CN101308388A - Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone - Google Patents
Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone Download PDFInfo
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- CN101308388A CN101308388A CNA2008101502137A CN200810150213A CN101308388A CN 101308388 A CN101308388 A CN 101308388A CN A2008101502137 A CNA2008101502137 A CN A2008101502137A CN 200810150213 A CN200810150213 A CN 200810150213A CN 101308388 A CN101308388 A CN 101308388A
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Abstract
The invention discloses a self-recovery control circuit for a pitch mechanism of an optoelectronic tracker to enter a spacing zone and is characterized in that when the pitch mechanism hits one of the spacing switches arranged on the spacing of the optoelectronic tracker and enters the spacing zone, the output signal of the hit spacing switch hops; after gating, logic judgment, shaping and delay processing, the hopping signal generates a negative pulse recovery signal enables a servo computer to be restored and controls the outage of a pitch servo mechanism through D/A; when the servo computer is restored, the servo mechanism is controlled by a self-recovery control software module to return to zero and enter normal running state. The self-recovery control circuit of the invention not only solves the loss-of-control problem caused by interfered servo system, but also solves the problem of manual recovery when the pitch mechanism is outside the working zone, so as to enhance the stability, reliability, adaptability and automation control capacity of the optoelectronic tracker.
Description
Technical field
The invention belongs to the automation field of optronic tracker, relate generally to and a kind ofly exceed the control circuit that normal operation region and servo-drive system can be recovered when out of control automatically at the optronic tracker luffing mechanism.
Technical background
The carrier-borne photoelectricity localizer of certain type has carried a plurality of photoelectric sensors of optronic tracker, be laser, TV and infrared eye, in order to realize to functions such as the range finding of target and tenacious trackings, these photoelectric sensors must move under the drive of azimuth mechanism and luffing mechanism accordingly, and azimuth mechanism and luffing mechanism then are subjected to the commander and the control of optronic tracker servo-drive system.The working range of this type photoelectricity localizer azimuth mechanism is n * 360 °, can have enough to meet the need, and the working range of luffing mechanism is-30 °～+ 85 °.Because azimuth mechanism adopts accurate conducting slip ring to realize turnover, so problem such as mechanism's damage can not occur.And the working range of luffing mechanism both direction is added up less than 120 °, though, adopted simultaneously when the design of servo-drive system that software is differentiated control, electrical equipment is spacing and the method for mechanical position limitation, under the normal operating conditions, the motion of luffing mechanism should not exceed its working range.But, because optronic tracker is being interfered or is occurring under the situation such as communication data error code, servo-drive system can be out of control, cause luffing mechanism to enter zone (hereinafter to be referred as stop zone) outside-30 °～+ 85 °, at this moment, the irregular immediately rotation of the luffing mechanism of photoelectricity localizer and can not stopping can be clashed into mechanical position limitation and be caused luffing mechanism to damage when serious.In addition, optronic tracker is under off working state, and luffing mechanism also can be in stop zone sometimes, if energising start in this case, optronic tracker is can not normally start or out of hand.Usually, be earlier the luffing mechanism of photoelectricity localizer to be released stop zone manually, and then start.Yet because this kind of photoelectricity localizer is installed in the outer eminence of cabin, operating personnel need ascending stair to climb, troublesome poeration not only, but also have personal security hidden danger.
Summary of the invention
The technical problem to be solved in the present invention is, at the optronic tracker servo-drive system problem that causes luffing mechanism to enter spacing zone out of control, provide a kind of and make servo-drive system recover normal operating conditions and luffing mechanism turns back to the control circuit of recovery certainly of workspace, and provided recover certainly control circuit can also overcome luffing mechanism not the workspace optronic tracker can not normal boot-strap drawback.
For solving the problems of the technologies described above, automatic recovery control circuit provided by the invention comprises upper limit position switch, lower position switch, the signal gating unit, signaling control unit, the time-delay shaping unit, enable control module, insert the module of recovery Control Software certainly in the optronic tracker servocomputer, described upper limit position switch, lower position switch is installed in respectively that two of luffing mechanism are spacing to go up and export high level signal under servo-drive system is in normal operating conditions, when luffing mechanism entered spacing zone and clashes into upper limit position switch or lower position switch, the output signal of upper limit position switch or lower position switch then produced saltus step and promptly becomes low level by high level; Described signal gating unit receives the output signal of upper limit position switch and lower position switch and skip signal is carried out gating; Described signaling control unit receives the saltus step gating signal and the described output signal that enables control module of described signal gating unit output simultaneously, and above-mentioned two signals are carried out logical and handle, when the output signal that enables control module is high level, the output signal of the direct output signal gating unit of signaling control unit [2], when the output signal that enables control module was low level, signaling control unit output did not have the low level signal of variation; The output signal of described time-delay shaping unit received signal control module, to the delay time shaping and produce a negative pulse restoring signal of described saltus step gating signal, this restoring signal is sent into servocomputer, D/A converter simultaneously and is describedly enabled control module and stop transport by clear D/A converter control luffing mechanism; The described control module that enables is receiving describedly from recovering to export high level signal after the duty normal information that the Control Software module sends, and transfers low level in case receive its output of negative pulse restoring signal of described time-delay shaping unit output to by high level; The described function of recovering the Control Software module certainly is, when servocomputer is started shooting or after receiving described negative pulse reset signal, read and judge the positional information of luffing mechanism, when judging that luffing mechanism is positioned at spacing zone, aanalogvoltage control luffing mechanism by D/A converter output leaves spacing zone, after luffing mechanism arrives zero-bit and normal work period, send the duty normal information to enabling control module.
According to the present invention, described upper limit position switch and lower position switch constitute by microswitch and series resistor.
According to the present invention, described signal gating unit and signaling control unit are all selected AND circuit for use; Described time-delay shaping unit is made of single-shot trigger circuit and an external capacitor and first, second pull-up resistor, single-shot trigger circuit contains two groups of input ends of A, B, its A group input end receives the skip signal of described signaling control unit output, first pull-up resistor and external capacitor be in order to determining the time-delay width of single-shot trigger circuit output negative pulse restoring signal, and second pull-up resistor is stablized indeclinable high level signal for the B group input end of single-shot trigger circuit provides; The described control module that enables is made of d type flip flop circuit with memory function and the 3rd pull-up resistor, and the 3rd pull-up resistor is for the data input pin of d type flip flop and preset input end and provide and stablize indeclinable high level signal.
Beneficial effect of the present invention is embodied in the following aspects.
(1) the present invention has increased by one from recovering control circuit on the basis of traditional servo-control system, when servo-drive system out of control and when causing luffing mechanism to enter spacing zone, luffing mechanism bump upper limit position switch or lower position switch, by the output signal generation saltus step of bump limit switch, produce a negative pulse restoring signal after this skip signal process time-delay shaping, be used to make servocomputer to reset and stop transport by clear D/A converter control luffing mechanism, after servocomputer reset to open state, the module controls of the recovery Control Software certainly luffing mechanism among the present invention returned to zero-bit and begins operate as normal.Solved optronic tracker thus and disturbed the problem out of control that causes, thereby improved stability, the reliability of optronic tracker because of servo-drive system.
(2) because the operation at once after servocomputer powers on of the module of recovery Control Software certainly among the present invention, this module is at first judged the position of luffing mechanism, if luffing mechanism is in spacing zone, then the aanalogvoltage control luffing mechanism of this module by D/A converter output leaves spacing zone and makes zero.Having overcome luffing mechanism does not thus need the drawback of manual reset in the workspace, thereby has improved the adaptability and the robotization control ability of optronic tracker.
(3) the present invention with signal gating unit and signaling control unit, time-delay shaping unit, enable control module and constitute by simple circuit, therefore, hardware circuit take up room little and cost performance high.
Description of drawings
Fig. 1 is that the present invention is from the theory diagram that recovers control circuit.
Fig. 2 is that the present invention is from the preferred embodiment basic circuit composition diagram that recovers control circuit.
Fig. 3 is from the FB(flow block) of recovering the Control Software module among the present invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and preferred embodiment.
Just as shown in Figure 1 and Figure 2, the present invention comprises the switch module 1, signal gating unit 2, signaling control unit 3, the time-delay shaping unit 4 that contain upper limit position switch and lower position switch, enables control module 5, inserts the module of recovery Control Software certainly in the optronic tracker servocomputer from the preferred embodiment that recovers control circuit.Upper limit position switch and lower position switch constitute by microswitch K1, K2 and resistance R 1, R2, two microswitch K1, K2 be installed in respectively two of luffing mechanism spacing on, and respectively be connected in series pull-up resistor R1, a R2, under servo-drive system is in normal operating conditions, two microswitch K1, K2 all export stable high level signal by pull-up resistor R1, R2 respectively, when luffing mechanism entered spacing zone and clashes into one of them limit switch, the output signal of being clashed into limit switch was a low level by the high level saltus step.The output signal of upper limit position switch, lower position switch is sent to the signal gating unit.Signal gating unit 2 is an AND circuit U1A:54LS08, and this circuit receives the output signal of upper limit position switch and lower position switch simultaneously, carries out logical and and handles, the signal output of gating generation saltus step and as the input signal of signaling control unit.Signaling control unit 3 is an AND circuit U1B:54LS08, the saltus step gating signal and the control signal that enables control module 5 outputs of received signal gating unit 2 outputs simultaneously of this circuit, carrying out logical and handles, when the output signal that enables control module 5 is high level, the output signal of signaling control unit 3 direct output signal gating units 2, when the output signal that enables control module 5 was low level, signaling control unit output did not have the low level signal of variation.The output of signaling control unit 3 is as time-delay shaping unit 4 input signals.Time-delay shaping unit 4 comprises a single-shot trigger circuit U3:54LS122 and external capacitor C1 and two pull-up resistor R4, R5.Wherein, single-shot trigger circuit U3:54LS122 has two groups of input ends of A, B, the skip signal of A group input end received signal control module 3 outputs, when A group input end has the height skip signal to occur, then single-shot trigger circuit U3:54LS122 exports a negative pulse restoring signal, and this restoring signal is sent into servocomputer, D/A converter simultaneously and enabled control module 5 and control the luffing mechanism stoppage in transit by the magnitude of voltage of removing D/A converter.The first pull-up resistor R4 and external capacitor C1 are in order to determine the time-delay width of negative pulse restoring signal, and the pulsewidth of this negative pulse should satisfy and can and enable the requirement that control module 5 control effectively to servocomputer, D/A converter.The pulsewidth tw of the first pull-up resistor R4 and external capacitor C1 and negative pulse restoring signal has following relation:
tw＝0.37×R4×C1(1+0.7/R4)
The pulse delay width of this preferred embodiment is about 200ms.Second pull-up resistor is stablized indeclinable high level signal for the B of single-shot trigger circuit U3:54LS122 group input end provides.Enable serve as reasons d type flip flop U2A:54LS74 with memory function and the 3rd pull-up resistor R3 of control module 5 and constitute, the 3rd pull-up resistor R3 is for the data input pin of d type flip flop and preset input end and provide and stablize indeclinable high level signal.Enabling control module 5 receives the negative pulse restoring signal of time-delay shaping unit 4 outputs simultaneously and recovers the duty normal information that the Control Software module is sent certainly, when it receives from recovering to export high level signal after the duty normal information that the Control Software module sends, in case receive the negative pulse restoring signal of time-delay shaping unit 4 outputs, its output transfers low level to by high level.Enable the input signal of the output of control module 5 as signaling control unit 3.
According to shown in Figure 3, from the control flow of recovery certainly that recovers the Control Software module be: behind servocomputer start and system initialization, at first read the positional information of luffing mechanism, and judge according to the information of reading whether luffing mechanism is positioned at spacing zone, when judging that luffing mechanism is positioned at spacing zone, to constant magnitude of voltage of D/A converter output, D/A converter was controlled luffing mechanism by force and was left spacing zone and move to the zero-bit direction this moment, when judging luffing mechanism not at spacing zone, judge then whether luffing mechanism arrives zero-bit, arrive zero-bit if judge luffing mechanism, in hardware circuit, enable control module 5 output services state normal information, otherwise continue to wait for and move to zero-bit up to luffing mechanism.Above-mentioned this section flow process has solved optronic tracker well under off working state, and luffing mechanism is in the Auto Power On problem of stop zone.After optronic tracker enters normal operating conditions, whether export the negative pulse restoring signal from the time-delay shaping unit 4 that recovery Control Software module is inquired about in the hardware circuit all the time, if yes, make program turn back to the open state of servocomputer, and read and judge the positional information of luffing mechanism again.Cooperatively interact from recovering Control Software module and hardware circuit, solved optronic tracker jointly and disturbed the problem out of control that causes because of servo-drive system.
Claims (3)
1. the control circuit of recovery certainly of an optronic tracker luffing mechanism entering spacing zone, it is characterized in that: comprise upper limit position switch, lower position switch, signal gating unit [2], signaling control unit [3], time-delay shaping unit [4], enable control module [5], insert the module of recovery Control Software certainly in the optronic tracker servocomputer, described upper limit position switch, lower position switch is installed in respectively that two of luffing mechanism are spacing to go up and export high level signal under servo-drive system is in normal operating conditions, when luffing mechanism entered spacing zone and clashes into upper limit position switch or lower position switch, the output signal of upper limit position switch or lower position switch then produced saltus step and promptly becomes low level by high level; Described signal gating unit [2] receives the output signal of upper limit position switch and lower position switch and skip signal is carried out gating; Described signaling control unit [3] receives the saltus step gating signal and the described output signal that enables control module [5] of described signal gating unit [2] output simultaneously, and above-mentioned two signals are carried out logical and handle, when the output signal that enables control module [5] is high level, signaling control unit [3] is the output signal of output signal gating unit [2] directly, when the output signal that enables control module [5] was low level, signaling control unit [3] output did not have the low level signal of variation; The output signal of described time-delay shaping unit [4] received signal control module [3], to the delay time shaping and produce a negative pulse restoring signal of described saltus step gating signal, this restoring signal is sent into servocomputer, D/A converter simultaneously and is describedly enabled control module and stop transport by clear D/A converter control luffing mechanism; The described control module [5] that enables is receiving describedly from recovering to export high level signal after the duty normal information that the Control Software module sends, and transfers low level in case receive its output of negative pulse restoring signal of described time-delay shaping unit [4] output to by high level; The described function of recovering the Control Software module certainly is, when servocomputer is started shooting or after receiving described negative pulse reset signal, read and judge the positional information of luffing mechanism, when judging that luffing mechanism is positioned at spacing zone, aanalogvoltage control luffing mechanism by D/A converter output leaves spacing zone, after luffing mechanism arrives zero-bit and normal work period, send the duty normal information to enabling control module [5].
2. the control circuit of recovery certainly of optronic tracker luffing mechanism entering spacing zone according to claim 1 is characterized in that: described upper limit position switch, lower position switch constitute by microswitch [K1, K2] and series resistor [R1, R2].
3. the control circuit of recovery certainly of optronic tracker luffing mechanism entering spacing zone according to claim 1 and 2 is characterized in that: described signal gating unit [2] and signaling control unit [3] are all selected AND circuit for use; Described time-delay shaping unit [4] is by single-shot trigger circuit and an external capacitor [C1] and first, second pull-up resistor [R4, R5] formation, single-shot trigger circuit contains two groups of input ends of A, B, its A group input end receives the skip signal of described signaling control unit [3] output, first pull-up resistor [R4] and external capacitor [C1] be in order to determining the time-delay width of single-shot trigger circuit output negative pulse restoring signal, and second pull-up resistor [R5] is stablized indeclinable high level signal for the B group input end of single-shot trigger circuit provides; The described control module that enables is made of the d type flip flop circuit with memory function and the 3rd pull-up resistor [R3], and the 3rd pull-up resistor [R3] is for the data input pin of d type flip flop and preset input end and provide and stablize indeclinable high level signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200810150213 CN100582983C (en) | 2008-06-30 | 2008-06-30 | Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone |
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| CN 200810150213 CN100582983C (en) | 2008-06-30 | 2008-06-30 | Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone |
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| CN101308388A true CN101308388A (en) | 2008-11-19 |
| CN100582983C CN100582983C (en) | 2010-01-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111662A (en) * | 2014-06-10 | 2014-10-22 | 西安应用光学研究所 | Single-rod compensation method under the condition of automatic tracking state of photoelectric tracker |
| CN104601147A (en) * | 2015-02-09 | 2015-05-06 | 山东工商学院 | Fixed-cycle random tiny negative pulse generation circuit |
| CN112068605A (en) * | 2020-07-31 | 2020-12-11 | 河北汉光重工有限责任公司 | Two-dimensional turntable memory scanning method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101794156B (en) * | 2010-01-15 | 2011-09-14 | 中国兵器工业第二〇五研究所 | Navigation locking device suitable for photoelectric tracker |
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2008
- 2008-06-30 CN CN 200810150213 patent/CN100582983C/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111662A (en) * | 2014-06-10 | 2014-10-22 | 西安应用光学研究所 | Single-rod compensation method under the condition of automatic tracking state of photoelectric tracker |
| CN104111662B (en) * | 2014-06-10 | 2016-08-24 | 西安应用光学研究所 | A kind of single pole compensation method under the automatic tracking mode of optronic tracker |
| CN104601147A (en) * | 2015-02-09 | 2015-05-06 | 山东工商学院 | Fixed-cycle random tiny negative pulse generation circuit |
| CN104601147B (en) * | 2015-02-09 | 2017-04-05 | 山东工商学院 | A kind of random small negative pulse of fixed cycle produces circuit |
| CN112068605A (en) * | 2020-07-31 | 2020-12-11 | 河北汉光重工有限责任公司 | Two-dimensional turntable memory scanning method |
| CN112068605B (en) * | 2020-07-31 | 2023-12-05 | 河北汉光重工有限责任公司 | Memory scanning method for two-dimensional turntable |
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