CN102589494B - Stepping positioning system for calibration mechanism - Google Patents
Stepping positioning system for calibration mechanism Download PDFInfo
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- CN102589494B CN102589494B CN201210028515.3A CN201210028515A CN102589494B CN 102589494 B CN102589494 B CN 102589494B CN 201210028515 A CN201210028515 A CN 201210028515A CN 102589494 B CN102589494 B CN 102589494B
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Abstract
The invention discloses a stepping positioning system for a calibration mechanism. The stepping positioning system comprises a motor controller, a stepping mechanism and an in-place detection device. The stepping mechanism comprises a stepping motor which is used for driving the calibration mechanism to move; the in-place detection device comprises a first in-place detector, a second in-place detector and an in-place judger, wherein the first in-place detector is used for judging whether the calibration mechanism reaches a first calibration position or not and outputting an indication signal to the in-place judger, the second in-place detector is used for judging whether the calibration mechanism reaches a second calibration position or not and outputting an indication signal to the in-place judger, and according to the indication signals outputted by the first in-place detector and the second in-place detector, the in-place judger generates an in-place indication signal which is outputted to the motor controller; and the motor controller controls the movement or stoppage of the stepping motor of the stepping mechanism according to the received in-place indication signal. The stepping positioning system for the calibration mechanism has the advantages that: the calibration mechanism can be reliably and accurately positioned under the drive of the stepping motor.
Description
Technical field
The present invention relates to a kind of stepping positioning system for calibration mechanism.
Background technology
In spaceborne infrared remote sensor imaging field, for guaranteeing imaging precision, need often CCD to be calibrated.Calibration mechanism is constantly parked in 0 ° of position in non-calibration, and high and low temperature black matrix is not in imaging optical path; In the time of need to calibrating, first stepper motor drives calibration mechanism to move to 45 ° of positions to carry out high temperature calibration, then move to 90 ° of positions and carry out low temperature calibration, and calibration finishes rear calibration mechanism and directly returns to 0 ° of position from 90 ° of positions, 45 ° of positions, does not stop.
Conventional calibration mechanism localization method has at present: umber of pulse step localization method, the closed loop that puts in place localization method.
Umber of pulse step localization method is to adopt counting mode to carry out motor stepping control, and when actual step number equates with order step number, motor is out of service, and the advantage of the method is accurate positioning, and motor operational shock is on location nothing impact.But the method powers on and need to again look for zero-bit, and exist long-time running friction force to increase the risk that causes step-out.
Traditional closed-loop localization method generally adopts photoelectricity to carrying out position sensing, and temperature influence is large and fault-tolerant hysteresis window is little, and motor vibrating easily causes the erroneous judgement of the signal that puts in place, thereby causes calibration mechanism location inaccurate, even occurs situation about cannot stop.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of stepping positioning system for calibration mechanism is provided, solved the reliably orientation problem accurately that stepper motor drives calibration mechanism.
Technical solution of the present invention is:
This invents described system to the calibration mechanism detection that puts in place, when to invalid motor persistent movement during signal that puts in place of bit detector output; Motor stop motion when effectively putting signal in place to bit detector output.Described system comprises: electric machine controller, stepping mechanism and to level detecting apparatus.
Wherein, described stepping mechanism comprises the stepper motor that drives calibration mechanism motion; Describedly to level detecting apparatus, comprise that first to bit detector, second to bit detector and the determining device that puts in place; First is used for judging to bit detector whether calibration mechanism reaches the first scaling position and indicator signal is exported to the determining device that puts in place; Second is used for judging to bit detector whether calibration mechanism arrives the second scaling position and indicator signal is exported to the determining device that puts in place; The determining device that puts in place arrives the indicator signal of bit detector output according to first to bit detector and second, produces the indicator signal that puts in place of exporting to electric machine controller; Described electric machine controller is according to the indicator signal that puts in place receiving, the motion of stepper motor or stop in control step mechanism.
Described first to bit detector and second to bit detector in calibration mechanism direction of motion by tandem, and first be greater than the concussion scope of calibration mechanism to bit detector and second to the spacing distance between bit detector.
In calibration process, when calibration mechanism does not arrive first when the bit detector, first all exports invalid indicator signal to bit detector and second to bit detector, and the determining device that puts in place is exported the invalid indicator signal that puts in place;
When calibration mechanism arrive first to bit detector and second between bit detector time, first to bit detector output effective index signal, second exports invalid indicator signal to bit detector, the determining device that puts in place is exported the invalid indicator signal that puts in place;
When bit detector is arrived in calibration mechanism arrival second, first all exports effective index signal to bit detector and second to bit detector, and the determining device that puts in place is output as the indicator signal that effectively puts in place;
When calibration mechanism arrival second is shaken to the concurrent life of bit detector, first to bit detector output effective index signal, second detector output signal that puts in place changes between invalid indicator signal and effective index signal, and the determining device that puts in place the output indicator signal that effectively puts in place is constant.
The present invention compared with prior art tool has the following advantages:
This system adopts first to bit detector and second, to bit detector, to carry out location-based position monitor, by to calibration mechanism, the movement position in calibration process judges realization location, its advantage is not to be subject to locate the impact of starting point, and the step-out in motion way can not cause positioning error.
Aspect the accuracy of location, tradition put in place detection and location method often adopt photoelectricity to or the hall device detection that puts in place, rely on the hysteresis loop of components and parts itself to set up the anti-shake hysteresis window of system, when the shake of stepper motor exceeds more greatly hysteresis window threshold value, the signal that puts in place that photoelectricity is right, by unstable, cannot accurately be located thereby cause.For this problem two concussion scopes that are greater than calibration mechanism to the spacing distance between bit detector of the present invention, when the hysteresis window consisting of spacing distance can guarantee that calibration mechanism is located in target location, thereby the shake of shielding calibration mechanism has guaranteed the reliable accurately location to calibration mechanism.
Step motor control system power down can be lost current location information during bootloader again conventionally, adopts pulse counting method need to again seek zero and determines the location status of motor, then carry out location, target location.And motion positions of the present invention and initial position are irrelevant, therefore without powering on, seek zero; And the present invention has good fault-tolerant ability to the step-out in operational process, be adapted at applying in long-life satellite, avoid the hydraulic performance declines such as long-time running stepping stepper motor, bearing to cause location mistake.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is workflow diagram of the present invention;
Fig. 3 is calibration mechanism motion schematic diagram;
Fig. 4 is embodiment schematic diagram.
Embodiment
Below just by reference to the accompanying drawings the present invention is described further.
Stepping positioning system for calibration mechanism of the present invention as shown in Figure 1, comprising: electric machine controller, stepping mechanism and to level detecting apparatus.Wherein, electric machine controller comprises logic controller, pulsqe distributor, analog line driver.Stepping mechanism comprises calibration mechanism and drives the stepper motor of calibration mechanism motion.To level detecting apparatus comprise first to bit detector, second to bit detector, determining device puts in place.Each assembly annexation can be as shown in Figure 1.
Further as shown in Figure 2, original state calibration mechanism zero dead stop (0 °), receive that host computer sends 45 ° of position positioning commands time, stepper motor drive calibration mechanism moves to high temperature scaling position (45 °) and carries out high temperature calibration, after high temperature calibration finishes, receive 90 ° of position positioning commands that host computer sends, stepper motor continues to drive calibration mechanism to move to low temperature scaling position (90 °) and carries out low temperature calibration, after low temperature calibration finishes, receive the back to zero order that host computer sends, stepper motor directly drives calibration mechanism to move to initial zero-bit, 45 ° of positions, do not stop, complete calibration process one time.
Described logic controller receives the order that host computer sends, and according to the indicator signal that puts in place sending to level detecting apparatus, stepper motor is controlled: when host computer sends motion command and calibration mechanism detected and do not put in place to level detecting apparatus, logic controller transmission motor action order and traffic direction are to pulsqe distributor, pulsqe distributor sends to analog line driver according to traffic direction by the power on/off signal of each phase coil of stepper motor, and analog line driver control step motor moves along calibration direction; When host computer does not send that motion command or host computer send motion command but calibration mechanism detected and put in place to level detecting apparatus, logic controller sends motor and ceases and desist order to pulsqe distributor, pulsqe distributor keeps current each phase coil power on/off signal of stepper motor of analog line driver that sends to constant, and it is motionless that control step motor stops at current location.
In conjunction with above-mentioned flow process, the principle of stepping positioning system for calibration mechanism of the present invention is:
Electric machine controller receives the motion that host computer sends or ceases and desist order, and according to the indicator signal that puts in place of sending to level detecting apparatus to the operation of stepper motor with stop controlling.Concrete calibration process is as follows:
The indicator signal that puts in place judges rear output to first to bit detector and the second indicator signal to bit detector output by the determining device that puts in place, and detailed process is as follows:
When electric machine controller receives the motion command that host computer sends, calibration mechanism does not arrive first to bit detector, first to bit detector and second to bit detector output (0,0), " 0 " represents invalid indicator signal, the invalid indicator signal that puts in place of the determining device that puts in place output, stepper motor drives calibration mechanism to continue operation by the direction of motion of calibration process under the driving of electric machine controller;
When calibration mechanism arrives first to bit detector, but do not arrive second when the bit detector, when first to bit detector and second to the output of bit detector by (0,0) become (1,0), when " 1 " represents effective index signal, the determining device that puts in place continues to be output as the invalid indicator signal that puts in place, and stepper motor continues to drive calibration mechanism to continue to the second scaling position operation by the direction of motion of calibration process under the control of electric machine controller motion;
As shown in Figure 3, when bit detector is arrived in calibration mechanism arrival first, first while becoming (1,1) to the output of bit detector by (1,0) to bit detector and second, represent that calibration mechanism is after the first scaling position, also arrived the second scaling position, the determining device that puts in place is output as the indicator signal that effectively puts in place, and electric machine controller effectively puts in place after indicator signal receiving, no longer control step motor continues motion, calibration mechanism stop motion.
At stepper motor, arrive after the second scaling position, if calibration mechanism is shaken in position location, first may be by (1 to the output of bit detector to bit detector, second, 1) become (1,0) time, but the output of position determining device will be exported the indicator signal that effectively puts in place, it is slack that motor keeps, thereby guarantee the reliable accurately location of stepping positioning system for calibration mechanism.
Embodiment
As shown in Figure 4, adopt photoelectricity to form first to bit detector to D1, Q1, adopt D2, Q2 as second to bit detector, with the phase inverter 74HC14 of Si Mite Trigger Function as the determining device that puts in place.In Fig. 5, R1=2k Ω, R2=3k Ω, R3=1k Ω, R4=4k Ω, R5=100k Ω, the hysteresis threshold value of 74HC14 is respectively 1.8V, 2.8V.
A, electric machine controller receive the order of host computer, and control step driven by motor calibration mechanism moves toward position location direction;
B, when calibration mechanism moves to position 1, photoelectricity is to D1, Q1, D2, Q2 be logical light all, the collector output (0.3V, 0.3V) of Q1, Q2, the voltage of T1 input end is 0V, the output switch amount of T2 is 0, calibration mechanism will continue to move;
C, from position, 1 move to position 2 (the first scaling position) when calibration mechanism, photoelectricity is to the logical light of D2, Q2, photoelectricity is to D1, Q1 shading, collector output (the 3V of Q1, Q2,0.3V), the voltage of T1 input end is 2.3V, and the output switch amount of T2 is 0, and calibration mechanism will continue to move to the second scaling position (position 3);
D, from position, 2 move to position 3 when calibration mechanism, photoelectricity is to D1, Q1, the equal shading of D2, Q2, the collector of Q1, Q1 output (3V, 4V), and the voltage of T1 input end is 3.3V, the output switch amount of T2 is 1, calibration mechanism stop motion;
E, between position 3 and position 2, shake when calibration mechanism, the collector output of Q2 changes at 0.3V and 4V, and the voltage of T1 input end is that 2.3V and 3.3V change, and does not reach the lower jumping threshold value 1.8V of 74HC14, therefore the output switch amount of T2 remains 1, and it is motionless that calibration mechanism remains on position location.
Compare with the embodiment of the present invention, the tradition detection and location system that puts in place adopts a pair of photoelectricity to as to bit detector, the right photovoltaic curve that the utilizes photoelectricity detection that puts in place, temperature influence is larger, and long-term operation parameter is easily drifted about, cause that the signal that puts in place is inaccurate, thereby cause calibration mechanism location inaccurate.Two switching characteristics of utilizing detector to bit detector that the present embodiment adopts, are subject to the impact of parameter drift little, by rational installation detector position, can eliminate the impact of parameter drift on detent mechanism positioning precision completely.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (1)
1. a stepping positioning system for calibration mechanism, for calibration mechanism is positioned to control, is characterized in that comprising: electric machine controller, stepping mechanism and to level detecting apparatus;
Described stepping mechanism comprises the stepper motor that drives calibration mechanism motion;
Describedly to level detecting apparatus, comprise that first to bit detector, second to bit detector and the determining device that puts in place; First is used for judging to bit detector whether calibration mechanism reaches the first scaling position and indicator signal is exported to the determining device that puts in place; Second is used for judging to bit detector whether calibration mechanism arrives the second scaling position and indicator signal is exported to the determining device that puts in place; The determining device that puts in place arrives the indicator signal of bit detector output according to first to bit detector and second, produces the indicator signal that puts in place of exporting to electric machine controller;
Described electric machine controller is according to the indicator signal that puts in place receiving, the motion of stepper motor or stop in control step mechanism;
Described first to bit detector and second to bit detector in calibration mechanism direction of motion by tandem, and first be greater than the concussion scope of calibration mechanism to bit detector and second to the spacing distance between bit detector;
When calibration mechanism does not arrive first when the bit detector, first all exports invalid indicator signal to bit detector and second to bit detector, and the determining device that puts in place is exported the invalid indicator signal that puts in place;
When calibration mechanism arrive first to bit detector and second between bit detector time, first to bit detector output effective index signal, second exports invalid indicator signal to bit detector, the determining device that puts in place is exported the invalid indicator signal that puts in place;
When bit detector is arrived in calibration mechanism arrival second, first all exports effective index signal to bit detector and second to bit detector, and the determining device that puts in place is output as the indicator signal that effectively puts in place;
When calibration mechanism arrival second is shaken to the concurrent life of bit detector, first to bit detector output effective index signal, second detector output signal that puts in place changes between invalid indicator signal and effective index signal, and the determining device that puts in place the output indicator signal that effectively puts in place is constant.
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| CN201210028515.3A CN102589494B (en) | 2012-02-09 | 2012-02-09 | Stepping positioning system for calibration mechanism |
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| CN201210028515.3A CN102589494B (en) | 2012-02-09 | 2012-02-09 | Stepping positioning system for calibration mechanism |
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| CN102589494B true CN102589494B (en) | 2014-10-08 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1641374A (en) * | 2004-12-25 | 2005-07-20 | 中国科学院安徽光学精密机械研究所 | Satellite full optical-path radiation beaconing method |
| US7166825B1 (en) * | 2005-05-17 | 2007-01-23 | Itt Manufacturing Enterprises, Inc. | Solar calibration device and method |
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2012
- 2012-02-09 CN CN201210028515.3A patent/CN102589494B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1641374A (en) * | 2004-12-25 | 2005-07-20 | 中国科学院安徽光学精密机械研究所 | Satellite full optical-path radiation beaconing method |
| US7166825B1 (en) * | 2005-05-17 | 2007-01-23 | Itt Manufacturing Enterprises, Inc. | Solar calibration device and method |
Non-Patent Citations (4)
| Title |
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| 3毫米波辐射测试仪中关键部件的设计;任丽娜;《现代测量与实验室管理》;20070831(第4期);第3页左栏倒数第1段，第4页左栏第1段 * |
| 任丽娜.3毫米波辐射测试仪中关键部件的设计.《现代测量与实验室管理》.2007,(第4期),第3页左栏倒数第1段，第4页左栏第1段. |
| 卫星多光谱扫描仪模拟空间环境辐射定标技术;杨林华等;《光学技术》;20070731;第33卷(第4期);第5140518页 * |
| 杨林华等.卫星多光谱扫描仪模拟空间环境辐射定标技术.《光学技术》.2007,第33卷(第4期),第5140518页. |
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