a basis for the speed closed-loop control of dual DSPs.

[0075] The RDC excitation decoding circuit is directly connected to the master-slave dual DSP digital signal processing circuit. The decoded rotor position / speed digital signal is transmitted to the master-slave dual DSP in real time through a high-speed data bus. At the same time, it can receive decoding control commands (such as zero-point calibration, gain adjustment, sampling frequency setting, etc.) sent by the master-slave dual DSP, so as to realize programmable control of the decoding process.

[0076] (4) Communication interface circuit

[0077] The communication interface circuit is a dedicated circuit for data interaction between the controller and the external control system. It employs an RS-422 dual-channel isolated bus design, achieving dual redundancy communication on channels A and B. This core circuit enhances the communication reliability and electromagnetic interference resistance of the entire servo system. The communication interface circuit enables bidirectional data communication between this controller and the external host computer / control system, transmitting uplink data including the servo system's operating status, the operating parameters of the four-channel electromechanical actuators, and fault information, as well as downlink data such as control commands, parameter configurations, and calibration commands sent by the external control system. Through the dual redundancy design on channels A and B, if one channel fails, the other can seamlessly switch, ensuring uninterrupted communication and significantly improving the reliability and fault tolerance of the bus communication.

[0078] The communication interface circuit consists of three core parts: an intelligent communication controller circuit, an isolated transmitter circuit, and an opto-isolated receiver circuit. Each part uses dedicated chips and works together to achieve high-speed, anti-interference, and dual-redundancy communication functions. The specific hardware selection and design are as follows:

[0079] Intelligent communication controller circuit: It adopts the SM16C854 chip, which is a multi-channel intelligent transceiver communication controller with a maximum communication rate of 2Mbps. It is configured with a 64-byte transmit buffer and a 64-byte receive buffer, and has independent transmit FIFO and receive FIFO. The transmission and reception processes can be carried out simultaneously, and the baud rate supports programmable settings. Its core advantage is that the transmission process does not require DSP intervention and can autonomously complete the transmission and storage of data, effectively reducing the operating overhead of dual DSPs and improving the overall processing efficiency of the controller.

[0080] Isolation transmitter circuit: The B26C31T chip is used to build two redundant bus transmission channels, A and B, forming an A-B redundant dual-bus isolated transmitter circuit. To improve the circuit protection capability, 100-ohm current-limiting resistors are connected in series at the positive and negative terminals of the signal transmission of channels A and B to prevent overcurrent damage to the chip and ensure the stability of the transmission circuit.

[0081] Opto-isolated receiver circuit: The GH22412J high-speed optocoupler is used as the core component. The optocoupler has a maximum communication rate of 10Mbps and has a strong anti-electromagnetic interference capability. It can realize opto-isolation between external communication signals and the internal circuit of the controller, prevent external interference signals from entering the controller, and at the same time ensure high-speed reception of external downlink data, thus improving the reliability of the receiver circuit.

[0082] The communication interface circuit is isolated by the +5VCC output from the secondary power supply circuit, achieving power isolation from other modules and avoiding communication signal distortion caused by power interference. The communication protocol and baud rate of the circuit are fully matched with the RS-422 bus standard, and it also supports seamless integration with the master and slave dual DSPs. Communication data can be directly transmitted to the internal storage unit of the master and slave dual DSPs without the need for additional signal conversion circuits.

[0083] The communication interface circuit adopts a dual-redundant isolation design, with communication channels A and B operating independently and simultaneously. This achieves redundancy and fault tolerance in the communication link, making it suitable for operating environments with severe electromagnetic disturbances. It solves the problem of traditional communication circuits requiring additional hardware links to achieve redundancy, balancing reliability and low cost. It boasts a high communication rate, up to 2Mbps, meeting the high-speed data exchange requirements of multi-channel servo systems. It features autonomous transmission and reception capabilities, utilizing the buffer and FIFO design of the SM16C854 chip to achieve automatic data storage and transmission, significantly reducing the communication overhead of the DSP. Furthermore, it employs opto-isolation and current-limiting protection designs to enhance the circuit's anti-interference capabilities and safety at the hardware level, making it suitable for the harsh operating conditions of industrial-grade servo systems.

[0084] The communication interface circuit is bidirectionally connected to the master-slave dual-DSP digital signal processing circuit. It receives uplink communication data sent by the dual DSP and transmits it to the external control system through dual channels A and B. At the same time, it collects downlink data from the external control system through an opto-isolated receiving circuit, processes it through the SM16C854 chip, and then transmits it to the dual DSP. The dual DSP can programmably control this circuit, including baud rate setting, channel selection, fault self-diagnosis, and channel switching.

[0085] Figure 2This is a schematic diagram of the secondary power supply circuit. The secondary power supply circuit is the core of the power architecture of the central information controller in this four-channel permanent magnet synchronous electromechanical servo system. It undertakes the initial conversion and filtering function of the external input power to the dedicated isolated power supplies of each functional module, and is the fundamental circuit for realizing independent power supply and anti-interference of each module of the controller. The circuit adopts a three-stage series architecture design, consisting of a first-stage filter circuit, a secondary power supply module, and a second-stage filter circuit connected in series. The overall circuit achieves isolated conversion of the +28V external input power, multi-channel regulated output, and full-range anti-interference filtering. It outputs four electrically isolated power supplies: +5VCC, +5VA, and ±12V, providing dedicated power to the controller digital system, RDC excitation decoding circuit, electromechanical actuator linear displacement feedback potentiometer, and tertiary power supply circuit. The hardware connection of each unit strictly follows the sequence of "external input → first-stage filter → secondary power supply module → second-stage filter → multi-channel output".

[0086] The first-stage filter circuit, serving as the front-end anti-interference unit of the secondary power supply circuit, is a dedicated filter circuit for the power input side. Its core function is to perform initial noise filtering and surge suppression on the externally input +28V power supply, providing a stable and clean input power for the subsequent secondary power supply module. The filtering type is primarily passive, integrating capacitor filtering, inductor filtering, and surge protection components. It effectively filters out power frequency interference, high-frequency noise, and voltage spikes in the +28V input power supply, suppressing surge current and voltage fluctuations on the power input side. Adapting to industrial-grade power input characteristics, it can withstand a certain range of +28V input voltage fluctuations (e.g., ±10%), ensuring that the output voltage to the secondary power supply module remains stable even with small changes in input voltage. The circuit's input and output impedances match the input impedance of the secondary power supply module, avoiding power reflection and energy loss caused by impedance mismatch, thus improving the overall efficiency of power conversion. It has no voltage conversion function, only performing signal filtering and voltage regulation; the output voltage remains +28V, consistent with the input voltage.

[0087] Secondary power supply module: As the core voltage conversion and isolation unit of the secondary power supply circuit, it is the key to realizing the power supply "primary conversion + electrical isolation". Its core function is to convert the +28V DC power supply after the first stage of filtering into a +5V DC power supply and ±12V DC power supply that are electrically isolated from each other through DC / DC isolation conversion technology. The core function is isolated DC / DC voltage conversion. The input is a single +28V channel, and the output is three isolated power supplies (+5V, +12V, -12V). Electrical isolation is achieved between each output power supply and between the output and input. The isolation withstand voltage meets the anti-interference requirements of industrial-grade servo systems, fundamentally avoiding power interference between different power supply modules. The output voltage accuracy is high, with low ripple coefficients and high voltage regulation accuracy for +5V and ±12V output voltages, and no significant voltage drift, meeting the power supply requirements of subsequent precision circuits in the controller (such as DSP, RDC, and communication interfaces). It features overcurrent, overvoltage, and short-circuit protection functions. When overcurrent, short-circuit, or overvoltage faults occur in subsequent circuits, the module can automatically limit the output current or cut off the output, protecting itself and subsequent circuits from damage and improving circuit reliability. The power conversion efficiency is high, adapting to the low-power design requirements of servo systems, reducing energy loss during power conversion and lowering circuit heat generation.

[0088] The second-stage filtering circuit serves as the fine filtering unit at the back end of the secondary power supply circuit. This circuit is a dedicated multi-output filtering circuit, with independent filtering branches designed to correspond one-to-one with the three outputs (+5V, +12V, -12V) of the secondary power supply module. Its core function is to perform secondary fine filtering on the +5V and ±12V power supplies output from the secondary power supply module, further improving the purity of the power supply. At the same time, it independently branches the +5V power supply, forming two dedicated +5V power supplies: +5VCC and +5VA. The second-stage filtering circuit adopts a multi-path independent filtering topology, with each of +5V, +12V, and -12V corresponding to an independent filtering branch. There is no electrical connection between the branches, preventing interference from one filtering branch from entering another and ensuring the independence of each output power supply. The filtering accuracy is higher, mainly using high-frequency filtering, which can effectively filter out minor interferences such as switching noise and high-frequency ripple generated during the conversion process of the secondary power supply module, reducing the ripple coefficient of the output power supply to below the power supply requirements of the controller's precision circuit. After the +5V power supply output from the secondary power supply module is processed by a dedicated filtering branch, it is divided into two completely isolated +5V power supplies, +5VCC and +5VA. The output characteristics of the two power supplies are the same, only the power supply objects are different, meeting the independent power supply requirements of different modules of the controller.

[0089] Figure 3This is a schematic diagram illustrating the connection between the master DSP, slave DSP, and high-speed dual-port RAM circuit. The circuit architecture is a symmetrical topology with independent master and slave terminals connected to a single interactive hub. The core components include three main functional units: the master DSP, the slave DSP, and the high-speed dual-port RAM circuit (SM70V28), as well as three auxiliary functional units: a clock circuit, a reset circuit, and a JTAG circuit for the dual DSPs. All units are integrated on-board, without external board connections, significantly reducing signal transmission delay and interference. Data interaction and instruction transmission between the master and slave DSPs use the high-speed dual-port RAM as the sole hub, ensuring both the independence of dual DSP operations and real-time data interaction. Simultaneously, the auxiliary circuits provide synchronous clock, reset, and debugging support for the dual DSPs, ensuring consistent operation rhythm and synchronized working states between the master and slave DSPs. The high-speed dual-port RAM circuit uses the dedicated SM70V28 chip, a dual-port high-speed RAM capable of independent reading and writing, with a read / write cycle of up to 20ns and a storage capacity of 64k x 16 bits. Figure 3 The chip is the core hardware carrier for realizing data interaction between the two DSPs. It has dedicated interfaces such as data read / write ports, handshake control signal ports, power ports, and chip select / clock ports, which precisely interface with the corresponding interfaces of the master and slave DSPs, providing independent read / write channels for the two DSPs. The specific hardware connection relationship is as follows:

[0090] Connection between the main DSP and the high-speed dual-port RAM circuit (SM70V28): The main DSP's data bus interface (D0-D15) and address bus interface (A0-A15) are hard-connected one-to-one with the main data read / write port and main address selection port of the high-speed dual-port RAM chip, enabling the main DSP to perform bidirectional 16-bit data read / write and precise selection of 64kx16bits storage address for the high-speed dual-port RAM; the main DSP's chip select signal, read / write control signal, and clock synchronization signal are directly connected to the corresponding control ports of the high-speed dual-port RAM chip, allowing the main DSP to output chip select, read / write, and clock signals to autonomously control the access timing and operation type (read / write) of the high-speed dual-port RAM, thus enabling independent control of the high-speed dual-port RAM by the main DSP; the main DSP's general-purpose I / O ports are connected one-to-one with the main handshake control signal port of the high-speed dual-port RAM chip, serving as the main DSP's handshake control signal input / output terminals, realizing handshake status detection and signal setting between the main DSP and the high-speed dual-port RAM.

[0091] Connection between the DSP and the high-speed dual-port RAM circuit (SM70V28): The connection between the DSP and the high-speed dual-port RAM chip is a completely symmetrical point-to-point connection with the master DSP. The data bus interface (D0-D15) and address bus interface (A0-A15) of the DSP are hard-connected one-to-one with the slave data read / write port and slave address selection port of the high-speed dual-port RAM chip. The chip select signal, read / write control signal, and clock synchronization signal of the DSP are directly connected to the corresponding slave control ports of the high-speed dual-port RAM chip. The DSP can independently output control signals and access the high-speed dual-port RAM autonomously without interfering with the access operation of the master DSP. The general-purpose I / O port of the DSP is connected one-to-one with the slave handshake control signal port of the high-speed dual-port RAM chip, serving as the handshake control signal input / output terminal of the DSP, realizing the handshake status detection and signal setting between the DSP and the high-speed dual-port RAM.

[0092] Independent power supply and grounding of high-speed dual-port RAM circuit: The power supply port (VCC) of the high-speed dual-port RAM chip (SM70V28) is directly connected to the 3.3V isolated power supply output by the controller's tertiary power supply circuit, and the grounding port (GND) shares the same ground with the digital ground of the master-slave dual DSP digital signal processing circuit, ensuring the stability of the chip's power supply and consistency with the signal's reference potential, and avoiding data interaction errors caused by power supply voltage fluctuations or ground potential differences.

[0093] The hardware connection path of the handshake control signal is the core hardware foundation for preventing resource contention errors when the master and slave DSPs access the high-speed dual-port RAM. This connection is a one-to-one dedicated connection between the general-purpose I / O port of the master / slave DSP and the handshake control signal port of the high-speed dual-port RAM. There is no signal multiplexing, which ensures the real-time performance and accuracy of handshake status detection and signal setting. The high-speed dual-port RAM chip (SM70V28) is equipped with independent master-side handshake control signal ports and slave-side handshake control signal ports. Both ports are bidirectional signal ports, enabling status signal output and set signal input. The general-purpose I / O output / input ports of the master DSP are hard-connected to the master-side handshake control signal port of the high-speed dual-port RAM. The master DSP can read the master-side handshake status signal (idle / occupied) of the high-speed dual-port RAM through this port, and can also output a set signal to set the master-side handshake status of the high-speed dual-port RAM to "occupied / idle". The general-purpose I / O output / input ports of the slave DSP are hard-connected to the slave-side handshake control signal port of the high-speed dual-port RAM. The slave DSP has the same handshake status reading and signal setting functions as the master DSP. The master and slave-side handshake control signal ports of the high-speed dual-port RAM are independent of each other. The handshake operation of the master DSP only affects the master-side status, and the handshake operation of the slave DSP only affects the slave-side status, ensuring that there is no cross-interference in the handshake control of the two DSPs. This hardware connection provides physical support for the handshake control mechanism at the software level, enabling the master and slave DSPs to detect the occupancy status of the corresponding channels in real time through the hardware port before writing data to the high-speed dual-port RAM. This avoids data overwriting, loss, or calculation errors caused by the two DSPs accessing the same memory address at the same time from the hardware level.

[0094] Figure 4 This is a schematic diagram of the communication interface circuit. The intelligent communication controller circuit is an SM16C854 multi-channel intelligent transceiver communication controller, which is the core control and data buffering unit of the entire circuit; the isolated transmitter circuit is a B26C31T isolated transceiver chip, which is the core for realizing the isolated transmission of signals through dual redundant channels A and B; the opto-isolated receiver circuit is a GH22412J high-speed optocoupler, which is the key to realizing high-speed isolated reception of external signals; all chips are designed with industrial-grade anti-interference, adaptable to the complex electromagnetic conditions of electromechanical servo systems. In this circuit, the intelligent communication controller circuit interfaces with the master-slave dual DSP digital signal processing circuit to complete the reception and buffering of internal data and the parsing and transmission of external data; the isolated transmitter circuit receives the data sent by the intelligent communication controller, and after isolation conversion, sends it to the external control system through dual redundant channels A and B; the opto-isolated receiver circuit receives the RS-422 differential signal from the external control system, and after opto-isolation and signal conditioning, transmits it to the intelligent communication controller circuit, realizing signal isolation, autonomous transmission and reception, and dual-path backup throughout the process. The specific connection relationship is as follows:

[0095] Connection between the intelligent communication controller circuit (SM16C854) and the master-slave dual DSP: The data bus interface (D0-D7), address bus interface, chip select signal terminal, and read / write control terminal of the SM16C854 chip are directly hard-connected to the general-purpose I / O ports / data bus of the master-slave dual DSP digital signal processing circuit, forming the core data interaction channel between the circuit and the controller's core processing unit; The interrupt request terminal (INT) of the SM16C854 chip is connected to the external interrupt port of the master DSP. When the chip completes the data reception / transmission buffer, it can send an interrupt signal to the master DSP to achieve real-time data interaction without the need for continuous DSP polling, greatly reducing the DSP's computational overhead; This connection is bidirectional communication. The master-slave dual DSP can write uplink data (system status, fault information, operating parameters, etc.) to be sent to the SM16C854 through this interface, and can also read downlink data (control commands, parameter configuration, calibration commands, etc.) from the SM16C854.

[0096] Connection between the intelligent communication controller circuit (SM16C854) and the isolated transmitter circuit (B26C31T): The transmit data terminal (TXD) and transmit enable terminal (TXEN) of the SM16C854 chip are hard-connected one-to-one with the input side of the B26C31T chip in the isolated transmitter circuit, forming a unidirectional data transmission path. The SM16C854 outputs the serial data to be transmitted through the TXD terminal, and simultaneously outputs the transmit enable signal through the TXEN terminal to control the transmission working state of the B26C31T chip, thereby achieving precise control of data transmission. Due to the design of dual redundant transmission channels A and B, the TXD and TXEN terminals of the SM16C854 are simultaneously connected to the input sides of two independent B26C31T chips in two separate paths, ensuring that the data source of the two channels is completely consistent, thus achieving dual redundancy backup.

[0097] Connection between the intelligent communication controller circuit (SM16C854) and the opto-isolated receiver circuit (GH22412J): The output side of the opto-isolated receiver circuit GH22412J chip is hard-connected to the receive data terminal (RXD) of the SM16C854 chip, forming a unidirectional data reception path; GH22412J transmits the isolated and conditioned external serial received data to the RXD terminal of SM16C854, and after SM16C854 completes data buffering and frame parsing, it waits for the dual DSPs to read the data, thus realizing isolated reception of external data.

[0098] Connection between the isolation transmitter / opto-isolated receiver circuit and the external RS-422 bus: The output sides of the two sets of B26C31T chips in the isolation transmitter circuit serve as the A-channel transmitter (A+, A-) and the B-channel transmitter (B+, B-) respectively, directly leading to the external RS-422 bus interface of the controller, providing RS-422 standard differential signal output, compatible with the differential transmission specifications of the external bus; The input side of the GH22412J chip in the opto-isolated receiver circuit is directly connected to the receiver (R+, R-) of the external RS-422 bus of the controller, directly acquiring the differential received signal of the external bus, completing the signal input before opto-isolation.

[0099] The communication interface circuit adopts a dual-redundancy design with A and B dual-channel isolated buses, and the dual-redundancy channel is designed only in the data transmission branch. The receiving branch is adapted to the RS-422 bus standard to achieve high-speed isolated reception. The overall signal flow is divided into two main directions: uplink data transmission (controller → external) and downlink data reception (external → controller). All signals are serial differential signals and conform to the RS-422 bus transmission specification.

[0100] In summary, the central information controller of the multi-channel permanent magnet synchronous electromechanical servo system of the present invention provides stable power to the master-slave dual-DSP digital signal processing circuit and various peripheral interface circuits during operation, through a +28V power supply that completes hierarchical isolation power supply via a secondary power supply circuit and a tertiary power supply circuit. The master-slave dual-DSP completes high-speed data interaction through a high-speed dual-port RAM, processes multi-channel sensor information acquired by the A / D conversion circuit and the RDC excitation decoding circuit in parallel, outputs servo drive signals through the SVPWM drive interface circuit, and completes high-reliability communication with the outside world through a dual-redundant RS-422 communication interface circuit. Ultimately, it realizes parallel collaborative control, rapid processing of multi-sensor information, multi-state monitoring and fault diagnosis of the four-channel permanent magnet synchronous electromechanical servo system. The multi-channel permanent magnet synchronous electromechanical servo system central information controller of this invention adopts an integrated hardware architecture of dual DSP + high-speed dual-port RAM, combined with dual redundant RS-422 communication interfaces and hierarchical isolation power supply circuit design, realizing multi-channel parallel collaborative control, rapid processing of multi-sensor information, and high-reliability communication. At the same time, it has the advantages of miniaturization, low cost, and strong anti-interference ability. It can effectively meet the high-performance application requirements of permanent magnet synchronous electromechanical servo systems in CNC machine tools, industrial robots, aerospace actuators, radar antenna servo and other fields, and solve the technical pain points of traditional controllers in terms of processing performance, size, cost and reliability. It has good industrial application prospects and promotion value.

[0101] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A central information controller for a multi-channel permanent magnet synchronous electromechanical servo system, characterized in that, The controller includes a secondary power supply circuit, a tertiary power supply circuit, a master-slave dual DSP digital signal processing circuit, and a peripheral control interface circuit. The secondary power supply circuit includes a first-stage filter circuit, a secondary power supply module, and a second-stage filter circuit. The tertiary power supply circuit is used to filter and isolate the output of the secondary power supply circuit to serve as the power supply for the master DSP and slave DSP in the master-slave dual DSP digital signal processing circuit. The master-slave dual-DSP digital signal processing circuit is used to realize the rapid calculation of multi-channel sensor information, parallel collaborative control instruction generation, multi-state information monitoring and fault diagnosis, and scheduling management of various peripheral interface circuits, including master DSP, slave DSP, clock circuit, reset circuit, JTAG circuit, and high-speed dual-port RAM circuit. The peripheral control interface circuit is used to connect the controller with external actuators and sensing elements, including an A / D conversion circuit, an SVPWM drive interface circuit, an RDC excitation decoding circuit, and a communication interface circuit.

2. The central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, The secondary power supply circuit receives a +28V power supply as input. After being filtered by the first-stage filter circuit, the +28V input power supply is sent to the secondary power supply module. After isolation and transformation by the secondary power supply module, it is filtered again by the second-stage filter circuit, and finally outputs mutually isolated +5V and ±12V power supplies. After filtering, three power supplies are obtained: +5VCC, +5VA, and ±12V.

3. A central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1 or 2, characterized in that, The input of the tertiary power supply circuit is the +5VCC output from the secondary power supply circuit. This circuit first performs input filtering on the +5VCC, and then sends the filtered +5VCC to the LDO circuit. The LDO circuit completes the isolation conversion and finally outputs two power supplies, 3.3V and 1.9V, which serve as dedicated power supplies for the master DSP and slave DSP, respectively.

4. The central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, The main DSP receives external control system commands transmitted through the communication interface circuit and formulates a global control strategy for the four-channel permanent magnet synchronous electromechanical servo system. The system schedules the processing of multi-channel sensor information from the DSP; enables real-time monitoring, fault diagnosis, and fault warning of multi-state information; manages the working status of each peripheral control interface circuit, completes global data allocation and unified command issuance; and is responsible for transmitting system operating status, fault information, and other data back to the external control system to achieve global data interaction with the outside world.

5. The central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, It receives scheduling instructions from the main DSP and is responsible for the parallel high-speed calculation of multi-physical quantity sensing information collected by the A / D conversion circuit and RDC excitation decoding circuit. According to the global control strategy of the main DSP, it generates and sends the drive instructions of the SVPWM drive interface circuit in real time. It completes the real-time closed-loop control calculation and sends the calculation results and channel operation status data back to the main DSP in real time to cooperate with the main DSP to complete the global control.

6. The central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, The A / D conversion circuit is used to convert various analog sensing signals in the four-channel permanent magnet synchronous electromechanical servo system into digital signals to realize the front-end signal acquisition for closed-loop control of the servo system.

7. The central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, The SVPWM drive interface circuit receives SVPWM digital control commands from the master-slave dual DSP digital signal processing circuit. After circuit conditioning and power amplification, it outputs PWM pulse signals that meet the requirements of permanent magnet synchronous motor drive and transmits them to the motor drive module of the four-channel electromechanical actuator to control the motor's speed, torque, direction, and position. At the same time, it can collect fault feedback signals during the motor drive process and send them back to the master-slave dual DSP digital signal processing circuit to realize fault monitoring and protection.

8. The central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, The RDC excitation decoding circuit converts the analog signals of the motor rotor's mechanical position and speed collected by the rotary transformer into digital signals through excitation power supply and signal decoding.

9. A central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 1, characterized in that, The communication interface circuit adopts an RS-422 dual-channel isolated bus design, and the isolated transmitter circuit uses the B26C31T chip. Based on this chip, two redundant bus transmission channels, A and B, are constructed to form an A-B redundant dual-bus isolated transmitter circuit.

10. A central information controller for a multi-channel permanent magnet synchronous electromechanical servo system according to claim 9, characterized in that, The intelligent communication controller circuit uses the SM16C854 chip, which is a multi-channel intelligent transceiver communication controller; the opto-isolated receiving circuit uses the GH22412J high-speed optocoupler to achieve opto-isolation between external communication signals and the internal circuit of the controller.

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