Rotary rudder performance test system

Abstract

The utility model provides a kind of rotary rudder performance test system, including detection unit, control unit and power supply unit;The detection unit is for detecting the state information of rotary rudder when running and output;The control unit includes controller, multi-interface communication module, square wave excitation signal generating circuit, slope wave excitation signal generating circuit;The controller is for controlling square wave excitation signal generating circuit or slope wave excitation signal generating circuit to generate excitation signal and output to rotary rudder, and the controller is also used to receive detection signal output by detection unit through communication module;The power supply unit is for converting commercial power into direct current and providing working electricity to detection unit, control unit and rotary rudder, which can adapt to different rotary rudders, thereby effectively improving the adaptability of the whole system.

Description

Technical Field

[0001] This utility model relates to a testing system, and more particularly to a rotating servo motor performance testing system. Background Technology

[0002] Rotary servos are crucial actuators in unmanned helicopters. Their primary function is to move to designated positions according to control commands, controlling the automatic swashplate and tail rotor pitch mechanism, thereby enabling control of all control surfaces of the unmanned helicopter. Therefore, the performance consistency and reliability of rotary servos are of paramount importance.

[0003] In existing technologies for performance testing of rotary servos, a square wave pulse excitation signal is generally applied to control the operation of the rotary servo, and then the response information is obtained through sensors. However, existing testing systems have the problem of poor adaptability, and the excitation signal for the rotary servo is singular, which cannot obtain more comprehensive performance indicators.

[0004] Therefore, in order to solve the above-mentioned technical problems, it is urgent to propose a new technical approach. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a rotary servo performance testing system. By testing the rotary servo with different excitation signals output by a square wave excitation signal generation circuit and a ramp wave excitation signal generation circuit, and then obtaining the response signal by a sensor, comprehensive status information of the rotary servo can be obtained, which is beneficial for subsequent performance diagnosis. Moreover, through a multi-interface communication module, it can be adapted to different rotary servos, thereby effectively improving the adaptability of the entire system.

[0006] This utility model provides a rotating servo motor performance testing system, including a detection unit, a control unit, and a power supply unit;

[0007] The detection unit is used to detect and output the status information of the rotating servo motor during operation;

[0008] The control unit includes a controller, a multi-interface communication module, a square wave excitation signal generation circuit, and a ramp wave excitation signal generation circuit.

[0009] The controller is used to control the square wave excitation signal generating circuit or the ramp wave excitation signal generating circuit to generate an excitation signal and output it to the rotary servo motor. The controller is also used to receive the detection signal output by the detection unit through the communication module.

[0010] The power supply unit is used to convert mains power into DC power and provide operating power to the detection unit, control unit and rotary servo motor.

[0011] Furthermore, the detection unit includes a current sensor and a position sensor;

[0012] The current sensor is used to detect and output the operating current of the rotary servo motor during operation;

[0013] The position sensor is used to detect and output the position response signal when the rotating servo is running.

[0014] Furthermore, the position sensor is a high-precision absolute position encoder.

[0015] Furthermore, the multi-interface communication module includes an RS422 module, an RS485 module, an RS232 module, and a CAN bus.

[0016] Furthermore, the ramp excitation signal generation circuit includes resistors R1, R2, and R3, capacitor C1, transistors T1 and T2, and NMOS transistor Q1;

[0017] The drain of NMOS transistor Q1 is connected to one end of capacitor C1. The common connection point between the drain of NMOS transistor Q1 and capacitor C1 is connected to a DC power supply. The other end of capacitor C1 is grounded. The source of NMOS transistor Q1 is grounded. One end of resistor R2 is connected to the drain of NMOS transistor Q1. The other end of resistor R2 is connected to the collector of transistor T1. The emitter of transistor T1 is connected to the emitter of transistor T2. The collector of transistor T2 is grounded. The base of transistor T2 and the base of transistor T1 are connected to one end of resistor R1. The other end of resistor R1 serves as the control input terminal of the ramp excitation signal generation circuit and is connected to the controller. The emitter of transistor T1 is connected to the gate of NMOS transistor Q1 through resistor R3. The common connection point between capacitor C1 and the drain of NMOS transistor Q1 also serves as the output terminal of the ramp excitation signal generation circuit.

[0018] Furthermore, the ramp excitation signal generating circuit also includes a diode D1, the negative terminal of which is connected to the emitter of the transistor T1, and the positive terminal of which is connected to the gate of the NMOS transistor Q1.

[0019] Furthermore, the controller can be any chip in the TM4C123 series.

[0020] Furthermore, the power supply unit includes a rectifier circuit, a filter circuit, a pre-stage voltage regulator circuit, and a post-stage voltage regulator circuit;

[0021] The rectifier circuit is used to rectify the mains power into DC power and output it to the filter circuit. The filter circuit filters the DC power and inputs it to the pre-stage voltage regulator circuit. The pre-stage voltage regulator circuit regulates the voltage and outputs it to the post-stage voltage regulator circuit. The post-stage voltage regulator circuit supplies power to the load.

[0022] Furthermore, it also includes a host computer and a touch display, with the host computer communicating with the controller and the touch display communicating with the host computer.

[0023] The beneficial effects of this utility model are as follows: By using this utility model to test the rotary servo, different excitation signals are output by the square wave excitation signal generation circuit and the ramp wave excitation signal generation circuit, and then the sensor obtains the response signal, thereby obtaining comprehensive status information of the rotary servo, which is beneficial for subsequent performance diagnosis. Moreover, through the multi-interface communication module, it can adapt to different rotary servos, thereby effectively improving the adaptability of the entire system. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0025] Figure 1 This is a schematic diagram of the electrical structure of this utility model.

[0026] Figure 2 This is a schematic diagram of the ramp excitation signal generation circuit of this utility model.

[0027] Figure 3 This is a schematic diagram of the pre-stage voltage regulator circuit of this utility model. Detailed Implementation

[0028] The present invention will be further described in detail below:

[0029] This utility model provides a rotating servo motor performance testing system, including a detection unit, a control unit, and a power supply unit;

[0030] The detection unit is used to detect and output the status information of the rotating servo motor during operation;

[0031] The control unit includes a controller, a multi-interface communication module, a square wave excitation signal generation circuit, and a ramp wave excitation signal generation circuit.

[0032] The controller is used to control the square wave excitation signal generating circuit or the ramp wave excitation signal generating circuit to generate an excitation signal and output it to the rotary servo motor. The controller is also used to receive the detection signal output by the detection unit through the communication module.

[0033] The power supply unit converts mains power into DC power and provides operating power to the detection unit, control unit, and rotary servo. Through this structure, the rotary servo is tested using different excitation signals output by a square wave excitation signal generation circuit and a ramp wave excitation signal generation circuit. The sensors then acquire the corresponding response signals, thereby obtaining comprehensive status information of the rotary servo, facilitating subsequent performance diagnostics. Furthermore, the multi-interface communication module allows adaptation to different rotary servos, effectively improving the overall system's adaptability. The square wave excitation signal generation circuit can utilize an existing square wave pulse generation circuit, which is controlled by the controller.

[0034] The controller uses any chip from the TM4C123 series. This series of chips has a rich variety of interface types such as SSI, UART, CAN, and USB, which facilitates the arrangement of multi-interface communication modules and makes the whole system more adaptable to rotary servos or sensors with different communication protocols.

[0035] Of course, in practice, the rotary servo is also equipped with a test bench, which can be made using existing technology and will not be described in detail here.

[0036] In this embodiment, the detection unit includes a current sensor and a position sensor;

[0037] The current sensor is used to detect and output the operating current of the rotary servo motor during operation;

[0038] The position sensor is used to detect and output the position response signal when the rotating servo is running.

[0039] The position sensor is a high-precision absolute position encoder, such as the GMS412 absolute position encoder, or encoders like the SE38S6 and SE58S10. The position sensor acquires the response position information, and this information is used to calculate corresponding metrics. For example, consider the response speed of a rotary servo motor:

[0040] Based on the time intervals T1 and T2 of the step response signal of the servo position, and the angle changes P1 and P2, the average response speed in both directions is calculated:

[0041] Of course, other performance indicators can be determined by corresponding algorithms, which is existing technology and will not be elaborated here.

[0042] In this embodiment, the multi-interface communication module includes an RS422 module, an RS485 module, an RS232 module, and a CAN bus. Through this multi-interface communication module, the entire system can have strong adaptability and can be used in rotating servo test scenarios with different communication protocols.

[0043] In this embodiment, the ramp excitation signal generating circuit includes resistors R1, R2, and R3, capacitor C1, transistors T1 and T2, and NMOS transistor Q1.

[0044] The drain of NMOS transistor Q1 is connected to one end of capacitor C1. The common connection point between the drain of NMOS transistor Q1 and capacitor C1 is connected to a DC power supply. The other end of capacitor C1 is grounded. The source of NMOS transistor Q1 is grounded. One end of resistor R2 is connected to the drain of NMOS transistor Q1. The other end of resistor R2 is connected to the collector of transistor T1. The emitter of transistor T1 is connected to the emitter of transistor T2. The collector of transistor T2 is grounded. The bases of transistor T2 and T1 are connected to a DC power supply. One end of resistor R1 and the other end of resistor R1 are connected to the controller as the control input terminal of the ramp excitation signal generation circuit. The emitter of transistor T1 is connected to the gate of NMOS transistor Q1 through resistor R3. The common connection point between capacitor C1 and the drain of NMOS transistor Q1 also serves as the output terminal of the ramp excitation signal generation circuit. In the above structure, in actual use, a switch, usually implemented with a transistor, is also set at the output terminal of the DC power supply to control the power supply on and off of the entire ramp excitation signal generation circuit. Figure 2 As shown, the switch is implemented using transistor T3, and the on / off state of T3 is controlled by the controller. The principle of the ramp excitation signal generation circuit is realized by the charging and discharging of the capacitor. The charging and discharging of C1 is controlled by the on / off state of the NMOS transistor. Moreover, since the charging and discharging of C1 has a process, the output signal has a certain slope, thus realizing ramp output. The duty cycle and slope of the entire ramp signal are controlled by the duty cycle of the pulse signal output by the controller to resistor R1. The totem pole drive circuit structure formed by T1 and T2 makes the NMOS transistor have a fast response speed and low loss.

[0045] The ramp excitation signal generation circuit further includes a diode D1. The cathode of diode D1 is connected to the emitter of transistor T1, and the anode of diode D1 is connected to the gate of NMOS transistor Q1. Through this structure, the voltage of the junction capacitance between the gate and source of the NMOS transistor is formed by the emitter and collector of D1 and T2 to form a discharge circuit, which facilitates the turn-off response of the NMOS transistor and prevents excessive distortion of the ramp excitation signal.

[0046] In this example, the power supply unit includes a rectifier circuit, a filter circuit, a pre-stage voltage regulator circuit, and a post-stage voltage regulator circuit;

[0047] The rectifier circuit rectifies the mains power into direct current (DC) and outputs it to the filter circuit. The filter circuit filters the DC power and then inputs it to the pre-stage voltage regulator circuit. The pre-stage voltage regulator circuit regulates the voltage and outputs it to the post-stage voltage regulator circuit. The post-stage voltage regulator circuit supplies power to the load (which includes the controller, servo motor, position encoder, etc.). Since the servo motor is used in UAVs, it generally uses DC power, and other loads also use DC power, such as... Figure 3 As shown: The current is rectified by a full-bridge rectifier circuit (existing technology) formed by diodes, and then input to an RC filter circuit (composed of R4 and C2). Operational amplifier U1 forms a voltage follower to stabilize the voltage. The high impedance characteristic of the operational amplifier is used for subsequent protection. The pre-stage voltage regulator circuit mainly consists of transistors T5 and T3, resistors R5 and R6, Zener diode ZD1, resistors R7 and R9, and a sliding resistor R8, forming a feedback transistor voltage regulator circuit that provides good voltage stabilization. The subsequent voltage regulator circuit... It consists of multiple voltage regulator modules, such as LM7812, LM7809, LM2596, AMS1117-3.3V and other voltage regulator chips and their peripheral circuits. For example, the absolute encoder operates at 12V, which is provided by the LM7812 after regulation. The controller generally requires 5V and 3.3V power, which are provided by the LM2596 and AMS1117-3.3V. These are selected according to the operating voltage of the actual electrical components. Through the above structure, a stable DC power supply can be provided to the subsequent load.

[0048] In this embodiment, a host computer and a touch screen are also included. The host computer is connected to the controller, and the touch screen is connected to the host computer. The controller uploads the detection information output by the detection unit to the host computer. The host computer can display the current data through the touch screen and issue operation commands through the touch screen, such as changing the duty cycle of the control output PMW signal. The host computer adopts an existing industrial control host.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A rotating servo motor performance testing system, characterized in that: Includes a detection unit, a control unit, and a power supply unit; The detection unit is used to detect and output the status information of the rotating servo motor during operation; The control unit includes a controller, a multi-interface communication module, a square wave excitation signal generation circuit, and a ramp wave excitation signal generation circuit. The controller is used to control the square wave excitation signal generating circuit or the ramp wave excitation signal generating circuit to generate an excitation signal and output it to the rotary servo motor. The controller is also used to receive the detection signal output by the detection unit through the communication module. The power supply unit is used to convert mains power into DC power and provide operating power to the detection unit, control unit and rotary servo motor.

2. The rotary servo performance testing system according to claim 1, characterized in that: The detection unit includes a current sensor and a position sensor; The current sensor is used to detect and output the operating current of the rotary servo motor during operation; The position sensor is used to detect and output the position response signal when the rotating servo is running.

3. The rotary servo performance testing system according to claim 2, characterized in that: The position sensor is a high-precision absolute position encoder.

4. The rotary servo performance testing system according to claim 1, characterized in that: The multi-interface communication module includes an RS422 module, an RS485 module, an RS232 module, and a CAN bus.

5. The rotary servo performance testing system according to claim 1, characterized in that: The ramp excitation signal generation circuit includes resistors R1, R2, and R3, capacitor C1, transistors T1 and T2, and NMOS transistor Q1. The drain of NMOS transistor Q1 is connected to one end of capacitor C1. The common connection point between the drain of NMOS transistor Q1 and capacitor C1 is connected to a DC power supply. The other end of capacitor C1 is grounded. The source of NMOS transistor Q1 is grounded. One end of resistor R2 is connected to the drain of NMOS transistor Q1. The other end of resistor R2 is connected to the collector of transistor T1. The emitter of transistor T1 is connected to the emitter of transistor T2. The collector of transistor T2 is grounded. The base of transistor T2 and the base of transistor T1 are connected to one end of resistor R1. The other end of resistor R1 serves as the control input terminal of the ramp excitation signal generation circuit and is connected to the controller. The emitter of transistor T1 is connected to the gate of NMOS transistor Q1 through resistor R3. The common connection point between capacitor C1 and the drain of NMOS transistor Q1 also serves as the output terminal of the ramp excitation signal generation circuit.

6. The rotary servo performance testing system according to claim 5, characterized in that: The ramp excitation signal generating circuit also includes a diode D1, the negative terminal of which is connected to the emitter of the transistor T1, and the positive terminal of which is connected to the gate of the NMOS transistor Q1.

7. The rotary servo performance testing system according to claim 1, characterized in that: The controller can be any chip in the TM4C123 series.

8. The rotary servo performance testing system according to claim 1, characterized in that: The power supply unit includes a rectifier circuit, a filter circuit, a pre-stage voltage regulator circuit, and a post-stage voltage regulator circuit. The rectifier circuit is used to rectify the mains power into DC power and output it to the filter circuit. The filter circuit filters the DC power and inputs it to the pre-stage voltage regulator circuit. The pre-stage voltage regulator circuit regulates the voltage and outputs it to the post-stage voltage regulator circuit. The post-stage voltage regulator circuit supplies power to the load.

9. The rotary servo performance testing system according to claim 1, characterized in that: It also includes a host computer and a touch display. The host computer communicates with the controller, and the touch display communicates with the host computer.

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