CN102632987B - 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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- CN102632987B CN102632987B CN201210126180.9A CN201210126180A CN102632987B CN 102632987 B CN102632987 B CN 102632987B CN 201210126180 A CN201210126180 A CN 201210126180A CN 102632987 B CN102632987 B CN 102632987B
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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 DC steering wheel control method and device that can emergency danger-avoiding.
Background technology
Autonomous Underwater Vehicle is as a kind of autonomous means of delivery under water, with its dive greatly dark, high-mobility, multipurpose, wheeled vehicle and the advantage such as intelligent, in detections of bottom topography landforms, ocean engineering construction, marine resources development, marine sciences exploration and safeguard that all many-sides such as national marine rights and interests are bringing into play extremely important effect.
Autonomous Underwater Vehicle includes horizontal DC steering wheel and vertical direct current steering wheel conventionally, and wherein horizontal DC steering wheel, for the manipulation of Autonomous Underwater Vehicle longitudinal movement, is controlled keel depth, pitch angle and the rate of pitch of aircraft; Vertical direct current steering wheel, for the manipulation of Autonomous Underwater Vehicle sideway movement, is controlled course and the rate of yaw of aircraft.
Under normal conditions, steering wheel, as the actuating unit of Autonomous Underwater Vehicle control system, plays stable manipulation effect to the navigation of Autonomous Underwater Vehicle.But, when Autonomous Underwater Vehicle occurs as faults such as controller deadlocks, just there will be and navigate by water super dark phenomenon, easily cause submarine navigation device to prick that seabed or pressure-resistance structure are destroyed and the major accident lost.For this reason, when the super dark phenomenon of navigation appears in Autonomous Underwater Vehicle, must take to horizontal DC steering wheel the measure of control of emergency danger-avoiding.
Existing horizontal DC steering wheel is controlled the mode that relay of employing carries out switching controls, as shown in Figure 1.When Autonomous Underwater Vehicle does not occur super dark phenomenon, relay is failure to actuate, and horizontal DC steering wheel is connected with U-with control signal U+, and wherein U+ and U-are the pwm signals for level of control steering wheel being provided by helm control circuit; When there is the super dark phenomenon of navigation in Autonomous Underwater Vehicle, be arranged on the pressure switch meeting output switching signal in aircraft, the control coil of cutin relay, make the actuating of relay, horizontal DC steering wheel is connected with V-with control signal V+, wherein V+ and V-are the power supplys by the instrument battery lead of aircraft, cause rudder in the horizontal DC steering wheel behaviour limit, make Autonomous Underwater Vehicle emergency ascent, thereby avoid Autonomous Underwater Vehicle to prick that seabed or pressure-resistance structure are destroyed and the major accident lost.
But with relay, carry out switching controls and have following shortcoming: 1. the reliability of the actuating of relay is relevant with many factors, once malfunction appears in relay, bring very large hidden danger to the safety of navigation of Autonomous Underwater Vehicle; 2. the steering electric current of steering wheel is generally larger, when relay carries out the switching of large electric current, conventionally can produce electro spark, not only affects life-span and the functional reliability of relay, and can affect the electromagnetic compatibility of aircraft when serious.
Summary of the invention
The technical matters solving
The deficiency existing for solving prior art, the present invention proposes a kind of submarine navigation device horizontal DC steering wheel control method and device that can emergency danger-avoiding.
Technical scheme
Technical scheme of the present invention is:
Described a kind of submarine navigation device horizontal DC steering wheel control method that can emergency danger-avoiding, is characterized in that: comprise the following steps:
Step 1: the horizontal steering instruction that Underwater Vehicle Control System is provided, through photoelectricity isolation, generates 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, NE555_PWM signal is the control signal of the upper rudder of horizontal DC steering wheel behaviour; By pressure switch, pass through latching circuit output logic control signal JJTCZS, when submarine navigation device works, JJTCZS signal is high level logic control signal, and when super Shenzhen Airlines row phenomenon occurs submarine navigation device, JJTCZS signal is low-level logic control signal;
Step 2: DSP_PWM1 signal and JJTCZS signal are carried out to logic and operation and obtain and door 1 signal; JJTCZS signal is carried out after logic NOT computing, then carry out logic and operation with NE555PWM signal and obtain and door 2 signals;
Step 3: will carry out after logical OR computing with door 1 signal with door 2 signals, and through photoelectricity isolation and drive amplification, obtain the pwm control signal of horizontal DC steering wheel, the horizontal DC steering wheel of submarine navigation device is controlled.
Described a kind of submarine navigation device horizontal DC steering engine control device that can emergency danger-avoiding, is characterized in that: comprise horizontal DC steering wheel dsp controller, 555 clock chips, pressure switch, latching circuit and photoelectricity isolation and drive amplification circuit in Underwater Vehicle Control System; The pwm control signal that horizontal DC steering wheel dsp controller produces is exported the horizontal DC steering wheel pwm control signal DSP_PWM1 of 0～5V after photoelectric isolating device; The pwm control signal NE555_PWM with 80% dutycycle of 555 clock chip output 0～5V; The signal of pressure switch output is through latching circuit output logic control signal JJTCZS, when submarine navigation device works, JJTCZS signal is high level logic control signal, and when super Shenzhen Airlines row phenomenon occurs submarine navigation device, JJTCZS signal is low-level logic control signal; Together with the pwm control signal DSP_PWM1 that logic control signal JJTCZS and horizontal DC steering wheel dsp controller produce, input first with a door arithmetic and logic unit; Logic control signal JJTCZS by not gate arithmetic and logic unit after with together with the pwm control signal NE555_PWM of clock chip, input second with a door arithmetic and logic unit; First inputs or door arithmetic and logic unit with together with the output signal of door arithmetic and logic unit with second with the output signal of door arithmetic and logic unit, or the output signal of door arithmetic and logic unit input level direct current steering wheel after photoelectricity isolation and drive amplification circuit, with the rotating of level of control direct current steering wheel.
Described a kind of submarine navigation device horizontal DC steering engine control device that can emergency danger-avoiding, is characterized in that: latching circuit comprises three photoelectric isolating devices; After a 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 use+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, 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 by a resistance eutral grounding; Collecting electrode use+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 powers with+5V by a resistance, the grounded emitter of mouth.
Beneficial effect
The present invention adopts soft switch technique to carry out logic switching controls, has avoided traditional relay method for handover control problem, the problem includes: the problem of large current switching not only improves the functional reliability of system, and has improved the electromagnetic compatibility of system.
Accompanying drawing explanation
Accompanying drawing 1 is existing horizontal DC steering wheel control principle drawing
Accompanying drawing 2 is horizontal DC steering wheel control principle drawings of the present invention
Accompanying drawing 3 is photoelectric isolating circuit schematic diagrams that embodiment dsp controller produces pwm signal
Accompanying drawing 4 is that embodiment 555 clock chips produce pwm control signal schematic diagram
Accompanying drawing 5 is the super Shenzhen Airlines of embodiment row Self-locking for fault schematic circuit diagram
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described:
Embodiment:
The present embodiment, for the horizontal DC steering wheel of autonomous underwater vehicle is controlled, prevents that the super dark phenomenon of navigation from appearring in autonomous underwater vehicle.
With reference to accompanying drawing 2, as can be seen from the figure, control setup comprises horizontal DC steering wheel dsp controller, 555 clock chips, pressure switch, latching circuit and photoelectricity isolation and the drive amplification circuit in Underwater Vehicle Control System.
With reference to accompanying drawing 3, the pwm control signal of the horizontal steering wheel steering of horizontal DC steering wheel dsp controller output 0～3.3V instruction, via resistance R 39, introduce the anode of photoelectric isolating device N17 input end, the negative ground of N17 input end, collecting electrode use+5V the power supply of N17 mouth, the emitter of N17 mouth is via resistance R 38 ground connection, and the pwm control signal DSP_PWM1 of 0～5V from the emitter of N17 mouth is drawn photoelectricity isolation; Wherein photoelectric isolating device adopts TLP521.
With reference to accompanying drawing 4, adopt the pwm control signal NE555_PWM with 80% dutycycle of NE555P clock chip output 0～5V, this signal is the control signal that makes the upper rudder of horizontal DC steering wheel behaviour, and wherein the trimmer potentiometer N28 in circuit is used for regulating the dutycycle of NE555_PWM control signal.
With reference to accompanying drawing 5, the output signal of pressure switch need to be after latching circuit output logic control signal JJTCZS, why to pass through latching circuit, because after the phenomenon of the super Shenzhen Airlines of Autonomous Underwater Vehicle generation row, due to the upper rudder of behaviour, Autonomous Underwater Vehicle is floating just, the signal of pressure switch output will disappear, in order to have there is the Autonomous Underwater Vehicle of fault in time recovery, to carry out malfunction elimination, must adopt latching circuit, guarantee that horizontal steering wheel continues the upper rudder of behaviour, makes Autonomous Underwater Vehicle can float to as early as possible the water surface and salvages and reclaim.
Latching circuit comprises three photoelectric isolating device N19, N20 and N21, after a 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, collecting electrode use+5V the power supply of N19 mouth, 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 by resistance R 43 ground connection; Collecting electrode use+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 powers by a resistance R 47 use+5V, 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 the row memory of super Shenzhen Airlines and power-off restoration function, when submarine navigation device works, pressure switch is not given the instruction of excess of export Shenzhen Airlines row, photoelectric isolating device N19, N20 and not conducting of N21, Self-locking for fault circuit output high level logic control signal JJTCZS; When pressure switch is once the instruction of giving excess of export Shenzhen Airlines row, photoelectric isolating device N19, N20 and N21 conducting, Self-locking for fault circuit output low level logic control signal JJTCZS, even if now super dark sailing command disappears, due to photoelectric isolating device N20 and N21 self-locking, Self-locking for fault circuit is output low level logic control signal JJTCZS still.Once circuit power-off, this latching circuit can automatically reset.
After obtaining above-mentioned three groups of signals, logic control signal JJTCZS input together with horizontal DC steering wheel pwm control signal DSP_PWM1 first with door arithmetic and logic unit with door 1; Logic control signal JJTCZS is by after not gate arithmetic and logic unit, with together with the pwm control signal NE555_PWM of NE555P clock chip output, input second with door arithmetic and logic unit and door 2; Input together with output signal with door 2 with the output signal of door 1 or door arithmetic and logic unit, or the output signal of door arithmetic and logic unit input level direct current steering wheel after photoelectricity isolation and drive amplification circuit, with the rotating of level of control direct current steering wheel.
With reference to accompanying drawing 6, photoelectricity isolation and drive amplification device adopt HCPL-0466, HCPL-0466 input power port 2 adopts 5V power supply, incoming signal port 3 input be or the pwm control signal of the 0～5V controlling for horizontal DC steering wheel of door arithmetic and logic unit output, out-put supply port 8 is connected bipolarity power supply VD+ and the VD-of horizontal DC steering wheel with 5, pwm control signal between output signal port 6 output VD-～VD+, with the rotating of level of control direct current steering wheel.
Fig. 2 has provided horizontal DC steering wheel control principle drawing of the present invention, when Autonomous Underwater Vehicle can work, pressure switch is exported high level logic control signal JJTCZS by latching circuit, with not output of door 2, with the pwm control signal that door 1 output DSP produces, this signal through or behind the door, by photoelectricity, isolate and drive amplification, be used for level of control steering wheel, make Autonomous Underwater Vehicle carry out steering according to control command, make Autonomous Underwater Vehicle steady steaming; When Autonomous Underwater Vehicle breaks down and while there is the phenomenon of super Shenzhen Airlines row, pressure switch is by 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, by photoelectricity, isolate and drive amplification, be used for level of control steering wheel, make the upper rudder of horizontal steering wheel behaviour, make the emergency ascent of Autonomous Underwater Vehicle energy, to guarantee the safety of navigation of Autonomous Underwater Vehicle.
In a word, a kind of Autonomous Underwater Vehicle horizontal DC steering wheel control method with emergency danger-avoiding function that the present invention proposes, the method has adopted soft switch technique to carry out logic switching controls, improved the functional reliability of system, avoid the switching of large electric current simultaneously, improved the electromagnetic compatibility of system.
Claims (3)
1. a submarine navigation device horizontal DC steering wheel control method that can emergency danger-avoiding, is characterized in that: comprise the following steps:
Step 1: the horizontal steering instruction that Underwater Vehicle Control System is provided, through photoelectricity isolation, generates 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, NE555_PWM signal is the control signal of the upper rudder of horizontal DC steering wheel behaviour; By pressure switch, pass through latching circuit output logic control signal JJTCZS, when submarine navigation device works, JJTCZS signal is high level logic control signal, and when super Shenzhen Airlines row phenomenon occurs submarine navigation device, JJTCZS signal is low-level logic control signal;
Step 2: DSP_PWM1 signal and JJTCZS signal are carried out to logic and operation and obtain and door 1 signal; JJTCZS signal is carried out after logic NOT computing, then carry out logic and operation with NE555PWM signal and obtain and door 2 signals;
Step 3: will carry out after logical OR computing with door 1 signal with door 2 signals, and through photoelectricity isolation and drive amplification, obtain the pwm control signal of horizontal DC steering wheel, the horizontal DC steering wheel of submarine navigation device is controlled.
2. a submarine navigation device horizontal DC steering engine control device that can emergency danger-avoiding, is characterized in that: comprise horizontal DC steering wheel dsp controller, 555 clock chips, pressure switch, latching circuit and photoelectricity isolation and drive amplification circuit in Underwater Vehicle Control System; The pwm control signal that horizontal DC steering wheel dsp controller produces is exported the horizontal DC steering wheel pwm control signal DSP_PWM1 of 0～5V after photoelectric isolating device; The pwm control signal NE555_PWM with 80% dutycycle of 555 clock chip output 0～5V, NE555_PWM signal is the control signal that makes the upper rudder of horizontal DC steering wheel behaviour; The signal of pressure switch output is through latching circuit output logic control signal JJTCZS, when submarine navigation device works, JJTCZS signal is high level logic control signal, and when super Shenzhen Airlines row phenomenon occurs submarine navigation device, JJTCZS signal is low-level logic control signal; Together with the pwm control signal DSP_PWM1 that logic control signal JJTCZS and horizontal DC steering wheel dsp controller produce, input first with a door arithmetic and logic unit; Logic control signal JJTCZS by not gate arithmetic and logic unit after with together with the pwm control signal NE555_PWM of clock chip, input second with a door arithmetic and logic unit; First inputs or door arithmetic and logic unit with together with the output signal of door arithmetic and logic unit with second with the output signal of door arithmetic and logic unit, or the output signal of door arithmetic and logic unit input level direct current steering wheel after photoelectricity isolation and drive amplification circuit, with the rotating of level of control direct current steering wheel.
3. a kind of submarine navigation device horizontal DC steering engine control device that can emergency danger-avoiding according to claim 2, is characterized in that: latching circuit comprises three photoelectric isolating devices; After a 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 use+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, 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 by a resistance eutral grounding; Collecting electrode use+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 powers with+5V by a resistance, the grounded emitter of mouth.
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| CN201210126180.9A CN102632987B (en) | 2012-04-27 | 2012-04-27 | Method for controlling horizontal direct current steering engine of underwater aircraft capable of avoiding risk in emergency and device therefor |
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| CN104167964B (en) * | 2014-08-12 | 2016-08-17 | 广西防城港核电有限公司 | The control system of a kind of hydraulic testpump diesel emergency generating set and method |
| CN105737807B (en) * | 2016-03-30 | 2018-08-17 | 深圳市朗诚科技股份有限公司 | A kind of marine monitoring device |
| CN107544527B (en) * | 2017-10-23 | 2020-07-14 | 西北工业大学 | Propeller rotating speed steering control device for small underwater vehicle |
| 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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