CN102632987A - Method for controlling horizontal direct current steering engine of underwater aircraft capable of avoiding risk in emergency and device therefor - Google Patents
Method for controlling horizontal direct current steering engine of underwater aircraft capable of avoiding risk in emergency and device therefor Download PDFInfo
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- CN102632987A CN102632987A CN2012101261809A CN201210126180A CN102632987A CN 102632987 A CN102632987 A CN 102632987A CN 2012101261809 A CN2012101261809 A CN 2012101261809A CN 201210126180 A CN201210126180 A CN 201210126180A CN 102632987 A CN102632987 A CN 102632987A
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Abstract
The invention provides a method for controlling a horizontal direct current steering engine of an underwater aircraft capable of avoiding risk in emergency and a device for controlling the horizontal direct current steering engine of the underwater aircraft capable of avoiding risk in emergency. The method comprises the following steps of: carrying out optoelectronic isolation on a horizontal steering command of the underwater aircraft to generate a PWM (pulse width modulation) control signal DSP-PWM1 (digital signal processor-pulse width modulation 1); outputting a PWM control signal NE555-PWM by a clock chip, and outputting a logic control signal JJTCZS by a pressure switch; carrying out AND operation on a DSP-PWM1 signal and a JJTCZS signal to obtain an AND gate 1 signal; carrying out NOT operation on the JJTCZS signal, and carrying out AND operation on an NE555PWM signal to obtain an AND gate 2 signal; and carrying out OR operation on the AND gate 1 signal and the AND gate 2 signal, so that a PWM control signal of the horizontal direct current steering engine can be obtained. According to the method, the logic switch control can be carried out by software, so that the problem of large current switch on a conventional relay switch control method can be avoided, therefore, not only can the work reliability of a system be improved, but also the electromagnetic compatibility of the system can be improved.
Description
Technical field
The present invention relates to the Autonomous Control field of submarine navigation device, be specially a kind of submarine navigation device horizontal direct current steering wheel control method and device that can emergency danger-avoiding.
Background technology
Autonomous submarine navigation device is as a kind of autonomous under water means of delivery; The advantages such as dark, high-mobility, multipurpose, wheeled vehicle and intellectuality of diving greatly with it are in detections of bottom topography landforms, ocean engineering construction, marine resources development, marine sciences exploration and safeguard that national marine rights and interests etc. are bringing into play important role aspect many.
Autonomous submarine navigation device includes horizontal direct current steering wheel and vertical direct current steering wheel usually, and wherein horizontal direct current steering wheel is used for the manipulation of autonomous submarine navigation device longitudinal movement, keel depth, pitch angle and the rate of pitch of control ROV; Vertical direct current steering wheel is used for the manipulation of autonomous submarine navigation device sideway movement, the course and the rate of yaw of control ROV.
Under normal conditions, steering wheel plays stable manipulation effect as the actuating unit of autonomous submarine navigation device control system to the navigation of autonomous submarine navigation device.But, when autonomous submarine navigation device occurred like faults such as controller deadlocks, ultra dark phenomenon will appear navigating by water, and cause submarine navigation device to prick that seabed or pressure-resistance structure are destroyed and the major accident lost easily.For this reason, when the ultra dark phenomenon of navigation appears in autonomous submarine navigation device, must take the measure of control of emergency danger-avoiding to horizontal direct current steering wheel.
Relay of existing horizontal direct current steering wheel control employing carries out the mode of switching controls, shown in accompanying drawing 1.When ultra dark phenomenon did not appear in autonomous submarine navigation device, relay was failure to actuate, and horizontal direct current steering wheel links to each other with U-with control signal U+, and wherein U+ and U-are the pwm signals that is used for the controlling level steering wheel that is provided by the steering wheel control circuit; When the ultra dark phenomenon of navigation appears in autonomous submarine navigation device; Be installed in the pressure switch meeting output switching signal on the ROV; The control coil of cutin relay makes the actuating of relay, and horizontal direct current steering wheel links to each other with V-with control signal V+; Wherein V+ and V-are the power supplys of being drawn by the instrument battery of ROV; Rudder on the causes water straight, flow steering wheel behaviour limit makes autonomous submarine navigation device emergency ascent, thereby avoids autonomous submarine navigation device to prick that seabed or pressure-resistance structure are destroyed and the major accident lost.
But carry out switching controls with relay and have following shortcoming: 1. the reliability of the actuating of relay is relevant with many factors, in case malfunction appears in relay, brings very big hidden danger for the safety of navigation of autonomous submarine navigation device; 2. the steering electric current of steering wheel is generally bigger, when relay carries out the switching of big electric current, can produce electro spark usually, not only influences the life-span and the functional reliability of relay, and can influence the electromagnetic compatibility of ROV when serious.
Summary of the invention
The technical matters that solves
Be to solve the deficiency that prior art exists, the present invention proposes a kind of submarine navigation device horizontal direct current steering wheel control method and device that can emergency danger-avoiding.
Technical scheme
Technical scheme of the present invention is:
The said a kind of horizontal direct current steering wheel of submarine navigation device control method that can emergency danger-avoiding is characterized in that: may further comprise the steps:
Step 1: the horizontal steering instruction that the submarine navigation device control system provides is isolated through photoelectricity, generated the pwm control signal DSP_PWM1 of 0～5V; By the pwm control signal NE555_PWM with 80% dutycycle of clock chip output 0～5V, the NE555_PWM signal is the control signal that horizontal direct current steering wheel behaviour goes up rudder; Pass through latching circuit output logic control signal JJTCZS by pressure switch; When the submarine navigation device normal operation; The JJTCZS signal is the high level logic control signal, and when ultra Shenzhen Airlines row phenomenon took place submarine navigation device, the JJTCZS signal was the low-level logic control signal;
Step 2: DSP_PWM1 signal and JJTCZS signal are carried out logic and operation obtain and door 1 signal; After the JJTCZS signal carried out the logic NOT computing, carry out logic and operation with the NE555PWM signal again and obtain and door 2 signals;
Step 3: after will carrying out the logical OR computing with door 1 signal with door 2 signals, isolate and the driving amplification, obtain the pwm control signal of horizontal direct current steering wheel, the horizontal direct current steering wheel of submarine navigation device is controlled through photoelectricity.
Said a kind of horizontal direct current steering engine control device of submarine navigation device that can emergency danger-avoiding is characterized in that: comprise that horizontal direct current steering wheel dsp controller, 555 clock chips, pressure switch, latching circuit and photoelectricity in the submarine navigation device control system isolates and drive amplifying circuit; The pwm control signal that horizontal direct current steering wheel dsp controller produces is through exporting the horizontal direct current steering wheel pwm control signal DSP_PWM1 of 0～5V behind the photoelectric isolating device; The pwm control signal NE555_PWM of 555 clock chips output, 0～5V with 80% dutycycle; The signal of pressure switch output is through latching circuit output logic control signal JJTCZS; When the submarine navigation device normal operation; The JJTCZS signal is the high level logic control signal, and when ultra Shenzhen Airlines row phenomenon took place submarine navigation device, the JJTCZS signal was the low-level logic control signal; The pwm control signal DSP_PWM1 that logic control signal JJTCZS produces with horizontal direct current steering wheel dsp controller import first with a door arithmetic and logic unit; Logic control signal JJTCZS through the not gate arithmetic and logic unit after with the pwm control signal NE555_PWM of clock chip import second with a door arithmetic and logic unit; First imports or the door arithmetic and logic unit with the output signal of door arithmetic and logic unit with second with the output signal of door arithmetic and logic unit; Or input level direct current steering wheel behind the output signal process photoelectricity isolation of door arithmetic and logic unit and the driving amplifying circuit, with the rotating of controlling level direct current steering wheel.
Said a kind of horizontal direct current steering engine control device of submarine navigation device that can emergency danger-avoiding is characterized in that: comprise three photoelectric isolating devices in the latching circuit; Behind resistance of output signal JJTC+ series connection of pressure switch; Introduce the anode of the first photoelectric isolating device input end; The output signal JJTC-of pressure switch introduces the negative electrode of the first photoelectric isolating device input end; Collecting electrode usefulness+5V the power supply of the first photoelectric isolating device mouth; The emitter of mouth connects the anode of the second photoelectric isolating device input end, and the negative electrode of the second photoelectric isolating device input end is connected with the anode of the 3rd photoelectric isolating device input end, and the negative electrode of the 3rd photoelectric isolating device input end is through a resistance eutral grounding; Collecting electrode usefulness+5V the power supply of the second photoelectric isolating device mouth, the emitter of mouth feeds back to the anode of the second photoelectric isolating device input end; The collecting electrode of the 3rd photoelectric isolating device mouth is drawn logic control signal JJTCZS, and through a resistance usefulness+5V power supply, the grounded emitter of mouth.
Beneficial effect
The present invention adopts soft switch technique to carry out the logic switching controls, has avoided traditional relay method for handover control problem, the problem includes: the problem of big current switching not only improves the functional reliability of system, and has improved the electromagnetic compatibility of system.
Description of drawings
Accompanying drawing 1 is existing horizontal direct current steering wheel control principle figure
Accompanying drawing 2 is horizontal direct current steering wheel control principle figure of the present invention
Accompanying drawing 3 is photoelectric isolating circuit schematic diagrams that the embodiment dsp controller produces pwm signal
Accompanying drawing 4 is that embodiment 555 clock chips produce the pwm control signal schematic diagram
Accompanying drawing 5 is the ultra Shenzhen Airlines of embodiment row fault latching circuit schematic diagrams
Accompanying drawing 6 is that the horizontal direct current steering wheel of embodiment pwm signal photoelectricity is isolated and driving amplifying circuit schematic diagram
The specific embodiment
Below in conjunction with specific embodiment the present invention is described:
Embodiment:
Present embodiment prevents that for the horizontal direct current steering wheel of autonomous ROV is under water controlled the ultra dark phenomenon of navigation from appearring in autonomous ROV under water.
With reference to accompanying drawing 2, as can be seen from the figure, comprise in the control setup that horizontal direct current steering wheel dsp controller, 555 clock chips, pressure switch, latching circuit and the photoelectricity in the submarine navigation device control system is isolated and the driving amplifying circuit.
With reference to accompanying drawing 3; The pwm control signal of the horizontal steering wheel steering instruction of horizontal direct current steering wheel dsp controller output 0～3.3V via resistance R 39, is introduced the anode of photoelectric isolating device N17 input end; The negative ground of N17 input end; Collecting electrode usefulness+the 5V of N17 mouth power supply, the emitter of N17 mouth be via resistance R 38 ground connection, and draw the pwm control signal DSP_PWM1 of 0～5V after photoelectricity is isolated from the emitter of N17 mouth; Wherein photoelectric isolating device adopts TLP521.
With reference to accompanying drawing 4; Adopt the pwm control signal NE555_PWM of NE555P clock chip output 0～5V with 80% dutycycle; This signal is to make horizontal direct current steering wheel behaviour go up the control signal of rudder, wherein the dutycycle that is used for regulating the NE555_PWM control signal of the trimmer potentiometer N28 in the circuit.
With reference to accompanying drawing 5, the output signal of pressure switch need pass through output logic control signal JJTCZS behind the latching circuit, why will pass through latching circuit; Be because after autonomous submarine navigation device takes place to surpass the phenomenon of Shenzhen Airlines' row, because behaviour goes up rudder, autonomous submarine navigation device is with regard to come-up; The signal of pressure switch output will disappear; For the autonomous submarine navigation device of fault has taken place in recovery in time,, must adopt latching circuit so that carry out malfunction elimination; Guarantee that horizontal steering wheel continues behaviour and goes up rudder, make autonomous submarine navigation device float to the water surface on can be as early as possible and salvage and reclaim.
Comprise three photoelectric isolating device N19, N20 and N21 in the latching circuit; After resistance R 42 of output signal JJTC+ series connection of pressure switch; Introduce the anode of the first photoelectric isolating device N19 input end; The output signal JJTC-of pressure switch introduces the negative electrode of N19 input end, the collecting electrode usefulness+5V power supply of N19 mouth, and the emitter of N19 mouth connects the anode of the second photoelectric isolating device N20 input end; The negative electrode of N20 input end is connected with the anode of the 3rd photoelectric isolating device N21 input end, and the negative electrode of N21 input end is through resistance R 43 ground connection; Collecting electrode usefulness+5V the power supply of N20 mouth, the emitter of N20 mouth feeds back to the anode of N20 input end; The collecting electrode of N21 mouth is drawn logic control signal JJTCZS, and through resistance R 47 usefulness+5V power supply, the grounded emitter of N21 mouth.Wherein photoelectric isolating device N19, N20 and N21 all adopt TLP521.
So; The output of pressure switch is through latching circuit; Output has the logic control signal JJTCZS of row memory of ultra Shenzhen Airlines and power-off restoration function, and when the submarine navigation device normal operation, pressure switch is not given the instruction of excess of export Shenzhen Airlines row; Photoelectric isolating device N19, N20 and not conducting of N21, fault latching circuit output high level logic control signal JJTCZS; When in a single day pressure switch gives the instruction of excess of export Shenzhen Airlines row; Photoelectric isolating device N19, N20 and N21 conducting; Fault latching circuit output low level logic control signal JJTCZS; Even this moment, the instruction of ultra Shenzhen Airlines row disappeared, because photoelectric isolating device N20 and N21 self-locking, the fault latching circuit is output low level logic control signal JJTCZS still.Circuit is outage in a single day, and this latching circuit can automatically reset.
After obtaining above-mentioned three groups of signals, logic control signal JJTCZS with horizontal direct current steering wheel pwm control signal DSP_PWM1 import first with the door arithmetic and logic unit with the door 1; Logic control signal JJTCZS is through behind the not gate arithmetic and logic unit, with the pwm control signal NE555_PWM of NE555P clock chip output import second with door arithmetic and logic unit and door 2; Import or the door arithmetic and logic unit with the output signal of door 1 with the output signal of door 2, or input level direct current steering wheel behind the output signal process photoelectricity isolation of door arithmetic and logic unit and the driving amplifying circuit, with the rotating of controlling level direct current steering wheel.
With reference to accompanying drawing 6; Photoelectricity is isolated and driving amplifier spare adopts HCPL-0466; HCPL-0466 input supply terminal mouth 2 adopts the 5V power supply, 3 inputs of incoming signal port be or the pwm control signal of the 0～5V that is used for horizontal direct current steering wheel control of door arithmetic and logic unit output that out-put supply port 8 is connected the bipolarity power supply VD+ and the VD-of horizontal direct current steering wheel with 5; Pwm control signal between output signal port 6 output VD-～VD+ is with the rotating of controlling level direct current steering wheel.
Fig. 2 has provided horizontal direct current steering wheel control principle figure of the present invention, and when autonomous submarine navigation device can normal operation, pressure switch was through latching circuit output high level logic control signal JJTCZS; With not output of door 2, with the pwm control signal that door 1 output DSP produces, this signal through or behind the door; Isolate and the driving amplification through photoelectricity; Be used for the controlling level steering wheel, make autonomous submarine navigation device carry out steering, make autonomous submarine navigation device steady steaming according to control command; When autonomous submarine navigation device breaks down and when the phenomenon of ultra Shenzhen Airlines row took place, pressure switch was through latching circuit output low level logic control signal JJTCZS, with not output of door 1; With door 2 output be the pwm control signal that 555 clock chips produce, this signal through or behind the door, isolate and drive through photoelectricity and amplify; Be used for the controlling level steering wheel; Make horizontal steering wheel behaviour go up rudder, make the emergency ascent of autonomous submarine navigation device ability, to guarantee the safety of navigation of autonomous submarine navigation device.
In a word; A kind of horizontal direct current steering wheel of autonomous submarine navigation device control method that the present invention proposes with emergency danger-avoiding function; This method has adopted soft switch technique to carry out the logic switching controls; Improve the functional reliability of system, avoided the switching of big electric current simultaneously, improved the electromagnetic compatibility of system.
Claims (3)
- One kind can emergency danger-avoiding the horizontal direct current steering wheel of submarine navigation device control method, it is characterized in that: may further comprise the steps:Step 1: the horizontal steering instruction that the submarine navigation device control system provides is isolated through photoelectricity, generated the pwm control signal DSP_PWM1 of 0～5V; By the pwm control signal NE555_PWM with 80% dutycycle of clock chip output 0～5V, the NE555_PWM signal is the control signal that horizontal direct current steering wheel behaviour goes up rudder; Pass through latching circuit output logic control signal JJTCZS by pressure switch; When the submarine navigation device normal operation; The JJTCZS signal is the high level logic control signal, and when ultra Shenzhen Airlines row phenomenon took place submarine navigation device, the JJTCZS signal was the low-level logic control signal;Step 2: DSP_PWM1 signal and JJTCZS signal are carried out logic and operation obtain and door 1 signal; After the JJTCZS signal carried out the logic NOT computing, carry out logic and operation with the NE555PWM signal again and obtain and door 2 signals;Step 3: after will carrying out the logical OR computing with door 1 signal with door 2 signals, isolate and the driving amplification, obtain the pwm control signal of horizontal direct current steering wheel, the horizontal direct current steering wheel of submarine navigation device is controlled through photoelectricity.
- One kind can emergency danger-avoiding the horizontal direct current steering engine control device of submarine navigation device, it is characterized in that: comprise that horizontal direct current steering wheel dsp controller, 555 clock chips, pressure switch, latching circuit and photoelectricity in the submarine navigation device control system isolates and drive amplifying circuit; The pwm control signal that horizontal direct current steering wheel dsp controller produces is through exporting the horizontal direct current steering wheel pwm control signal DSP_PWM1 of 0～5V behind the photoelectric isolating device; The pwm control signal NE555_PWM of 555 clock chips output, 0～5V with 80% dutycycle; The signal of pressure switch output is through latching circuit output logic control signal JJTCZS; When the submarine navigation device normal operation; The JJTCZS signal is the high level logic control signal, and when ultra Shenzhen Airlines row phenomenon took place submarine navigation device, the JJTCZS signal was the low-level logic control signal; The pwm control signal DSP_PWM1 that logic control signal JJTCZS produces with horizontal direct current steering wheel dsp controller import first with a door arithmetic and logic unit; Logic control signal JJTCZS through the not gate arithmetic and logic unit after with the pwm control signal NE555_PWM of clock chip import second with a door arithmetic and logic unit; First imports or the door arithmetic and logic unit with the output signal of door arithmetic and logic unit with second with the output signal of door arithmetic and logic unit; Or input level direct current steering wheel behind the output signal process photoelectricity isolation of door arithmetic and logic unit and the driving amplifying circuit, with the rotating of controlling level direct current steering wheel.
- 3. a kind of horizontal direct current steering engine control device of submarine navigation device that can emergency danger-avoiding according to claim 2 is characterized in that: comprise three photoelectric isolating devices in the latching circuit; Behind resistance of output signal JJTC+ series connection of pressure switch; Introduce the anode of the first photoelectric isolating device input end; The output signal JJTC-of pressure switch introduces the negative electrode of the first photoelectric isolating device input end; Collecting electrode usefulness+5V the power supply of the first photoelectric isolating device mouth; The emitter of mouth connects the anode of the second photoelectric isolating device input end, and the negative electrode of the second photoelectric isolating device input end is connected with the anode of the 3rd photoelectric isolating device input end, and the negative electrode of the 3rd photoelectric isolating device input end is through a resistance eutral grounding; Collecting electrode usefulness+5V the power supply of the second photoelectric isolating device mouth, the emitter of mouth feeds back to the anode of the second photoelectric isolating device input end; The collecting electrode of the 3rd photoelectric isolating device mouth is drawn logic control signal JJTCZS, and through a resistance usefulness+5V power supply, the grounded emitter of mouth.
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| CN104167964A (en) * | 2014-08-12 | 2014-11-26 | 广西防城港核电有限公司 | Control system and method for emergency diesel-electric generator set of hydraulic pressure test pump |
| CN105737807A (en) * | 2016-03-30 | 2016-07-06 | 深圳市朗诚科技股份有限公司 | Ocean monitoring device |
| CN107544527A (en) * | 2017-10-23 | 2018-01-05 | 西北工业大学 | A kind of propeller rotating speed steering control device for small-scale underwater vehicle device |
| CN113253740A (en) * | 2021-06-28 | 2021-08-13 | 天津海翼科技有限公司 | Emergency method of underwater robot and electronic equipment |
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| CN113253740A (en) * | 2021-06-28 | 2021-08-13 | 天津海翼科技有限公司 | Emergency method of underwater robot and electronic equipment |
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