CN101140468A - Emulation test method of aerospace optical remote sensing machine focusing control circuit - Google Patents
Emulation test method of aerospace optical remote sensing machine focusing control circuit Download PDFInfo
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Abstract
The present invention relates to a simulating detecting technology for focusing control circuit of remote sensors, in particular to a simulating detecting method for focusing control circuit of space optical remote sensor, which connects a closed loop system for focusing control simulating test with a tested focusing control circuit to detect impulse quantity, breadth, frequency and phase position signal of the focusing control circuit. Wherein, the closed loop system is composed of a voltage regulating circuit 3, an analog-to-digital converting circuit 5, a microcomputer system 6 and a serial communication circuit 7. The detecting procedures include: Regulating voltage of the control signal of the focusing control circuit, collecting and preprocessing signals of the focusing control circuit and detecting impulse quantity, breadth, frequency and phase position signal of the focusing control circuit, and displaying detected error information on screen of the microcomputer. The present invention can realize simulating test for focusing control circuit of space optical remote sensor on ground to meet demands for multifunction, long-time and quick detection.
Description
Technical Field
The invention belongs to the field of industrial automation, and relates to a simulation detection technology for a remote sensor focusing control circuit.
Background
The space optical remote sensor effective load control system issues commands and parameters to the optical lens focusing control system in real time according to the information of the azimuth, the height, the speed, the inclination angle and the like of the current orbit, which is given by the satellite navigation system in real time, and the focusing control system controls the optical lens mechanical execution mechanism of the same axis system of the stepping motor after receiving, identifying and calculating processing, thereby completing a focusing task. And simultaneously reading an angle value on an absolute photoelectric encoder coaxially connected with the stepping motor, and feeding back the actual focusing position angle value of the current optical lens to the focusing control circuit to form a closed-loop and open-loop combined composite control method (as shown in figure 3).
When the stepping motor is used as a focusing driving piece of the aerospace optical remote sensor, the driving circuit of the stepping motor and other matched circuits are required to be specialized as far as possible in function and small in size, so that the reliability of the circuit is improved, and the load of the aerospace optical remote sensor is reduced. Generally, the detection of a signal source and a driving amplifier circuit of a stepping motor is generally accomplished by using an oscilloscope or other equipment. However, with the continuous development of the aerospace field, the periods of various development tasks are continuously shortened, and the requirements on the functions and the timeliness of detection equipment are continuously improved. The previous tedious test methods have not been able to meet the requirements. The development and operation are simple, the functions are powerful, the testing speed is high, and the special aerospace testing equipment with long-time detection, monitoring and after-the-fact analysis capabilities is in a necessary trend.
Disclosure of Invention
The invention aims to provide a simulation test method capable of monitoring, recording and detecting a focusing control circuit of an aerospace optical remote sensor on the ground in real time for a long time so as to meet the requirements of multifunctional, long-time and quick detection.
The method of the invention is to connect a focusing control simulation test closed loop system composed of a voltage conditioning circuit, an analog-to-digital conversion circuit, a microcomputer system and a serial port communication circuit to the tested focusing control circuit, and detect the pulse number, amplitude, frequency and phase signals in the focusing control circuit, and the test procedure is as follows:
a. voltage conditioning is carried out on a control signal of the focusing control circuit through a voltage conditioning circuit, and the voltage of an output signal of the focusing control circuit is adjusted to be within an acceptable voltage range of an analog-to-digital conversion circuit according to a fixed proportion;
b. collecting signals of a focusing control circuit, continuously collecting control signals of each phase of a motor in the adjusted focusing control circuit by a microcomputer at high frequency for a long time, wherein the phases are two-phase to five-phase, and the number of the phase of the motor is determined according to specific design requirements;
c. preprocessing signals of the focusing control circuit, firstly analyzing the signals acquired by the analog-to-digital conversion circuit, determining the level and phase relation of each phase pulse, then calculating the frequency and the number of the pulses, and storing the frequency and the number of the pulses in a computer memory in a classified manner;
d. detecting the pulse number, amplitude, frequency and phase signals in the focusing control circuit; displaying the detected error information on a microcomputer screen;
e. and for the correction calculation of the feedback information, the position corresponding to the focal length of the space optical remote sensor is composed of two parts, namely a physical position Pos0 where the stepping motor corresponding to the current optical focal length is located, and a physical position length Pm where the stepping motor rotates and needs to move, wherein the physical position Pos0+ Pm forms a new space camera optical focal length adjustment feedback physical position Pos1. The physical position Pos0 and the length Pm are actually the number of pulses X remaining in the microcomputer corresponding to the physical position Pos0 and the length Pm 0 And receiving the number of pulses P to be moved by the microcomputer i I.e. to form focusing operations (X) 0 ±P i ) The number of pulses;
f. and after feedback information correction calculation, the microcomputer immediately sends a new feedback physical position number Pos1 to the focusing control circuit through an RS422 serial line according to a format specified by an RS422 serial communication protocol.
The method has the advantages that:
1. aiming at the monitoring problem of a focal length control circuit of an aerospace optical remote sensor, a computer simulates a functional output angle of an encoder according to the information output by a stepping motor receiving control circuit to form closed-loop detection. The computer high-speed processing and displaying functions are utilized, the focusing control circuit of the aerospace optical remote sensor is monitored in real time, and different states of the aerospace optical remote sensor possibly occurring in various actual environments are fully considered, so that the problem of simulation detection of the focusing control circuit of the aerospace optical remote sensor during long-term working is solved, the problems of non-intuition and errors caused by the fact that a stepping motor is directly adopted for ground tests are avoided, and the long-term detection has important significance on the problems of damage to actually selected stepping motors and load parts and the like.
2. Due to the fact that the computing speed, the computing precision and the real-time display capability of the computer are fully utilized, the pulse width, the pulse frequency and the voltage amplitude can be detected in real time for a long time in the process of simulation testing, and important means and equipment are provided for verifying the stability and the reliability of the focusing control circuit of the aerospace optical remote sensor.
Drawings
FIG. 1 is a schematic diagram of a simulation test method test system of a focusing control circuit of an aerospace optical remote sensor according to the invention;
FIG. 2 is a schematic diagram of a basic focusing control principle of an optical lens of an aerospace optical remote sensor.
Detailed Description
The present invention will be described in detail below with reference to examples in order to further understand the objects, features and advantages of the present invention.
Referring to fig. 2, the basic principle of optical lens focusing control is composed of a microprocessor, a control module, an optical coupler, power amplification, a stepping motor, an encoder, an RS422 serial interface circuit, a transmission mechanism, an optical lens and the like. The microprocessor, the control module, the optical coupler and the power amplifying circuit form a basic 'focusing control circuit'; the stepping motor, the absolute photoelectric encoder and the RS422 serial interface circuit form a 'motor driving system'; the mechanical transmission mechanism and the optical lens assembly form an optical lens mechanical actuating mechanism.
The effective load control system of the space optical remote sensor issues commands and parameters to the optical lens focusing control system in real time according to the information such as the azimuth, the height, the speed, the inclination angle and the like of the current orbit, which is given by the satellite navigation system in real time, and the focusing control circuit controls the optical lens mechanical actuating mechanism of the same shafting of the stepping motor after receiving, identifying and calculating processing, thereby completing the task of adjusting the focal length once. And simultaneously reading an angle value on an absolute photoelectric encoder coaxially connected with the stepping motor, and feeding back the actual focusing position angle value of the current optical lens to the focusing control circuit to form a closed-loop and open-loop combined composite control method.
Referring to fig. 1, the simulation test method of the focusing control circuit of the space optical remote sensor of the invention is to connect a focusing control simulation test closed loop system consisting of a voltage conditioning 3, an analog-to-digital conversion circuit 5, a microcomputer system 6 and a serial port communication circuit 7 to the tested focusing control circuit 1, and detect the pulse number, amplitude, frequency and phase signals in the focusing control circuit. In the figure: the focusing control circuit 1 is a test object of a focus adjusting circuit of an aerospace optical remote sensor, and comprises a microprocessor, a control circuit, an optical coupler, a power amplifier and other circuits, wherein the control object is a four-phase eight-beat stepping motor; the output line 2 is a four-phase line; the voltage conditioning circuit 3 can be inserted into an ISA slot of a computer; 4 is the four-phase line signal after voltage adjustment; 5 is the analog-to-digital conversion circuit, this example adopts the PCI-1713A/D card of the Hua, insert in PCI slot of the microcomputer mother board directly; 6 is a microcomputer system (including a display and a printer); 7 is RS422 serial communication format circuit board, the CP-132 card of MOXA adopted is inserted in PCI slot of computer mainboard; and 8 is a serial communication line connecting the microcomputer and the focusing control circuit, and a dotted frame 9 is shown as a component of the simulation test system.
And voltage conditioning is carried out on the control signal of the focusing control circuit by using a high-precision resistor according to a ratio of 4: 1, and the input control signal is reduced to be within 10V so as to meet the acquisition and input requirements of the PCI-1713 analog-to-digital conversion circuit.
The computer starts an analog-to-digital conversion circuit, and converts and analyzes the signal of the focusing control circuit at the frequency of 100 kHz. The working frequency of the control signal is 0.8kHz, so that the frequency of the analog-to-digital conversion circuit meets the requirement. And analyzing pulse number, amplitude, frequency and phase signals in the focusing control circuit. When the RS422 communication circuit receives the parameter returning instruction, the position of the motor is calculated according to the feedback calculation formula, and the feedback value is sent to the focusing controller to form closed-loop test. The test procedure is as follows:
a. voltage conditioning is carried out on a control signal of the focusing control circuit through a voltage conditioning circuit, and the voltage of an output signal of the focusing control circuit is adjusted to be within an acceptable voltage range of an analog-to-digital conversion circuit according to a fixed proportion;
b. collecting signals of a focusing control circuit, continuously collecting control signals of each phase of a motor in the adjusted focusing control circuit by a microcomputer at high frequency for a long time, wherein the phases are two-phase to five-phase, and the number of the phases of the motor is determined according to specific design requirements;
c. preprocessing signals of the focusing control circuit, firstly analyzing the signals acquired by the analog-to-digital conversion circuit, determining the level and phase relation of each phase pulse, then calculating the frequency and the number of the pulses, and storing the frequency and the number of the pulses in a computer memory in a classified manner;
d. detecting the pulse number, amplitude, frequency and phase signals in the focusing control circuit; displaying the detected error information on a microcomputer screen;
e. and correcting and calculating the feedback information, wherein the position corresponding to the focal length of the space optical remote sensor consists of a physical position Pos0 where a stepping motor corresponding to the current optical focal length is located and a moving position where the stepping motor rotatesThe (Pos 0+ Pm) forms a new spatial camera optical focal length adjustment feedback physical position Pos1. The physical position Pos0 and the length Pm are actually the number of pulses X remaining in the microcomputer corresponding to the physical position Pos0 and the length Pm 0 And receiving the number of pulses P to be moved by the microcomputer i I.e. to form a focusing operation (X) 0 ±P i ) The number of pulses;
f, feedback correction simulation focusing control, wherein after feedback information correction calculation, the microcomputer immediately sends a new feedback physical position number Pos1 to the focusing control circuit through an RS422 serial line according to a format specified by an RS422 serial communication protocol.
The following describes the detection methods of several indexes and the implementation of the closed-loop feedback test specifically:
focus control signal frequency detection
Fixed-frequency high-speed sampling is carried out on each pulse time interval, and the pulse frequency is calculated according to the pulse sampling count. Setting the sampling frequency of each effective level to be N (the sampling frequency is not distorted and needs N to be more than or equal to 5), and setting the standard pulse frequency of the stepping motor to be K; the pulse frequency of the actual stepping motor is:
in formula (1): k 0 Is the analog-to-digital conversion circuit frequency; m is the number of pulses actually measured in the T time of the work of the stepping motor; n is a radical of hydrogen all Measuring the number of all low level samples for actual measurement; setting a maximum error delta K of an allowable frequency; when the | K '-K | is greater than the Δ K, the focus control circuit malfunctions, the microcomputer logs an error, and K, K', Δ K, m, and N are displayed on the computer all And so on.
The number of pulses to be emitted continuously is m within the time T, and when the number of rising edges is counted less at the beginning of the continuous pulse or more at the end of the continuous pulse, that is, when the number of pulses to be measured is m, the actual value may be m-1 or m + 1. Obviously, the system error is smaller as the time T is longer, but when the focus control circuit is often in the short-time focus state, it is necessary to take into account the amount of error due to frequent start and stop.
Focus control signal voltage detection
Setting the high level standard voltage value V of the output pulse H The low level standard voltage value is V L (ii) a The allowable error is Δ V. At the end of each pulse, the average value of the high and low level sampling points of the pulse is used to respectively obtain the measured voltage V H test 、V L test . When V is H -ΔV≤V H test ≤V H + Δ V and V L -ΔV≤V L test ≤V L When + Δ V, the voltage value is displayed in a predetermined range; otherwise, determining the voltage as abnormal, displaying alarm information and converting V H Measuring 、V L test An error log is logged.
Focusing control signal simulation feedback
According to the working principle of the focusing control circuit and the optical lens focusing control simulation design principle, a computational mathematical formula of a focusing feedback position principle is given:
wherein Pos in the formula (2) is the converted feedback position and angle value; x 0 Is the initial angle, sa is the step angle; sub is the number of subdivision/each step, and when no subdivision number exists, the standard value is set as 1; ds is the mechanical reduction ratio; wherein the focusing drive ratio is m: 1; pm is the number of pulses received from the beginning to the time of calculating the feedback value, each turn is 360/(Sa/Sub), and since the focusing drive ratio is m: 1, the absolute encoder is driven at 360 DEGThe number of pulses of the stepping motor in the stroke range is at most 360/Sa multiplied by m, namely
TABLE 1
Table 1 shows a four-term eight-beat stepper motor steering control signal table, and A, B, C and D represent four phase lines at the output end of the spatial camera optical focus adjusting circuit. When the stepping motor rotates in the forward direction, that is →, the forward direction encoding states are a (01H), AB (03H), B (02H), BC (06H), C (04H), CD (0 CH), D (08H), DA (09H) in order; and when the stepping motor rotates reversely, namely ← encoding the states in the reverse direction, namely DA (09H), D (08H), CD (0 CH), C (04H), BC (06H), B (02H), AB (03H) and A (01H). Under the control of a computer software system, the rotating direction of the stepping motor can be judged through two groups of state codes.
Claims (1)
1. A simulation test method for a focusing control circuit of an aerospace optical remote sensor is characterized in that a focusing control simulation test closed loop system consisting of a voltage conditioning circuit 3, an analog-to-digital conversion circuit 5, a microcomputer system 6 and a serial port communication circuit 7 is connected to the tested focusing control circuit, the pulse number, the amplitude, the frequency and the phase signal in the focusing control circuit are detected, and the test procedure is as follows:
a. the voltage conditioning circuit is used for conditioning the voltage of the control signal of the focusing control circuit, and the voltage of the output signal of the focusing control circuit is adjusted to be within the voltage range acceptable by the analog-to-digital conversion circuit according to a fixed proportion;
b. collecting signals of a focusing control circuit, continuously collecting control signals of each phase of a motor in the adjusted focusing control circuit by a microcomputer at high frequency for a long time, wherein the phases are two-phase to five-phase, and the number of the phase of the motor is determined according to specific design requirements;
c. preprocessing signals of the focusing control circuit, firstly analyzing the signals acquired by the analog-to-digital conversion circuit, determining the level and phase relation of each phase pulse, then calculating the frequency and the number of the pulses, and storing the frequency and the number of the pulses in a computer memory in a classified manner;
d. detecting the pulse number, amplitude, frequency and phase signals in the focusing control circuit; displaying the detected error information on a microcomputer screen;
e. and for the correction calculation of the feedback information, the position corresponding to the focal length of the space optical remote sensor is composed of two parts, namely a physical position Pos0 where the stepping motor corresponding to the current optical focal length is located, and a physical position length Pm where the stepping motor rotates and needs to move, wherein the physical position Pos0+ Pm forms a new space camera optical focal length adjustment feedback physical position Pos1. The so-called physical position Pos0 and length Pm are actually the number of pulses X remaining in the microcomputer corresponding to the physical position Pos0 and length Pm 0 And receiving the number of pulses P to be moved by the microcomputer i I.e. to form a focusing operation (X) 0 ±P i ) The number of pulses;
f. and after feedback information correction calculation, the microcomputer immediately sends a new feedback physical position number Pos1 to the focusing control circuit through an RS422 serial line according to a format specified by an RS422 serial communication protocol.
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