Servo control system and vehicle

Abstract

The utility model provides a servo control system and a vehicle. The servo control system comprises a load servo driving member; the force conversion mechanism is connected with the load servo driving part, the force conversion mechanism is used for converting rotary motion into linear motion, and the force conversion mechanism comprises a moving part; the pressing head is connected to the moving part, the pressing head is used for being arranged on the pressed part in a pressing mode so as to apply reverse pressure to the pressed part, and the reverse pressure is opposite to the moving direction of the pressed part; the pressure sensor is connected to the pressure head and is used for monitoring reverse pressure; and the control device is electrically connected with the pressure sensor and the load servo driving piece. In the embodiment of the utility model, the reverse pressure can be monitored in real time through the pressure sensor, and the reverse pressure is sent to the control device, so that the control device controls the load servo driving piece according to the reverse pressure, the reverse pressure is further maintained at a target force value, and the reverse load of the pressed piece can be further maintained at a constant value.

Description

Technical Field

[0001] The utility model relates to the technical field of servo control, in particular to a servo control system and a vehicle. Background Art

[0002] A steering gear in a motor vehicle usually comprises a rack, to which a load member is usually connected.

[0003] At present, the load member usually adopts a spring, and the elastic force of the spring is used to generate a reverse load, and the force of the load appears as an elastic load.

[0004] However, the force of the reverse load increases as the spring is compressed, and the force of the reverse load cannot be maintained at a constant value. Utility Model Content

[0005] In view of this, the utility model aims to propose a servo control system to at least solve the technical problem in the prior art that the force of the reverse load increases with the compression of the spring and the force of the reverse load cannot be maintained at a constant value.

[0006] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0007] A servo control system, comprising:

[0008] Load servo drive;

[0009] A force conversion mechanism connected to the load servo drive, the force conversion mechanism is used to convert rotational motion into linear motion, and the force conversion mechanism includes a moving part;

[0010] A pressure head connected to the moving part, the pressure head is used to be pressed on the pressed part to apply a reverse pressure to the pressed part, and the reverse pressure is opposite to the moving direction of the pressed part;

[0011] A pressure sensor connected to the pressure head and used to monitor the reverse pressure;

[0012] A control device is electrically connected to the pressure sensor and the load servo drive.

[0013] Optionally, the control device includes a servo driver electrically connected to the load servo driver, and the servo driver is connected in parallel with a heat dissipation resistor.

[0014] Optionally, the control device further comprises a programmable logic controller electrically connected to the servo driver, the programmable logic controller comprises an analog input module, and the analog input module is electrically connected to the pressure sensor.

[0015] Optionally, it further includes an amplifier and a filter, the pressure sensor is electrically connected to the amplifier, the amplifier is electrically connected to the filter, and the filter is electrically connected to the analog input module.

[0016] Optionally, the servo driver is electrically connected to a main power line, a contactor is provided on the main power line, and the programmable logic controller is electrically connected to the contactor.

[0017] Optionally, the servo driver has a first connection end and a second connection end, one end of the heat dissipation resistor is connected to the first connection end, and the other end of the heat dissipation resistor is connected to the second connection end;

[0018] The resistance of the heat dissipation resistor is greater than or equal to 30 ohms and less than or equal to 50 ohms.

[0019] Optionally, the amplifier and the filter are both electrically connected to the programmable logic controller via a first power line and a second power line.

[0020] Optionally, the servo driver comprises an encoder and a voltage output terminal, and the encoder and the voltage output terminal are electrically connected to the load servo driver.

[0021] Optionally, the main power line is used to connect to a power supply, and an air switch is provided on the main power line, and the air switch is located between the power supply and the contactor.

[0022] Compared with the prior art, the servo control system described in the utility model has the following advantages:

[0023] In the embodiment of the utility model, the reverse pressure can be monitored in real time by the pressure sensor, and the reverse pressure is sent to the control device, so that the control device controls the load servo driver according to the reverse pressure, thereby maintaining the reverse pressure at the target force value, thereby maintaining the reverse load of the pressed part at a constant value, thereby realizing closed-loop control. In addition, by setting the force conversion device and the pressure head, the rotational force of the load servo driver can be converted into the reverse pressure on the pressed part.

[0024] Another object of the utility model is to provide a vehicle to solve the technical problem in the prior art that the reverse load force of the rack in the steering gear of the vehicle increases with the compression of the spring and the load cannot be maintained at a constant value.

[0025] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0026] A vehicle comprises the servo control system described in any one of the above.

[0027] The advantages of the vehicle and the above-mentioned servo control system over the prior art are the same and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the accompanying drawings:

[0029] Figure 1 A schematic diagram of the electrical connection structure of a servo control system provided by an embodiment of the utility model;

[0030] Figure 2 A schematic diagram of the electrical connection structure of another servo control system provided by an embodiment of the utility model;

[0031] Figure 3 A schematic diagram of the electrical connection structure of the main power line, contactor, air switch and power supply in the servo control system provided by the embodiment of the utility model;

[0032] Figure 4 A schematic diagram of the electrical connection structure of a servo driver, a heat dissipation resistor and a load servo driver in a servo control system provided by an embodiment of the utility model;

[0033] Figure 5 A schematic diagram of the electrical connection structure of a pressure sensor, an amplifier, a filter and a programmable logic controller in a servo control system provided by an embodiment of the utility model.

[0034] Description of reference numerals:

[0035] 1- load servo drive, 2- pressure sensor, 3- servo drive, 4- programmable logic controller, 401- analog input module, 5- heat dissipation resistor, 6- amplifier, 7- filter, 8- main power line, 9- contactor, 10- air switch, 11- power supply, 12- control power line, 13- first power line, 14- second power line, 15- first signal line, 16- power cable, 17- encoder cable. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0037] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] At present, the load member usually adopts a spring, and the elastic force of the spring is used to generate a reverse load, and the force of the load is an elastic load. However, the force of the reverse load increases as the spring is compressed, and the force of the reverse load cannot be maintained at a constant value. In order to solve the above problems, the present application proposes a servo control system and a vehicle.

[0039] First, refer to Figure 1 and Figure 4 The embodiment of the utility model provides a servo control system, including: a load servo driver 1; a force conversion mechanism connected to the load servo driver 1, the force conversion mechanism is used to convert rotational motion into linear motion, and the force conversion mechanism includes a moving part; a pressure head connected to the moving part, the pressure head is used to press on the pressed part to apply reverse pressure to the pressed part, and the reverse pressure is opposite to the moving direction of the pressed part; a pressure sensor 2, connected to the pressure head and used to monitor the reverse pressure; a control device, electrically connected to the pressure sensor 2 and the load servo driver 1.

[0040] The load servo drive 1 may be a servo motor, which can generate a constant and maintainable target torque. The servo motor is a passive actuator. The force conversion mechanism may be a ball screw pair, which may include a screw and a nut. The servo motor includes an output shaft, which may be connected to the screw through a coupling. When the servo motor is working, it drives the screw to rotate, thereby driving the nut to move.

[0041] When the force conversion mechanism is a ball screw pair, the moving part is also a nut, and at this time, the pressure head is connected to the nut. The pressed part can be a rack, and the rack can specifically be a rack in a steering gear in a vehicle. The rack is movable, and the rack can be driven to move by a separate driving member. The rotation direction of the output shaft of the servo motor is determined according to the moving direction of the rack. When the servo motor rotates in this rotation direction, the pressure head can apply reverse pressure to the pressed part. The servo motor applies reverse pressure to the pressed part through the force conversion mechanism and the pressure head, that is, the servo motor acts as a reverse load.

[0042] It should be noted that the external force that actually drives the pressed part to move is greater than the reverse pressure, so the pressed part will move in the direction of the external force that actually drives the pressed part to move. At this time, the pressed part will cause the servo motor to rotate in the opposite direction through the pressure head and the force conversion device. The operating mode of the servo motor can be selected as the speed control mode.

[0043] The pressure sensor 2 is used to monitor the reverse pressure in real time and send the reverse pressure to the control device so that the control device controls the load servo driver 1 according to the reverse pressure, thereby maintaining the reverse pressure at the target force value. The control device may include a programmable logic controller (PLC) 4 and a servo driver 3. The programmable logic controller 4 is used to receive the reverse pressure and determine whether the reverse pressure is equal to the target force value; if the reverse pressure is not equal to the target force value, determine whether the reverse pressure is greater than the target force value; if the reverse pressure is greater than the target force value, reduce the control voltage of the load servo driver 1, and send the reduced control voltage to the servo driver 3, so that the servo driver 3 controls the load servo driver 1 according to the reduced control voltage; if the reverse pressure is less than the target force value, increase the control voltage of the load servo driver 1, and send the increased control voltage to the servo driver 3, so that the servo driver 3 controls the load servo driver 1 according to the increased control voltage.

[0044] In the embodiment of the utility model, the reverse pressure can be monitored in real time by the pressure sensor 2, and the reverse pressure is sent to the control device, so that the control device controls the load servo driver 1 according to the reverse pressure, thereby maintaining the reverse pressure at the target force value, thereby maintaining the reverse load of the pressed part at a constant value, thereby realizing closed-loop control. In addition, by setting the force conversion device and the pressure head, the rotational force of the load servo driver 1 can be converted into the reverse pressure on the pressed part.

[0045] Reference Figure 2 and Figure 4 In a preferred embodiment of the present utility model, the control device includes a servo driver 3 electrically connected to the load servo driver 1, and the servo driver 3 is connected in parallel with a heat dissipation resistor 5.

[0046] The servo driver 3 is a driving mechanism of the load servo driver 1, and is used to control the rotation of the load servo driver 1. The resistance of the heat dissipation resistor 5 can be greater than or equal to 30 ohms and less than or equal to 50 ohms. The resistance of the heat dissipation resistor 5 can be 30 ohms, 32 ohms, 35 ohms, 40 ohms, 45 ohms, 50 ohms, etc. The resistance of the heat dissipation resistor 5 is preferably 40 ohms.

[0047] The servo driver 3 has a first connection end and a second connection end. One end of the heat dissipation resistor 5 is connected to the first connection end, and the other end of the heat dissipation resistor 5 is connected to the second connection end. The first connection end of the servo driver 3 can be a P + The second connection end of the servo driver 3 may be the C end of the servo driver 3. The servo driver 3 also has a + When installing the heat dissipation resistor 5, you need to remove the P +A shorting piece between the A terminal and the C terminal.

[0048] When the load servo driver 1 acts as a reverse passive load, a reverse electromotive force will be generated, and the reverse electromotive force can be converted into heat energy through the heat dissipation resistor, that is, energy can be consumed through the heat dissipation resistor to ensure that the load servo driver 1 can operate safely when acting as a reverse passive load.

[0049] In a preferred embodiment of the present utility model, the control device further comprises a programmable logic controller 4 electrically connected to the servo driver 3 , the programmable logic controller 4 comprises an analog input module 401 , and the analog input module 401 is electrically connected to the pressure sensor 2 .

[0050] The programmable logic controller 4 is preferably connected to the servo driver 3 via a PN network, and the programmable logic controller 4 can directly control the servo driver 3 via the PN network. The PN network can be a ProfiNet field bus. The servo driver 3 has a CN3 terminal and a CN4 terminal, and the servo driver 3 is connected to the programmable logic controller 4 via the CN3 terminal and the CN4 terminal. The CN4 terminal of the servo driver 3 can be an access port of the field bus, and the CN3 terminal of the servo driver 3 can be an access port of the field bus.

[0051] The programmable logic controller 4 is a control command issuing mechanism, which sends messages through the field bus and issues action instructions to rotate the servo motor. The analog input module 401 is a data acquisition module, and the pressure sensor 2 is connected to the analog input module 401 in the programmable logic controller 4.

[0052] Reference Figure 2 and Figure 5 In a preferred embodiment of the utility model, the servo control system further includes an amplifier 6 and a filter 7, the pressure sensor 2 is electrically connected to the amplifier 6, the amplifier 6 is electrically connected to the filter 7, and the filter 7 is electrically connected to the analog input module 401. The filter 7 can be a linear filter, a DC filter, etc. The pressure signal detected by the pressure sensor 2 is sent to the amplifier 6, the amplifier 6 amplifies the pressure signal, and the amplified signal is sent to the filter 7, and the filter 7 removes noise and unnecessary frequency components in the pressure signal.

[0053] Reference Figure 3 and Figure 4 In a preferred embodiment of the present utility model, the servo driver 3 is electrically connected to a main power line 8 , a contactor 9 is provided on the main power line 8 , and the programmable logic controller 4 is electrically connected to the contactor 9 .

[0054] The power circuit of the servo driver 3 includes a main power line 8 and a control power line 12. The contactor 9 is an actuator for the programmable logic controller 4 to control the closing of the power circuit of the servo driver 3. The main power line 8 may include a ZL1 main power line, a ZL2 main power line, and a ZL3 main power line, and the control power line 12 may include a C1 control power line and a C2 control power line.

[0055] The servo driver 3 has an L1 terminal, an L2 terminal, an L3 terminal, an L1C terminal and an L2C terminal. The L1 terminal, the L2 terminal and the L3 terminal of the servo driver 3 are respectively connected to the ZL1 main power line, the ZL2 main power line and the ZL3 main power line. The L1C terminal and the L2C terminal of the servo driver 3 are respectively connected to the C1 control power line and the C2 control power line. The main power line 8 can be used to connect the power supply 11, and the power supply 11 can be a three-phase AC380V power supply. The ZL1 main power line, the ZL2 main power line and the ZL3 main power line are respectively connected to the A phase, the B phase and the C phase of the three-phase power supply. The C1 control power line and the C2 control power line are respectively connected to the A phase and the C phase of the three-phase power supply.

[0056] Reference Figure 5 In a preferred embodiment of the present invention, the amplifier 6 and the filter 7 are both electrically connected to the programmable logic controller 4 through the first power line 13 and the second power line 14. The filter 7 is also connected to the analog input module 401 in the programmable logic controller 4 through the first signal line 15. The first power line 13 and the second power line 14 are circuits that provide working power for the amplifier 6 and the filter 7.

[0057] Reference Figure 4 In a preferred embodiment of the present utility model, the servo driver 3 includes an encoder and a voltage output terminal, and the encoder and the voltage output terminal are electrically connected to the load servo driver 1.

[0058] Among them, the voltage output end of the servo driver 3 includes the U end, V end, W end and PE end of the servo driver 3. The servo driver 3 is electrically connected to the load servo driver 1 through the U end, V end, W end and PE end to control the operation of the load servo driver 1 with the output voltage. The U end, V end, W end and PE end of the servo driver 3 are electrically connected to the load servo driver 1 through the power cable 16. The encoder in the servo driver 3 is specifically electrically connected to the load servo driver 1 through the CN2 end of the servo driver 3. The CN2 end of the servo driver 3 is electrically connected to the load servo driver 1 through the encoder cable 17. The servo driver 3 can receive the position feedback from the load servo driver 1 through the encoder.

[0059] Reference Figure 2 and Figure 3In a preferred embodiment of the utility model, the main power line 8 is used to connect the power supply 11, and an air switch 10 is provided on the main power line 8, and the air switch 10 is located between the power supply 11 and the contactor 9.

[0060] Among them, the power supply 11 is a power supply for providing power to the servo control system, and the power supply 11 can be a three-phase AC380V power supply. The servo driver 3 can be a three-phase AC380V driver. When the air switch 10 is closed, the external current flows into the contacts of the contactor 9 and finally flows into the servo driver 3. The air switch 10 is a protection switch for the power circuit of the servo driver 3, and trips when overloaded to disconnect the power circuit of the servo driver 3 to prevent the servo driver 3 from being damaged.

[0061] The working process of the servo control system provided above can be:

[0062] S1, the air switch 10 is closed, and the external current flows from the power supply 11 into the main power line 8;

[0063] S2, the programmable logic controller 4 controls the contactor 9 to close, and the current flows into the ZL1 main power line, the ZL2 main power line, the ZL3 main power line, the C1 control power line and the C2 control power line, and the servo driver 3 starts;

[0064] S3, the programmable logic controller 4 controls the start and stop of the servo motor through the message control word, and controls the rotation torque of the servo motor through the auxiliary message;

[0065] S4, the reverse pressure is opposite to the direction of the external force that actually drives the pressed part to move. When the external force drives the force conversion mechanism to make the servo motor rotate in the reverse direction, the pressure sensor 2 can measure the actual magnitude of the reverse pressure;

[0066] S5, the programmable logic controller 4 determines whether the actual reverse pressure is equal to the target force value based on the feedback from the pressure sensor 2, and performs digital adjustment when the actual reverse pressure is not equal to the target force value to adjust the actual reverse pressure to the target force value.

[0067] It can be understood that the above examples are merely examples listed for a better understanding of the technical solutions of the embodiments of the present utility model, and are not intended to be the sole limitations on the embodiments of the present utility model.

[0068] In a second aspect, the utility model provides a vehicle, the vehicle comprising any one of the servo control systems in the first aspect, and because the vehicle comprises the servo control system, it also has the beneficial effects of the servo control system.

[0069] The vehicle provided by the embodiment of the utility model includes various structures of the servo control system in any of the above embodiments, which will not be described again here to avoid repetition.

[0070] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0071] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A servo control system, characterized in that: include: Load servo drive; A force conversion mechanism connected to the load servo drive, the force conversion mechanism is used to convert rotational motion into linear motion, and the force conversion mechanism includes a moving part; A pressure head connected to the moving part, the pressure head is used to be pressed on the pressed part to apply a reverse pressure to the pressed part, and the reverse pressure is opposite to the moving direction of the pressed part; A pressure sensor connected to the pressure head and used to monitor the reverse pressure; A control device is electrically connected to the pressure sensor and the load servo drive.

2. The servo control system according to claim 1, characterized in that: The control device comprises a servo driver electrically connected to the load servo driver, and a heat dissipation resistor is connected in parallel to the servo driver.

3. The servo control system according to claim 2, characterized in that: The control device further comprises a programmable logic controller electrically connected to the servo driver. The programmable logic controller comprises an analog quantity input module. The analog quantity input module is electrically connected to the pressure sensor.

4. The servo control system according to claim 3, characterized in that: It also includes an amplifier and a filter. The pressure sensor is electrically connected to the amplifier, the amplifier is electrically connected to the filter, and the filter is electrically connected to the analog input module.

5. The servo control system according to claim 3 or 4, characterized in that: The servo driver is electrically connected to a main power line, a contactor is arranged on the main power line, and the programmable logic controller is electrically connected to the contactor.

6. The servo control system according to claim 2, characterized in that: The servo driver has a first connection end and a second connection end, one end of the heat dissipation resistor is connected to the first connection end, and the other end of the heat dissipation resistor is connected to the second connection end; The resistance of the heat dissipation resistor is greater than or equal to 30 ohms and less than or equal to 50 ohms.

7. The servo control system according to claim 4, characterized in that: The amplifier and the filter are both electrically connected to the programmable logic controller via a first power line and a second power line.

8. The servo control system according to claim 2, characterized in that: The servo driver comprises an encoder and a voltage output terminal, and the encoder and the voltage output terminal are electrically connected to the load servo driver.

9. The servo control system according to claim 5, characterized in that: The main power line is used to connect to a power supply. An air switch is provided on the main power line. The air switch is located between the power supply and the contactor.

10. A vehicle, characterized in that: The vehicle comprises a servo control system as claimed in any one of claims 1 to 9.

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