JP2003264992A - Multi-control redundant motor, multi-control actuator, and redundancy control method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To establish a multi-control technology for an actuator capable of exactly outputting a proper control target signal without exerting influence of one faulty control upon the other control. <P>SOLUTION: A multi-controlled redundant motor comprises: a first servomotor 3-1 that inputs first torque to a common output shaft 9; a second servomotor 3-2 that inputs second torque to the common output shaft 9 adding to the first torque; a controller 12-1 generating two torque commands 14-1-1 and 14-1-2 to the first servomotor 3-1 responding to the first torque, and a controller 12-2 generating two torque commands 14-2-1 and 14-2-2 to the second servomotor responding to the second torque. The duplicated and redundant servomotor is independently torque-controlled, and the controllers are redundancy-controlled, respectively. Redundancy thus quadruplicated substantially reduces failure probability to zero and prolongs the lifetime of the redundant motor concurrently. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-control redundant electric motor, a multi-control actuator and a redundant control method thereof, and more particularly, a multi-control redundant electric motor suitable for application to an aircraft hybrid steering system, and , A multi-control actuator, and a redundant control method thereof.

[0002]

2. Description of the Related Art Electric motors or generators are sometimes used in poor environments such as civil engineering work sites. An electric motor used in a bad environment has a high failure rate. In order to deal with such a situation, another electric motor is supplementarily prepared. The electric motor may be used in an operating environment where failure is not allowed, although it is not placed in a bad environment. Hybrid electric motors are known for coping with the failure of one electric motor. If the failure of one motor causes its output to stop, the other motor can be used safely, but if the failure of one motor causes the runaway output to continue, the presence of the other motor Is not worth.

One of many known aircraft steering systems
As one of them, a human-power / motor-power hybrid steering system in which human power and motor output are duplicated is known. Human-power / motor-power hybrid type assist bicycles are known that assist human power. In addition, as a hybrid electric motor, a power source of a vehicle in which a thermodynamic engine and an electric engine (electric motor) are hybridized is known. When a motor failure is found, it is absolutely required to artificially and reliably stop the drive input of the motor, and it is used in a special operating environment. The system is known.

The electric motor is used by being controlled by a control signal. Many control techniques for preventing a failure of a control electric circuit by duplicating the generation of a control signal are well known in the field of computers, and are disclosed in JP-A-6-259270.
And Japanese Patent Laid-Open No. 8-263102 are known. A hybrid electric motor in which a rotor is shared but a stator is not shared is known from Japanese Patent Application Laid-Open No. 60-500556 (published as a patent application).

The steering system of the next generation human-motor hybrid type regional aircraft (regional aircraft with a capacity of about 100 passengers) does not lose the assisting power by any chance and always uses human power as the steering power. It is required to establish a technology that can do this. As a basic technique for establishing such a technique, it is basically required to establish a multiplex control technique capable of surely outputting a correct control target signal without the erroneous control of one affecting the control of the other.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to establish a multiplex control technique capable of reliably outputting a correct control target signal without the influence of one erroneous control on the other control. A redundant motor, a multiple control actuator, and a redundant control method thereof are provided.
Another object of the present invention is to establish a multiplex control technique capable of surely outputting a correct control target signal without the influence of one erroneous control on the other control, and further, in the unlikely event of losing assist power. It is to provide a multi-control redundant electric motor, a multi-control actuator, and a redundant control method for the same, which can establish a technique in which human power can be used as steering force without fail.

[0007]

Means for solving the problem Means for solving the problem are expressed as follows. The technical matters appearing in the expression are accompanied by parentheses (), and numbers, symbols and the like are added. The numbers, symbols and the like are technical matters constituting at least one embodiment or a plurality of examples of the plurality of embodiments or a plurality of examples of the present invention, particularly, the embodiment or the example. It corresponds to the reference numbers, reference symbols, etc. attached to the technical matters expressed in the drawings corresponding to. Such reference numbers and reference symbols clarify correspondences and bridges between the technical matters described in the claims and the technical matters of the embodiments or examples. Such correspondence / bridge does not mean that the technical matters described in the claims are limited to the technical matters of the embodiment or the examples.

The multi-control redundant electric motor according to the present invention includes a first servomotor (3-1) for inputting a first torque to a common output shaft (9) and a second torque obtained by adding the first torque to the common output shaft. Second servo motor (3-2) input to (9)
And a controller. The controller is the first
First to generate a first motor corresponding torque command (14-1) corresponding to the first torque to the servo motor (3-1)
A motor corresponding controller (12-1) and a second motor corresponding controller (14-2) for generating a second motor corresponding torque command (14-2) corresponding to the second torque for the second servo motor (3-2) ( 12-2), and the redundant and redundant servo motors are independently torque-controlled. The first motor corresponding controller (12-1) generates a first motor corresponding first torque command (14-1-1) corresponding to the first torque to the first servomotor (3-1). A first controller (12-1-1) corresponding to one motor and a first servo motor (3-1) corresponding to a first torque.
It is formed from a first motor-corresponding second controller (12-1-2) that generates a motor-corresponding second torque command (14-1-2). The second motor corresponding controller (12-2) generates a second motor corresponding first torque command (14-2-1) corresponding to the second torque to the second servo motor (3-2). A two-motor compatible first controller (12-2-1),
A second motor-corresponding second controller (12-2-2) for generating a second motor-corresponding second torque command (14-2-2) corresponding to the second torque to the second servo motor (3-2). ) And formed. First motor-compatible first torque command (14-1-1) and first motor-compatible second torque command (1
If 4-1-2) do not match, or if their deviation exceeds the allowable range, the first servo motor (3-
A first logical operation unit (15-1) for releasing the control of 1);
Second motor compatible first torque command (14-2-1) and second
If the motor compatible second torque command (14-2-2) does not match, or if their deviation exceeds the allowable range, the second
It is formed of a second logical operation unit (15-2) that releases the control of the servo motor (3-2). It will be understood by those skilled in the art that such a composite control of mathematical double control and mechanical double control can be easily expanded to multiple control of mathematical n-weight control and mechanical m-weight control by mathematical induction. Is self-evident. Performing rotation speed control that is not limited to torque control but is rotation position control or temporal rotation position control for a common output shaft is a known technique, but the same rotation position control and the same rotation speed control are It is executed together with torque distribution control on the same time series.

The servomotor (3) is mechanically and physically doubled redundantly, and the controller of the first servomotor (3-1) is electrically and mathematically doubled redundantly. The controller of the servo motor (3-2) is electrically and mathematically doubled redundantly.
The controllers are quadruple multiplexed and redundant.
The mechanical / physical redundancy and the electrical / mathematical redundancy can substantially completely prevent control runaway due to the redundancy. The fact that both motors (3-1, 3-2) operate normally means that both motors (3-1, 3-2), which share the output and are not controlled by full power,
Their durability increases with each other. It is particularly preferable that the first torque and the second torque are controlled in correlation with each other. The controller further includes a rotational position controller that controls a rotational position with respect to the common output shaft.

The ratio between the first torque and the second torque can be set constant. The first servo motor (3-1) and the second servo motor (3-2) share the same rotor, and the stator side winding of the first servo motor (3-1) and the second servo motor (3 3-2) Being independent of the stator side winding enables mechanical unification of the servo motor, simplifies the structure of the servo motor (3), and reduces the manufacturing cost thereof. . When the performances of the first servo motor (3-1) and the second servo motor (3-2) are different as in such a motor, a sharing ratio other than 1: 1 is adopted as the output sharing ratio. The characteristics of each motor can be utilized more effectively.

The first servo motor (3-1) and the second servo motor (3-2), which are particularly suitably adopted, share the same rotor and are fixed to the first servo motor (3-1). It is particularly preferable that the child side winding and the stator side winding of the second servomotor (3-2) are independent. Such a motor is structurally known in terms of winding arrangement, and a known motor is preferably used. However, the redundant motor used in the present invention is a known motor that normally shares output. Unlike the multiplex motor, it is different from the known multiplex motor in that the torque having the same output value as the total output value of the multiplex motor can be independently output. The motor used in the present invention is a multiplex motor and a redundant motor, and may be referred to as a redundant hybrid motor. Such a redundant hybrid motor has never been known in the past.

When the control of the first servo motor (3-1) is released, the second torque is controlled independently of the first torque, and the control of the second servo motor (3-2) is released. At this time, it is particularly preferable that the first torque is controlled independently of the second torque as one mode of carrying out the multiple control redundant electric motor according to the present invention.

The multi-control actuator according to the present invention comprises:
A first servomotor (3-1) that inputs a first torque to a common output shaft (9) and a second servomotor (3) that adds a second torque to the common output shaft (9) by adding the first torque. −
2), the operating device (2) for adding the first torque and the second torque and inputting the manual torque to the common output shaft (9), and the first torque for the first servomotor (3-1). A first motor corresponding controller () that generates a corresponding first motor corresponding torque command (14-1) and a second corresponding torque command () corresponding to the second torque to the second servo motor (3-2). 14
-2) and a second motor-compatible controller (12-2). Controller for the first motor (12-
1) is a first motor-corresponding first torque command (14-1) for the first servomotor (3-1) corresponding to the first torque.
-2) for generating a first motor corresponding first controller (12-1)
-1) and a second torque command (14-) corresponding to the first motor corresponding to the first torque to the first servo motor (3-1).
The second controller corresponding to the first motor (12-
It is formed from 1-2). The second motor corresponding controller (12-2) generates a second motor corresponding first torque command (14-2-1) corresponding to the second torque to the second servo motor (3-2). A second motor-corresponding second torque command (14-2-2) corresponding to the second torque is supplied to the two-motor-corresponding first controller (12-2-1) and the second servomotor (3-2). It is formed from the second controller (12-2-2) corresponding to the generated second motor. If the first torque command for the first motor (14-1-1) and the second torque command for the first motor (14-1-2) do not match, the control of the first servo motor (3-1) is released. A first logical operation unit (15-1), a second torque command (14-2-1) corresponding to the second motor, and a second torque command (1) corresponding to the second motor.
4-2-2) do not match, the second servo motor (3
Second logical operation unit (15-2) for releasing the control of -2) is provided.

The multi-control motor according to the present invention is used as an actuator to which a manual input is applied, so that its industrial applicability is more specifically validated. If the first torque is represented by Px, the second torque is represented by Py, the manual torque is represented by Pz, and the output torque of the common output shaft (9) is represented by Ps, then Ps = Px + Pz + Py, Px = K.
The relationship of x · Ps, Pz = Kz · Ps, Py = Ky · Ps is set, and Ps = Px + Pz + Py is satisfied.
Here, Kx, Kz, and Ky are setting distribution coefficients, and are one setting set formed from three coefficients unique to the present invention. Kx, Kz, and Ky are calculated from the above-mentioned relational expressions.
The relationship of Kx + Kz + Ky = 1 is maintained, but it is particularly preferable that each is variable, or Kx and Kx
It is particularly preferable that z and Ky are variable corresponding to the magnitude of Pz. A setting device for setting Kx and Ky is added. It is preferable that the setting device is provided in each of the first motor corresponding controller and the second motor corresponding controller.

The basic technology according to the present invention is applied to the manual control of a large mass object in which the operating device is a steering device, and thus has an especially important industrial value. An example of the steering gear is an aircraft steering gear. 8 such aircraft
Preferable examples are 0 to 110 passenger aircraft (regional jet airliners).

A redundant actuator control method according to the present invention is directed to an actuator that outputs a combined output of a first output of a first servo motor and a second output of a second servo motor as a single output to a control target. This is a redundant control method. The redundant control method includes the following multiple steps. The plurality of steps includes generating a first control signal for controlling the first output, generating a second control signal for controlling the first output, and a third control for controlling the second output. Generating a signal, generating a fourth control signal for controlling the second output, and setting the first output to zero if the deviation between the first control signal and the second control signal exceeds the allowable range To generate a third control signal and a fourth control signal. Here, if the deviation between the third control signal and the fourth control signal exceeds the allowable range, the second output is set to zero and the first output is replaced with the total calculation force to generate the first control signal and the second control signal. In this way, when the control of one control system loses reliability,
Since the control signal of the system is not used and therefore no output is made from the system, no disturbance occurs.

In the redundant control method of the actuator according to the present invention, the total calculated force obtained by adding the manual force, the first output of the first servo motor and the second output of the second servo motor is output to the control target as a single output. This is a redundant control method for the actuator. The redundant control method includes the following multiple steps. The plurality of steps includes generating a first control signal for controlling the first output, generating a second control signal for controlling the first output, and a third control for controlling the second output. Generating a signal, second
Generating a fourth control signal for controlling the output; if the deviation between the first control signal and the second control signal exceeds a permissible range, the first output is set to zero and the second output is replaced with a total calculation force. Three
Generating a control signal and a fourth control signal, and if the deviation between the third control signal and the fourth control signal exceeds the allowable range, the second output is set to zero and the first output is replaced with the total calculation force to obtain the first control signal. And generating a second control signal. In such a control method, the manual operation has the first priority, but in the worst case when the redundant control system fails, the control is executed only by the manual operation. An effective application example of such a hybrid control system in which a manual force and a mechanical force are combined is motion control of a large-mass object, and in particular, opening and closing a fire door, operating an aircraft, and operating instruments on a space satellite. It is preferably exemplified.

It is preferable that the combination of the first output and the second output is represented as a total output, and the ratio between the total output and the manual force is set to be constant. It is more preferable that the ratio of the total output to the manual force (= total output / manual force) is set corresponding to the manual force. It is particularly preferable that the ratio increases as the manual force increases, and the reaction force returning to the operator's fingers is preferably small, but it is important that the change in the reaction force is felt sensitively to the fingers. The ratio of the first output to the second output is constant or approximately constant, especially 1
That is, by equally using both servo motors, the load sharing is not biased to only one.

It is preferable that the combination of the first output and the second output is represented as a total output, and the ratio between the total output and the manual force is set to be constant. It is further preferable that the ratio of the total output to the manual force (total output / manual force) is set corresponding to the use state (in the case of steering the aircraft, the flight state). It is better that the reaction force returning to the operator's finger is small, but it is important that the change in the reaction force is felt by the finger. The ratio of the first output and the second output is constant or approximately constant, and in particular, the ratio of 1 means that the load sharing is not biased to only one by using both servo motors equally.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Corresponding to the figures, an embodiment of a multiple control actuator according to the present invention is applied to an aircraft steering system. The steering system 1 is installed in the fuselage of a regional aircraft, as shown in FIG. The steering system 1 includes two hybrid steering handles 2, a multiple servo motor 3 forming a multiple actuator, a mechanical steering output transmission mechanism 4,
The mechanical steering input transmission mechanism 5 is included.

The steering handle 2 has a multi-axis independent rotation mechanism and can output a manual mechanical force for multi-axis rotation of the multi-steering wings 7. Multi-dimensional detection is performed by the manual force / position sensor 6 that detects the manual mechanical force and the operation position corresponding to the geometrical operation amount of the steering wheel 2 that is displaced by the manual operation. The hand power / position sensor 6 is arranged at a joint portion where the pilot's finger and the steering handle 2 are joined by action and reaction. The mechanical steering output transmission mechanism 4 and the mechanical steering input transmission mechanism 5 are
Each is formed by a multi-axis steel wire cable.

The manual mechanical force, which is the pilot's steering force, is transmitted from the steering handle 2 through the mechanical steering input transmission mechanism 5 to the mechanical interface of the multiplex servomotor 3 to be hybridized (multiplexed). ), And is input to the input shaft or the output shaft of the multiplex servomotor 3, and is output from the output shaft (each common output shaft) as it is as a manual torque output. The electric torque output of the multiplex servo motor 3 is output from a power generator (example: inverter) controlled by the controller together with the manual torque output. The electrical torque output and the manual torque output are mechanically summed, and as a summed torque output,
It is output from the single multiplex servo motor 3 and is transmitted to each of the plurality of steering wings 7 via the mechanical steering output transmission mechanism 4.

FIG. 2 shows a torque output control circuit 8 which controls the torque output for one torque output for a single multiplexed servomotor. The control target of the torque output control circuit 8 is the multiplex servo motor 3. The multiplex servo motor 3 is composed of a first electric motor 3-1 and a second electric motor 3-2. First electric motor 3-1 and second
The electric motor 3-2 has a common output shaft 9, and these independent outputs are multiplexed (added, hybridized). The first electric motor 3-1 can independently output the first assist torque Px, and the second electric motor 3-2 can independently output the second assist torque Py.

The above-mentioned manual torque output is input to the common output shaft 9 of the multiplex servomotor 3 or the common input shaft of the multiplex servomotor 3, and the manual torque Pz is directly input from the common output shaft 9 as it is. Is output as. Total calculation power Ps
Is the first assist torque Px and the second assist torque Py.
And the manual torque Pz. Ps = Px + Pz + Py (1) Three torques (corresponding to the torque) of the first assist torque Px, the second assist torque Py, and the manual torque Pz are mechanically combined into a single torque to form a single torque. Mechanisms for converting to output are known. As such a known mechanism, a differential gear device is known in addition to an electronic control mechanism.

The steering handle 2 which outputs the manual torque Pz as a mechanical output is supplied with a manual force electric signal EPz corresponding to the manual torque Pz via the manual force / position sensor 6.
And the manipulated variable PPz when the torque is output. The operation amount is described by two variables of the torque EPz and the position PPz, and the two variables of the torque EPz and the position PPz are multidimensionalized for a plurality of blades. Below, the manipulated variable is a manipulated variable corresponding signal {PPz, EP
z} 11.

The torque output control circuit 8 includes a first electric motor 3-
It includes a first motor corresponding controller 12-1 corresponding to 1 and a second motor corresponding controller 12-2 corresponding to the second electric motor 3-2. Controller 1 for the first motor
2-1 is the first controller 12-1- for the first motor
1 and a second controller 12-1-2 corresponding to the first motor. The second motor compatible controller 12-2 includes a second motor compatible first controller 12-2-1 and a second motor compatible second controller 12-2-2. The operation amount corresponding signal {PPz, EPz} 11 is output from the manual force / position sensor 6 of the steering wheel 2 and is used as a first motor-corresponding first controller 12-1-1 and a first motor-corresponding second controller 12-. 1-2 are input to the first controller 12-2-1 corresponding to the second motor and the second controller 12-2-2 corresponding to the second motor.

The first electric motor 3-1 includes a first motor corresponding rotational position sensor (not shown), a first motor corresponding torque sensor (not shown) and a first motor corresponding current sensor (not shown). There is. First output from the first electric motor 3-1
The position / current signal corresponding to the assist torque Px is hereinafter referred to as an electric signal corresponding to the position / current signal {P
Px, EPx} 13-1.

The second electric motor 3-2 includes a second motor corresponding rotational position sensor (not shown), a second motor corresponding torque sensor (not shown) and a second motor corresponding current sensor (not shown). There is. The position / current signal corresponding to the manual power Pz output from the second electric motor 3-2 is hereinafter referred to as an electric signal corresponding to the second motor-corresponding position / current signal {PPy, E.
Py} 13-2.

Position / current signal corresponding to the first motor {PPx,
EPx} 13-1 is output from the first electric motor 3-1.
It is input to the first controller 12-1-1 corresponding to the first motor and the second controller 12-1-2 corresponding to the first motor. Position / current signal for the first motor {PPx, EPx}
13-1 is a first motor compatible first controller 12-1 based on the current and voltage output from the first electric motor 3-1.
-1 and a signal that can be calculated in the second controller 12-1-2 corresponding to the first motor. The second motor corresponding position / current signal {PPy, EPy} 13-2 is output from the second electric motor 3-2, and the second motor corresponding first controller 12-2-1 and the second motor corresponding second controller 1 are output.
2-2-2 is input. The second motor corresponding position / current signal {PPy, EPy} 13-2 is the second motor 3-2.
Can be replaced with a signal that can be calculated in the first controller 12-2-1 corresponding to the second motor and the second controller 12-2-2 corresponding to the second motor based on the current and the voltage output by.

First controller 12-1 for the first motor
-1 is the operation amount corresponding signal {PPz, EPz} 11 and the first
Motor corresponding position / current signal {PPx, EPx} 13-1
First deviation corresponding to the first motor {ΔPPx, ΔEPx} 1
Calculate 4-1-1. Where: ΔPPx = PPz−PPx ΔEPx = EPz− (Kx / Kz) · EPx Here, Kz and Kx are a third distribution proportional coefficient and a first distribution proportional coefficient, which will be described later. The second controller 12-1-2 corresponding to the first motor operates the operation amount corresponding signal {PPz, EP
z} 11 and second motor corresponding position / current signal {PPx, E
Px} 13-2 and second deviation corresponding to the first motor {ΔPP
x ′, ΔEPx ′} 14-1-2 is calculated. : ΔPPx ′ = PPz−PPx ΔEPx ′ = EPz− (Kx / Kz) · EPx

First controller 12-2 for second motor
-1 is the manipulated variable corresponding signal {PPz, EPz} 11 and the second
Motor corresponding position / current signal {PPy, EPy} 13-2
Second deviation corresponding to the second motor {ΔPPy, ΔEPy} 1
Calculate 4-2-1. : [Delta] PPy = PPz-PPy [Delta] EPy = EPz- (Ky / Kz) .EPy The second controller 12-2-2 for the second motor corresponds to the manipulated variable corresponding signal {PPz, EPz} 11 and the position / current signal corresponding to the second motor. Second deviation corresponding to the second motor from {PPy, EPy} 13-2 {ΔPPy ′, ΔEPy ′} 14-2-
Calculate 2 '. : [Delta] PPy '= PPz-PPy [Delta] EPy' = EPz- (Ky / Kz) * EPy where Ky is a second distribution proportional coefficient described later.

The torque output control circuit 8 further includes a first logical operator 15-1 and a second logical operator 15-2. The first motor compatible controller 12-1 is quadruple connected to the first logical operation unit 15-1. The first controller 12-1-1 corresponding to the first motor is doubly connected to the first logical operation unit 15-1. The second controller 12-1-2 corresponding to the first motor is duplicated in the first logical operation unit 15-1.
Connected to. Second motor compatible controller 12-2
Are quadruple connected to the second logical operation unit 15-2. The second motor-compatible first controller 12-2-1 is doubly connected to the second logical operation unit 15-2. The second controller 12-2-2 corresponding to the second motor is doubly connected to the second logical operation unit 15-2.

The first logical operation unit 15-1 executes the following three logical operations. If the first logical operation corresponding to the first motor: ΔEPx and ΔEPx ′ match in the set effective digit number, (EPx + first control differential amount) is output as the first control signal 16-1. here,
The first control differential amount is ΔEPx or an amount corresponding to ΔEPx and an amount obtained by multiplying ΔEPx by a constant coefficient, or
The coefficient defined in the table corresponding to the magnitude of ΔEPx is the amount multiplied by ΔEPx and is the first control amount.

Second logical operation corresponding to the first motor: If ΔPPx and ΔEPx 'do not match in the set effective digit number, the control of the first electric motor 3-1 is stopped and the common output shaft by the second electric motor 3-2 is stopped. The first motor 3-
The first power source generates and outputs the first stop signal 17-1 that shifts the power source to the completely off state (idling state) (details will be described later).

Third logical operation corresponding to the first motor: If ΔEPx or ΔEPx ′ exceeds the set threshold within the set time width, the result of the first logical operation corresponding to the first motor and the second logical operation corresponding to the first motor Regardless of the result, the control of the first electric motor 3-1 is stopped so as not to load the input to the common output shaft 9 by the second electric motor 3-2 and the input to the common output shaft 9 by the manual force. 1 The electric power of the electric motor 3-1 is
First stop signal 17-1 for shifting this to a completely off state
Is generated and output.

When the input / output shaft of the first electric motor 3-1 and the input / output shaft of the second electric motor 3-2 and the manual input / output shaft are connected by a differential gear, the respective rotational positions are also as follows. The three logical operations described above are executed. In this case, E in EPx or EPx ′ is replaced with P and read again in the ethical operation described above. When there is no differential between the input / output shaft of the first electric motor 3-1 and the input / output shaft of the second electric motor 3-2 and the manual input / output shaft, a single common output shaft is integrated. A single rotational position control is executed without being multiplexed based on the detected rotational position, and as a result, a single rotational speed control (speed control) is executed.

The second logical operation unit 15-2 executes the following three logical operations. If the first logical operation corresponding to the second motor: ΔEPy and ΔEPy ′ match in the set effective digit number, (EPy + second control differential amount) is output as the second control signal 16-2. here,
The second control differential amount is ΔEPy or an amount corresponding to ΔEPy and ΔEPy multiplied by a constant coefficient, or
The coefficient defined in the table corresponding to the magnitude of ΔEPy is the amount multiplied by ΔEPy, which is the second control amount.

Second logical operation for the second motor: If ΔPPy and ΔEPy 'do not match in the set number of effective digits, the control of the first electric motor 3-1 is stopped and the common output shaft of the second electric motor 3-2. The first motor 3-
The power supply No. 1 generates and outputs the first stop signal 17-2 that shifts it to the completely off state (details will be described later).

Second motor-corresponding third logical operation: If ΔEPy or ΔEPy 'exceeds the set threshold within the set time width, the result of the first motor-corresponding first logical operation and the first motor-corresponding second logical operation are calculated. Regardless of the result, the control of the first electric motor 3-1 is stopped so as not to load the input to the common output shaft 9 by the second electric motor 3-2 and the input to the common output shaft 9 by the manual force. 1 The electric power of the electric motor 3-1 is
First stop signal 17-2 for shifting this to a completely off state
Is generated and output.

When the input / output shaft of the first electric motor 3-1 and the input / output shaft of the second electric motor 3-2 and the manual input / output shaft are connected by a differential gear, the respective rotational positions are also as follows. The three logical operations described above are executed. In this case, in the above-mentioned ethical calculation, E of EPy or EPy ′ is replaced with P and read again. When there is no differential between the input / output shaft of the first electric motor 3-1 and the input / output shaft of the second electric motor 3-2 and the manual input / output shaft, a single common output shaft is integrated. A single rotational position control is executed without being multiplexed based on the detected rotational position, and as a result, a single rotational speed control (speed control) is executed.

The above-mentioned Kz, Kx and Ky are defined as follows. Pz / Ps = Kz Px / Ps = Kx Py / Ps = Ky Ps = Pz + Px + Py = Kz * Ps + Kx * Ps + Ky * Ps = Ps (Kz + Kx + Ky) The setting device which sets Kx and Ky is added. It is preferable that the setting device is provided in each of the first motor corresponding controller and the second motor corresponding controller.

The manual force output Pz is the total output P of the common output shaft 9.
If s (the probability that such a thing naturally occurs rather than artificially is zero), then Kz = 1 and Kx = Ky = 0. In the unlikely event that such a situation occurs, there are theoretically the following two possibilities. (1) The first electric motor 3-1 fails, and the second electric motor 3
In the case where -2 fails, an example of such a failure is simultaneous burning of devices such as the electromagnetic induction coils of the first electric motor 3-1 and the second electric motor 3-2. (2) When the first motor-compatible control device of the torque output control circuit 8 fails and the second motor-compatible control device of the torque output control circuit 8 fails, the failure of the first motor-compatible control device is the first motor. First response
When the controller 12-1-1 or the second controller 12-1-2 corresponding to the first motor fails, and the controller 12-2 or the second motor compatible controller 12-2 simultaneously fails, Alternatively, the case where the first logical operation unit 15-1 fails, the second logical operation unit 15-2 fails, and the inverters described later simultaneously fail are illustrated.

The torque output control circuit 8 further includes a first inverter 18-1 and a second inverter 18-2.
The first control signal 16-1 is input to the first inverter 18-1. The first inverter 18-1 has a first control signal 16
Based on -1, it outputs the first motor driving power 19-1-u, v, w corresponding to Kx · Ps at that time. Here, {u, v, w} indicates each phase component of the three-phase power. The second control signal 16-2 is input to the second inverter 18-2. The second inverter 18-2 has a second control signal 16-
Based on 2, the first motor drive power 19-2-u, v, w corresponding to Kx · Ps at that time is output. here,
{U, v, w} indicates each phase component of the three-phase power. The first control signal 16-1 and the second control signal 16-2 include the above-described position information PPx and PPy. PPx and PPy
Is the same value, or by the rotation angle conversion coefficient σ,
It is represented by PPx = σ · PPy (when a differential gear is used).

A single structured hybrid motor can be preferably used as the first servo motor 3-1 and the second servo motor 3-2. A single structured hybrid motor is known, shares the same rotor, has a stator-side first winding and a stator-side second winding that are independent, and is fixed to the stator-side first winding. The child-side second windings are arranged at different positions in the rotation direction on the same circumference, or at different positions in the same slot in the radial direction. As described above, it is preferable that the two-output combined motor, which is not completely symmetrical in structure, has two torque outputs in an appropriately determined sharing ratio. In a hybrid motor in which motors having exactly the same structure have a common shaft, it is preferable that each torque output be 1: 1. A value larger than 2 may be adopted as the number of outputs. In that case, ΣKj + Kz = 1 is set. Kx +
In Kz + Ky, Ky is read as ΣKi.

[0045]

The multiple control redundant electric motor, the multiple control actuator, and the redundant control method therefor according to the present invention are
It is possible to provide the output sharing of the electric motor and the control electric motor which is substantially failure-free by the heavy redundancy, and as a result, to establish the technology to realize the failure-free and long life of the actuator such as the steering system of the aircraft. You can

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a multiplex control actuator according to the present invention.

FIG. 2 is a circuit block diagram showing a control circuit of the multiplex control actuator according to the present invention.

[Explanation of symbols]

2 ... actuator 3 ... Servo motor 3-1 ... First servo motor 3-2 ... second servo motor 9 ... Common output shaft 12-1 ... Controller for the first motor 12-1-1 ... First controller corresponding to first motor 12-1-2 ... Second controller corresponding to first motor 12-2 ... Controller for second motor 12-2-1 ... First controller corresponding to second motor 12-2-2 ... Second controller corresponding to second motor 14-1 ... Torque command for first motor 14-1-1 ... First torque command corresponding to first motor 14-1-2 ... Second torque command corresponding to first motor 14-2 ... Torque command for second motor 14-2-1 ... First torque command corresponding to second motor 14-2-2 ... Second torque command for second motor 15-1 ... First logical operation unit 15-2 ... Second logical operation unit 18-1 ... First power generator 18-2 ... Second power generator 22-1 ... First control line 22-2 ... second control line

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kazuhide Shinoda             Mitsubishi Heavy, 10 Oemachi, Minato-ku, Nagoya-shi, Aichi             Industrial Co., Ltd. Nagoya Aerospace System Production             In-house F-term (reference) 5H209 AA20 BB07 BB08 BB09 CC01                       DD20 GG04 GG05 HH12 SS02                       SS04 SS07 TT10                 5H572 AA20 BB07 EE04 EE09 HC01                       HC07 MM04

Claims (25)

[Claims] 1. A first servomotor for inputting a first torque to a common output shaft, a second servomotor for summing the first torque and inputting a second torque to the common output shaft, and a controller. The controller may include a first motor corresponding controller that generates a first motor corresponding torque command corresponding to the first torque to the first servo motor, and a second motor corresponding to the second servo motor. A second motor corresponding controller that generates a second corresponding torque command corresponding to torque, wherein the first motor corresponding controller corresponds to the first motor corresponding to the first torque with respect to the first servo motor. A first motor-corresponding first controller for generating a first torque command, and a first motor-corresponding second control for generating a first motor-corresponding second torque command corresponding to the first torque with respect to the first servomotor Bowls and tools A second motor-corresponding first controller that generates a second motor-corresponding first torque command corresponding to the second torque with respect to the second servo motor; A second motor-corresponding second controller that generates a second motor-corresponding second torque command corresponding to the second torque with respect to the motor, the first motor-corresponding first torque command and the first motor-corresponding first controller. If the deviation from the two-torque command exceeds the permissible range, a first logical operation unit that releases the control of the first servomotor, a second torque command corresponding to the second motor, and a second torque command corresponding to the second motor If the deviation exceeds a permissible range, a multiplex control redundant electric motor further comprising a second logical operation unit that releases the control of the second servomotor. 2. The controller further comprises a rotational position controller that controls a rotational position with respect to the common output shaft.
Multiple control redundant electric motor. 3. The multiplex control redundant electric motor according to claim 1, wherein the first torque and the second torque are controlled in correlation with each other. 4. The multiplex control redundant electric motor according to claim 3, wherein the ratio between the first torque and the second torque is set to be constant. 5. The multiplex control redundant electric motor according to claim 4, wherein the ratio is set corresponding to the magnitude of the first torque. 6. The first servomotor and the second servomotor share the same rotor, and the stator side winding of the first servomotor and the stator side winding of the second servomotor Are independent, the multiple control redundant motor according to claim 1 selected from claims 1-5. 7. A first servomotor for inputting a first torque to a common output shaft, a second servomotor for adding a second torque to the common output shaft by adding the first torque, and a first torque. And an operation device for adding the second torque to input a manual torque to the common output shaft, and a first motor for generating a first motor corresponding torque command corresponding to the first torque to the first servomotor. A second motor corresponding controller that generates a second corresponding torque command corresponding to the second torque with respect to the second servo motor; and the first motor corresponding controller includes the first controller. A first motor-corresponding first controller that generates a first motor-corresponding first torque command that corresponds to the first torque to the servomotor; and a first motor-corresponding first controller that corresponds to the first torque to the first servomotor. Motor compatible A second motor-compatible second controller that generates a second torque command, wherein the second motor-compatible controller is a second motor-compatible first torque that corresponds to the second torque with respect to the second servomotor. A second motor-corresponding first controller that generates a command, and a second motor-corresponding second controller that generates a second motor-corresponding second torque command that corresponds to the second torque with respect to the second servomotor. A first logical operation unit that releases control of the first servomotor if a deviation between the first torque command corresponding to the first motor and the second torque command corresponding to the first motor exceeds an allowable range; If the deviation between the two-motor-corresponding first torque command and the second-motor-corresponding second torque command exceeds a permissible range, the system further includes a second logical operation unit that releases the control of the second servomotor. Torque is shown in Px It is, the second torque Py
, The manual torque is represented by Pz, the output torque of the common output shaft is represented by Ps, and the following relationship is established: Ps = Px + Pz + Py Px = Kx · Ps Pz = Kz · Ps Py = Ky · Ps Ps = Px + Pz + Py Kx, Kz, Ky: Multiple control actuators for which set distribution coefficients are set. 8. The Kx, the Kz, and the Ky are Kx
8. The multi-control actuator according to claim 7, wherein the relationship of + Kz + Ky = 1 is maintained and each is variable. 9. A setting device for setting said Kx and Ky is further provided, said setting device comprising a first motor corresponding controller and said second motor.
9. The multiple control actuator according to claim 8, which is provided in each of the motor-compatible controller and the controller. 10. The multiplex control actuator according to claim 8, wherein the Kx, the Kz, and the Ky are variable according to the magnitude of the Pz. 11. The operating device is a steering device according to claim 7.
The multi-control actuator of claim 1 selected from 1. 12. The multi-control actuator of claim 11, wherein the steering wheel is an aircraft steering wheel. 13. A redundant control method for an actuator, wherein a combined output force of a first output of a first servo motor and a second output of a second servo motor is output to a control target as a single output. Comprising a set of steps, the set of steps comprising: generating a first control signal for controlling the first output; and generating a second control signal for controlling the first output. A step of generating a third control signal for controlling the second output, a step of generating a fourth control signal for controlling the second output, the first control signal and the second control signal And a second output is replaced with the total calculation force to generate the third control signal and the fourth control signal, and the third control signal. And before The step of generating the first control signal and the second control signal by setting the second output to zero and replacing the first output with the total calculation force when the deviation from the fourth control signal exceeds the allowable range. A redundant control method for a provided actuator. 14. A redundant control method for an actuator, wherein a total calculated force obtained by adding a manual force, a first output of a first servo motor and a second output of a second servo motor is output to a control target as a single output. , A set of the following plurality of steps, the set of the plurality of steps generating a first control signal for controlling the first output, and generating a second control signal for controlling the first output. And a step of generating a third control signal for controlling the second output, a step of generating a fourth control signal for controlling the second output, the first control signal and the Generating a third control signal and a fourth control signal by replacing the first output with zero and replacing the second output with the total calculation force if the deviation from the second control signal exceeds an allowable range; 3 control A step of generating the first control signal and the second control signal by setting the second output to zero and replacing the first output with the total calculation force if the deviation between the signal and the fourth control signal exceeds an allowable range. A redundant control method for an actuator, comprising: 15. The redundant actuator control method according to claim 14, wherein a combination of the first output and the second output is represented as a total output, and a ratio between the total output and the manual force is set to be constant. . 16. A combination of the first output and the second output is expressed as a total output, and a ratio of the total output and the manual force (= the total output / the manual force) corresponds to the manual force. 15. The redundant control method for an actuator according to claim 14, wherein the redundant control method is set as follows. 17. The method according to claim 16, wherein the ratio increases as the manual force increases. 18. A redundant control method for an actuator according to claim 1, wherein the ratio between the first output and the second output is constant. 19. The method according to claim 18, wherein the ratio is 1. 20. The combination of the first output and the second output is expressed as a total output, and the ratio of the total output and the manual force (= the total output / the manual force) is determined by the flight state of the aircraft. The redundant control method for an actuator according to claim 14, which is set correspondingly. 21. The redundant control method for an actuator according to claim 1, wherein the first output and the second output are position commands. 22. The redundant control method for an actuator according to claim 1, wherein the first output and the second output include a position command. 23. The redundant control method for an actuator according to claim 14, wherein the first output and the second output are speed commands. 24. The redundant control method for an actuator according to claim 1, wherein the first output and the second output include a speed command. 25. The redundant control method for an actuator according to claim 1, wherein the first output and the second output are output voltage commands.