阅读说明：本技术 电动舵机、电动舵机零位标定方法、装置和存储介质 (Electric steering engine, zero position calibration method and device for electric steering engine and storage medium ) 是由 孟韩 杨得亮 孙春香 马俊 李云嵩 王欢 于 2021-03-30 设计创作，主要内容包括：本申请揭示了一种电动舵机、电动舵机零位标定方法、装置和存储介质,所述电动舵机包括舵轴、舵机安装框架、丝杆、丝杆螺母、角度传感器和导杆；所述舵轴、所述丝杆、所述丝杆螺母、所述角度传感器和所述导杆安装在所述舵机安装框架中,所述角度传感器用于测量相对舵轴的偏转角；所述丝杆和所述丝杆螺母之间通过滚珠丝杆副连接,所述丝杆螺母中设有导向槽,所述导向槽与所述导杆形成滑动副；在所述丝杆转动时,在所述导杆的作用下所述丝杆螺母不转动而沿着所述导杆方向运动,进而带动所述舵轴转动。解决了相关技术中电动舵机零位标定时所需的设备和人员较多并且电动舵机的零位会出现误差的问题,达到了无需借助其他设备即可快捷准确的对电动舵机进行零位标定的效果。(The application discloses an electric steering engine, a zero position calibration method and device of the electric steering engine and a storage medium, wherein the electric steering engine comprises a steering shaft, a steering engine mounting frame, a screw rod nut, an angle sensor and a guide rod; the steering shaft, the screw rod nut, the angle sensor and the guide rod are arranged in the steering engine mounting frame, and the angle sensor is used for measuring a deflection angle relative to the steering shaft; the screw rod is connected with the screw rod nut through a ball screw rod pair, a guide groove is formed in the screw rod nut, and the guide groove and the guide rod form a sliding pair; when the screw rod rotates, the screw rod nut does not rotate and moves along the direction of the guide rod under the action of the guide rod, and then the rudder shaft is driven to rotate. The problem of required equipment and personnel are more and electric steering engine's zero-position can the error appear in the zero-position of electric steering engine among the correlation technique is solved, the effect that need not to carry out the zero-position to electric steering engine that can be swift accurate with the help of other equipment and demarcate has been reached.)

1. An electric steering engine is characterized by comprising a steering shaft, a steering engine mounting frame, a lead screw nut, an angle sensor and a guide rod;

the steering shaft, the screw rod nut, the angle sensor and the guide rod are arranged in the steering engine mounting frame, and the angle sensor is used for measuring a deflection angle relative to the steering shaft;

the screw rod is connected with the screw rod nut through a ball screw rod pair, a guide groove is formed in the screw rod nut, and the guide groove and the guide rod form a sliding pair;

when the screw rod rotates, the screw rod nut does not rotate and moves along the direction of the guide rod under the action of the guide rod, and then the rudder shaft is driven to rotate.

2. The electric steering engine of claim 1, wherein the distance between the two ends of the guide groove of the lead screw nut and the corresponding limiting end surface of the guide rod is equal.

3. The electric steering engine according to claim 2, wherein the distance between the left side of the guide groove of the lead screw nut and the left side limiting end surface of the guide rod is t1, and the distance between the right side of the guide groove of the lead screw nut and the right side limiting end surface of the guide rod is t 2;

the maximum sliding distance of the screw rod nut from the middle position between the two limiting end surfaces of the guide rod to the left side and the right side is tmax;

wherein t1 is t2 is tmax.

4. An electric steering engine zero calibration method, which is used in the electric steering engine according to any one of claims 1 to 3, and comprises the following steps:

when the screw rod nut moves to the left limiting end face of the guide rod, a left deflection angle detected by the angle sensor is obtained;

when the screw rod nut moves to the right limiting end face of the guide rod, the right deflection angle detected by the angle sensor is obtained;

acquiring a target deflection angle detected by the angle sensor when the screw rod nut is in a normal state;

and carrying out zero calibration on the electric steering engine according to the left deflection angle, the right deflection angle and the target deflection angle.

5. The method of claim 4, wherein the zero calibration of the electric steering engine according to the left deflection angle, the right deflection angle, and the target deflection angle comprises:

calculating a deviation angle according to the left deflection angle and the right deflection angle;

and carrying out zero calibration on the electric steering engine according to the deviation angle and the target deflection angle.

6. The method of claim 5, wherein said calculating a deviation angle from said left yaw angle and said right yaw angle comprises:

the deviation angle theta₀Comprises the following steps:

wherein, theta_{Left sensor}For left deflection angle, θ_{Sensor right}Right deflection angle.

7. The method of claim 5, wherein said zero calibration of said electric steering engine based on said deviation angle and said target deflection angle comprises:

calculating an angle difference between the target deflection angle and the deviation angle;

and if the angle difference is 0, determining that the position of the rudder shaft is a zero position.

8. An electric steering engine zero calibration device, characterized in that the device comprises a memory and a processor, wherein at least one program instruction is stored in the memory, and the processor loads and executes the at least one program instruction to realize the method of any one of claims 4 to 7.

9. A computer storage medium having stored therein at least one program instruction which is loaded and executed by a processor to implement the method of any of claims 4 to 7.

Technical Field

The invention belongs to the field of electric servo control, and relates to an electric steering engine, a zero position calibration method and device for the electric steering engine and a storage medium.

Background

The electric steering engine is used as an execution component of the missile control system, and controls the flight attitude and trajectory of the missile by driving the control surface to deflect. The electric steering engine has the characteristics of light weight, stable performance, convenience in maintenance and the like, and gradually becomes a new direction for the development of the steering engine.

The actuating mechanism of the electric steering engine generally comprises a motor, a transmission mechanism and an output shaft. The transmission mechanism is used as a core part of an actuating mechanism, and is usually in a speed reducing structure to obtain larger torque output. For the missile-borne steering engine, the mechanical zero position of the steering engine needs to be coincided with the electrical zero position (sensor zero position) of the steering engine, the prior scheme is that a control surface is fixed on a control shaft, the control shaft is controlled at the sensor zero position, a deviation value of a rudder deflection angle between the control surface and a cabin body is determined through external measuring equipment, and then the deviation value is subtracted through a control algorithm, so that the rudder deflection angle is axially coincided with the cabin body when the control shaft is at the sensor zero position. The method has larger workload, needs more equipment and personnel to participate in matching, and leads to deviation of the mechanical zero position of the rudder shaft because of the clearance between the rudder surface and the rudder shaft.

Disclosure of Invention

In order to solve the problems that in the related art, more equipment and personnel are needed during zero position calibration of an electric steering engine, and errors can occur in the zero position of the electric steering engine, the embodiment of the application provides the electric steering engine, a zero position calibration method and device of the electric steering engine, and a storage medium. The technical scheme is as follows:

the electric steering engine comprises a steering shaft, a steering engine mounting frame, a screw rod nut, an angle sensor and a guide rod;

the steering shaft, the screw rod nut, the angle sensor and the guide rod are arranged in the steering engine mounting frame, and the angle sensor is used for measuring a deflection angle relative to the steering shaft;

the screw rod is connected with the screw rod nut through a ball screw rod pair, a guide groove is formed in the screw rod nut, and the guide groove and the guide rod form a sliding pair;

when the screw rod rotates, the screw rod nut does not rotate and moves along the direction of the guide rod under the action of the guide rod, and then the rudder shaft is driven to rotate.

Optionally, the distance between the two ends of the guide groove of the lead screw nut and the corresponding guide rod limit is equal.

Optionally, a distance between the left side of the guide groove of the feed screw nut and the left side limiting end surface of the guide rod is t1, and a distance between the right side of the guide groove of the feed screw nut and the right side limiting end surface of the guide rod is t 2;

the maximum distance that the feed screw nut slides to the left side and the right side from the middle position of the two limiting end surfaces of the guide rod is tmax;

wherein t1 is t2 is tmax.

In a second aspect, a method for calibrating a zero position of an electric steering engine is provided, and is used in the electric steering engine in the first aspect, the method includes:

when the screw rod nut moves to the left limiting end face of the guide rod, a left deflection angle detected by the angle sensor is obtained;

when the screw rod nut moves to the right limiting end face of the guide rod, the right deflection angle detected by the angle sensor is obtained;

acquiring a target deflection angle detected by the angle sensor when the screw rod nut is in a normal state;

and carrying out zero calibration on the electric steering engine according to the left deflection angle, the right deflection angle and the target deflection angle.

Optionally, the zero calibration is performed on the electric steering engine according to the left deflection angle, the right deflection angle and the target deflection angle, and includes:

calculating a deviation angle according to the left deflection angle and the right deflection angle;

and carrying out zero calibration on the electric steering engine according to the deviation angle and the target deflection angle.

Optionally, the calculating a deviation angle according to the left deflection angle and the right deflection angle includes:

the deviation angle theta₀Comprises the following steps:

wherein, theta_{Left sensor}For left deflection angle, θ_{Sensor right}Right deflection angle.

Optionally, the zero calibration of the electric steering engine according to the deviation angle and the target deflection angle includes:

calculating an angle difference between the target deflection angle and the deviation angle;

and if the angle difference is 0, determining that the position of the rudder shaft is a zero position.

In a third aspect, an electric steering engine zero calibration device is provided, where the device includes a memory and a processor, where the memory stores at least one program instruction, and the processor implements the method according to the second aspect by loading and executing the at least one program instruction.

In a fourth aspect, there is provided a computer storage medium having stored therein at least one program instruction which is loaded and executed by a processor to implement the method of the second aspect.

The electric steering engine comprises a steering shaft, a steering engine mounting frame, a screw rod nut, an angle sensor and a guide rod; the steering shaft, the screw rod nut, the angle sensor and the guide rod are arranged in the steering engine mounting frame, and the angle sensor is used for measuring a deflection angle relative to the steering shaft; the screw rod is connected with the screw rod nut through a ball screw rod pair, a guide groove is formed in the screw rod nut, and the guide groove and the guide rod form a sliding pair; when the screw rod rotates, the screw rod nut does not rotate and moves along the direction of the guide rod under the action of the guide rod, and then the rudder shaft is driven to rotate. The problem of required equipment and personnel are more and electric steering engine's zero-position can the error appear in the zero-position of electric steering engine among the correlation technique is solved, the effect that need not to carry out the zero-position to electric steering engine that can be swift accurate with the help of other equipment and demarcate has been reached.

The distances between the two ends of the guide groove of the screw rod nut and the limit of the guide rod are set to be the same, so that when the screw rod nut moves to the limit of the left side and the right side of the guide rod, the deflection angles measured by the angle sensor are the same, and the effect of subsequent processing is simplified.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic diagram of an electric steering engine provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an electric steering engine with a screw nut in a middle position according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for calibrating a zero position of an electric steering engine according to another embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electric steering engine when a screw nut is located at a left position according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electric steering engine when a feed screw nut is at a right position according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

Referring to fig. 1, a schematic structural diagram of an electric steering engine provided in an embodiment of the present application is shown, and as shown in fig. 1, the electric steering engine includes: the steering mechanism comprises a rudder shaft 11, a steering engine mounting frame 12, a screw rod 13, a screw rod nut 14, an angle sensor 15 and a guide rod 16;

the rudder shaft 11, the screw rod 13, the screw rod nut 13, the angle sensor 15 and the guide rod 16 are arranged in the steering engine mounting frame 12, and the angle sensor 15 is used for measuring a deflection angle relative to the rudder shaft 11;

the screw 13 is connected with the screw nut 14 through a ball screw pair, a guide groove 17 is formed in the screw nut, and the guide groove 17 and the guide rod 16 form a sliding pair; the guide rod 16 is of a dumbbell-type structure with two thick ends and a thin middle, and the guide groove 17 of the lead screw nut 14 is slidably mounted on the thin rod part in the middle of the guide rod 16 and is limited by the thick rod parts at the two ends of the guide rod 16.

When the screw 13 rotates, the screw nut 14 does not rotate but moves along the direction of the guide rod 16 under the action of the guide rod 16, and then the rudder shaft 11 is driven to rotate. Optionally, when the lead screw nut 14 rotates, the linear motion of the lead screw nut 14 is converted into the rotation of the rudder shaft 11 through a transmission mechanism.

Wherein, the distance between the two ends of the guide groove 17 of the feed screw nut 14 and the corresponding guide rod limiting end surface 18 is equal. The distance between the left side of the guide groove 17 of the feed screw nut 14 and the left side limit end surface 18 of the guide rod is t1, and the distance between the right side of the guide groove 17 of the feed screw nut 14 and the right side limit end surface 18 of the guide rod is t 2; the maximum sliding distance of the feed screw nut 14 from the middle position of the guide groove 17 to the left and right sides is tmax; t1 t2 tmax.

For example, please refer to fig. 2, which shows a schematic structural diagram of the electric steering engine when the two limiting end surfaces 18 of the guide rod of the lead screw nut are at the middle position.

In the above electric steering engine, when the feed screw nut 14 moves, due to the effect of mechanical transmission, a certain deflection angle is generated between the movement distance of the feed screw nut 14 and the rudder shaft 11, and if the movement distance of the feed screw nut 14 is t (if the movement to the left is positive and the movement to the right is negative), the deflection angle is:

wherein l is the distance between the central line of the screw 13 and the central line of the rudder shaft 11.

That is, when the feed screw nut 14 moves to the leftmost side and rightmost side, the left deflection angle and the right deflection angle are:

from the above, θ_{Left side of}And theta_{Right side}Are equal in absolute value but differ by a negative sign, i.e. theta_{Left side of}＝-θ_{Right side}。

In summary, the electric steering engine comprises a steering shaft, a steering engine mounting frame, a screw rod nut, an angle sensor and a guide rod; the steering shaft, the screw rod nut, the angle sensor and the guide rod are arranged in the steering engine mounting frame, and the angle sensor is used for measuring a deflection angle relative to the steering shaft; the screw rod is connected with the screw rod nut through a ball screw rod pair, a guide groove is formed in the screw rod nut, and the guide groove and the guide rod form a sliding pair; when the screw rod rotates, the screw rod nut does not rotate and moves along the direction of the guide rod under the action of the guide rod, and then the rudder shaft is driven to rotate. The problem of required equipment and personnel are more and electric steering engine's zero-position can the error appear in the zero-position of electric steering engine among the correlation technique is solved, the effect that need not to carry out the zero-position to electric steering engine that can be swift accurate with the help of other equipment and demarcate has been reached.

The distances between the two ends of the guide groove of the screw rod nut and the limit of the guide rod are set to be the same, so that when the screw rod nut moves to the limit of the left side and the right side of the guide rod, the deflection angles measured by the angle sensor are the same, and the effect of subsequent processing is simplified.

Referring to fig. 3, a flowchart of a method for zero calibration of an electric steering engine according to an embodiment of the present application is shown, where the method for zero calibration can be used in the electric steering engine according to the above embodiment, and as shown in fig. 3, the method includes:

step 301, acquiring a left deflection angle detected by the angle sensor when the screw rod nut moves to the left limiting end face of the guide rod;

step 302, acquiring a right deflection angle detected by the angle sensor when the screw rod nut moves to the right limiting end surface of the guide rod;

referring to fig. 4 and 5, schematic diagrams of the lead screw nut moving to the left and right limit end surfaces are shown, respectively.

303, acquiring a target deflection angle detected by the angle sensor when the screw rod nut is in a normal state;

and 304, performing zero calibration on the electric steering engine according to the left deflection angle, the right deflection angle and the target deflection angle.

Firstly, calculating a deviation angle according to the left deflection angle and the right deflection angle;

suppose the deviation angle between the zero position of the sensor and the zero position of the rudder shaft is theta₀When the deflection angle of the rudder shaft relative to the zero position of the rudder shaft is theta, the deflection angle theta measured by the angle sensor is used for measuring the deflection angle_{Sensor with a sensor element}＝θ₀+θ。

That is to say that the position of the first electrode,

i.e. the deviation angle theta₀Comprises the following steps:

wherein, theta_{Left sensor}For left deflection angle, θ_{Sensor right}Right deflection angle.

And secondly, performing zero calibration on the electric steering engine according to the deviation angle and the target deflection angle.

The method comprises the following steps: calculating an angle difference between the target deflection angle and the deviation angle; and if the angle difference is 0, determining that the position of the rudder shaft is a zero position.

When the electric steering engine is controlled, the angle of deflection detected by the angle sensor is subtracted by theta according to the formula₀The value of (2) can obtain the deflection angle of the rudder shaft. When the angle sensor collects the value minus theta₀When the value of (2) is 0 degree, the position of the rudder shaft is a zero position, and the zero position calibration of the steering engine can be completed at the moment.

That is, the present application can detect the deflection angle- θ by the angle sensor₀The zero calibration can be quickly and accurately carried out on the electric steering engine.

In conclusion, when the screw rod nut is controlled to move to the left side of the guide rod for limiting, the angle sensor detects the left deflection angle; when the feed screw nut is controlled to move to the right side of the guide rod for limiting, the angle sensor detects the obtained right side deflection angle; acquiring a target deflection angle detected by the angle sensor when the screw rod nut is in a normal state; and carrying out zero calibration on the electric steering engine according to the left deflection angle, the right deflection angle and the target deflection angle. The problem of required equipment and personnel are more and electric steering engine's zero-position can the error appear in the zero-position of electric steering engine among the correlation technique is solved, the effect that need not to carry out the zero-position to electric steering engine that can be swift accurate with the help of other equipment and demarcate has been reached.

The application also provides an electric steering engine zero position calibration device, the device comprises a memory and a processor, at least one program instruction is stored in the memory, and the processor is used for loading and executing the at least one program instruction so as to realize the electric steering engine zero position calibration method.

The application also discloses a computer storage medium, wherein at least one program instruction is stored in the storage medium, and the at least one program instruction is loaded and executed by a processor to realize the zero position calibration method of the electric steering engine.

The processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network over a communications network and/or installed from a computer-readable medium. The above-mentioned functions of the present folding fire fighting device are performed when the computer program is executed by the processing unit.

The computer readable medium may be that contained in the fire-fighting drone described in the above embodiments; or can be separately arranged and not assembled into the fire-fighting unmanned aerial vehicle. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the determination method as described in the above embodiments.

It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.