CN103092218A - Method and system for steering engine zero adjustment - Google Patents

Method and system for steering engine zero adjustment Download PDF

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Publication number
CN103092218A
CN103092218A CN2013100037800A CN201310003780A CN103092218A CN 103092218 A CN103092218 A CN 103092218A CN 2013100037800 A CN2013100037800 A CN 2013100037800A CN 201310003780 A CN201310003780 A CN 201310003780A CN 103092218 A CN103092218 A CN 103092218A
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China
Prior art keywords
zero
bit
parameter
steering wheel
control
Prior art date
Application number
CN2013100037800A
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Chinese (zh)
Inventor
刘华峰
孙恒博
杨德良
张婧
吴贵成
刘振敏
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中国航天科技集团公司烽火机械厂
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Priority to CN2013100037800A priority Critical patent/CN103092218A/en
Publication of CN103092218A publication Critical patent/CN103092218A/en

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Abstract

The invention discloses a method and a system for steering engine zero adjustment. The method comprises the following steps of receiving a zero adjusting order from a control terminal and zero adjusting zero adjusting parameters loaded in the zero adjusting order; analyzing the zero adjusting order and extracting and storing the zero adjusting parameters; and generating a steering engine driving signal according to the zero adjusting parameters and controlling a steering engine to rotate to a corresponding zero position. The system comprises a communication module, a field programmable gate array (FPGA) module connected with the communication module and a storage connected with the FPGA module. The method and the system for the steering engine zero adjustment are based on an FPGA chip and a steering engine state parameter memory system is developed so that the zero adjusting parameters are solidified in the storage. The zero adjustment is performed to a steering machine by the FPGA according to the zero adjusting parameters. Only order modification is involved in the zero adjusting procedure without changing a hardware circuit so that performance is steady and reliable.

Description

A kind of steering wheel zero-bit control method and system

Technical field

The application relates to the servo control technique field, particularly relates to a kind of steering wheel zero-bit control method and system.

Background technology

Steering wheel is a kind of driver of position servo.It receives certain control signal, exports certain angle, is applicable to the control system that those need angle constantly to change and can keep.In robot, Mechatronic Systems and model plane, steering wheel is the important output executing mechanism of Mechatronic Systems and model plane, and the effect of steering engine controller is to provide the necessary energy and control signal for steering wheel.

At present, existing steering engine controller is mainly analog steering engine controller, is mainly by the computing of operational amplifier implementation algorithm, by the method for the peripheral resistance value of Circuit tuning and capacitance, the zero-bit of steering wheel is adjusted.

By the research to prior art, the inventor finds: existing steering engine controller control algolithm is single and the circuit realization is complicated, often need to change hardware circuit by the method that the peripheral resistance value of Circuit tuning and capacitance are adjusted the zero-bit of steering wheel, complex operation is time-consuming and antijamming capability is not enough, regulating by this method the zero-bit that obtains easily occurs changing or deviation, can not reach enough stable and solidifying requirements, the reliability of therefore regulating result is very poor.

Summary of the invention

In view of this, the application provides a kind of steering wheel zero-bit control method and system, to realize the reliable adjustment of steering wheel zero-bit.

To achieve these goals, a kind of steering wheel zero-bit control method of providing of the application is as follows:

A kind of steering wheel zero-bit control method comprises:

Reception is from the zero-bit regulating command of control end, and described zero-bit regulating command is loaded with zero-bit and regulates parameter;

Resolve described zero-bit regulating command, extract and store described zero-bit and regulate parameter;

Regulate parameter according to described zero-bit and generate the servo driving signal, control steering wheel and run to corresponding zero-bit.

Preferably, receive the zero-bit regulating command from control end, specifically comprise:

Control end is with the regulating command of Preset Time interval transmission zero-bit;

Synchronously receive the described zero-bit regulating command that described control end sends according to the time interval identical with the Preset Time interval of described control end.

Preferably, described servo driving signal specifically comprises:

Position signalling and/or angle signal.

Preferably, control steering wheel and run to corresponding zero-bit, specifically comprise:

Control steering wheel according to described position signalling and run to corresponding position zero-bit;

And/or

Control steering wheel according to described angle signal and run to corresponding angle zero-bit.

Preferably, also comprise:

Judge whether to receive the zero-bit adjusting parameter reading command from described control end;

If read the described zero-bit of storage and regulate parameter and send to described control end.

Preferably, also comprise:

Judge whether power-off restarting of steering wheel;

If, read the described zero-bit of storage and regulate parameter, regulate parameter according to described zero-bit and generate the servo driving signal, and run to corresponding zero-bit according to described servo driving signal controlling steering wheel.

To achieve these goals, the application also provides a kind of steering wheel zero-bit regulating system as follows:

A kind of steering wheel zero-bit regulating system, this system comprises: communication module, the FPGA module that is connected with described communication module, the storer that is connected with described FPGA module, wherein:

Described communication module is used for receiving from the zero-bit regulating command of control end and described zero-bit regulating command being sent to described FPGA module, and described zero-bit regulating command is loaded with zero-bit and regulates parameter;

Described FPGA module is used for resolving described zero-bit regulating command, extracts described zero-bit and regulates parameter and described zero-bit is regulated in the described storer of parameter read-in, and regulate parameter generation servo driving signal according to described zero-bit, controls steering wheel and runs to corresponding zero-bit;

Described storer is used for storing the described zero-bit adjusting parameter that described FPGA module is extracted.

Preferably, described FPGA module comprises:

Data processing module is used for resolving described zero-bit regulating command, extracts described zero-bit and regulates parameter;

Data read-write module is used for described zero-bit is regulated the described storer of parameter read-in, or reads the zero-bit that stores in described storer and regulate parameter;

Servo driving signal generation module is used for regulating parameter according to described zero-bit and generates the servo driving signal, and described servo driving signal comprises position signalling and/or angle signal.

Preferably, described FPGA module also comprises:

Zero-bit is regulated the parameter output module, is connected with described storer, for the zero-bit adjusting parameter reading command that judges whether to receive from described control end, if read the described zero-bit that stores in described storer and regulate parameter and send to described control end;

Preferably, this system also comprises:

Reseting module is connected with described storer with described FPGA module respectively, is used for judge whether power-off restarting of steering wheel, if read the described zero-bit that stores in described storer and regulate parameter, and described zero-bit adjusting parameter is sent to described FPGA module.

by above technical scheme as seen, the application provides a kind of steering wheel zero-bit control method and system, the method and system are based on fpga chip, developed simultaneously rudder system state parameter memory system, after steering gear system receives zero-bit regulating command from control end, at first by the fpga core chip for zero-bit regulating command process, extracting the zero-bit that comprises in this zero-bit regulating command regulates parameter and is stored in storer and stores, regulate parameter according to this zero-bit simultaneously and generate servo driving signal and output, drive steering wheel and run to corresponding zero-bit, complete the zero-bit of steering wheel is regulated.The steering wheel zero-bit control method that the application provides and system can regulate zero-bit parameter and be solidificated in storer, regulate parameter by FPGA according to this zero-bit steering wheel is carried out the zero-bit adjusting, the zero-bit adjustment process only relates to modifying of order, does not need to change hardware circuit, so stable performance, reliable.

Description of drawings

In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, the accompanying drawing that the following describes is only some embodiment that put down in writing in the application, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

The schematic flow sheet of a kind of steering wheel zero-bit control method that Fig. 1 provides for the embodiment of the present application;

The schematic flow sheet of the another kind of steering wheel zero-bit control method that Fig. 2 provides for the embodiment of the present application;

The schematic flow sheet of another steering wheel zero-bit control method that Fig. 3 provides for the embodiment of the present application;

The structural representation of a kind of steering wheel zero-bit regulating system that Fig. 4 provides for the embodiment of the present application;

The structural representation of the another kind of steering wheel zero-bit regulating system that Fig. 5 provides for the embodiment of the present application;

The structural representation of another steering wheel zero-bit regulating system that Fig. 6 provides for the embodiment of the present application;

The structural representation of another steering wheel zero-bit regulating system that Fig. 7 provides for the embodiment of the present application.

Embodiment

In order to make those skilled in the art person understand better technical scheme in the application, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only a part of embodiment of the application, rather than whole embodiment.Based on the embodiment in the application, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all should belong to the scope of the application's protection.

Embodiment one:

The schematic flow sheet of a kind of steering wheel zero-bit control method that Fig. 1 provides for the embodiment of the present application.

In the embodiment of the present application, rudder system is controlled with state such as flight control computer by the control end of outside and shown.

As shown in Figure 1, the method comprises the following steps:

S100: receive the zero-bit regulating command from control end, be loaded with zero-bit in this zero-bit regulating command and regulate parameter.

In the prior art, analog steering engine controller is to realize by capacitance or the resistance value that changes external circuit for the adjusting of steering wheel zero-bit, so just revised hardware circuit, operation and adjusting are got up more loaded down with trivial details time-consuming, make the fast-response of system to reduce, and adjustability is relatively limited to.

In the embodiment of the present application, fpga core chip in digital steering engine controller can receive zero-bit regulating command from control end by telecommunication mode or wire communication mode, be loaded with in the zero-bit regulating command here and can regulate parameter for the steering wheel zero-bit of FPGA identification, zero-bit adjusting parameter comprises here: angle parameter and location parameter.

In addition, when receiving the zero-bit regulating command of control end transmission, rudder system fpga core chip need to keep starting state, constantly monitor the instruction that control end sends, this will cause energy resource consumption serious, in other embodiment of the application, in order to save the energy, when receiving the zero-bit regulating command that control end sends, can also be in the following ways:

Control end sends the zero-bit regulating command with default Fixed Time Interval, when receiving, the rudder system fpga chip is according to the synchronous zero-bit regulating command that receives the control end transmission of the time interval identical with control end, the process of transmitting of zero-bit regulating command and receiving course can be synchronous like this, and then make the rudder system fpga chip only synchronously receive in the moment that the zero-bit regulating command sends, saved the energy.

S200: resolve the zero-bit regulating command, extract and store zero-bit and regulate parameter.

In the embodiment of the present application, after receiving the zero-bit regulating command of control end transmission, at first the rudder system fpga chip can resolve this zero-bit regulating command, the zero-bit that extracts is wherein regulated parameter, and this zero-bit is regulated in the memory that parameter sends to self is connected and stored and solidify, the FPGA here and memory are equivalent to the steering wheel zero-bit and regulate the parameters memorizing system, can regulate parameter to the zero-bit of steering wheel and carry out stable memory, in order to follow-uply steering wheel is carried out in the zero-bit adjustment process to can regulate parameter to this zero-bit directly apply

S300: regulate parameter according to zero-bit and generate the servo driving signal, control steering wheel and run to corresponding zero-bit.

in the embodiment of the present application, the rudder system fpga chip is being regulated zero-bit when parameter stores in sending to storer, also can regulate parameter according to this zero-bit and generate corresponding servo driving signal, the servo driving signal here can drive signal for PWM, comprise position signalling and/or angle signal, run to corresponding zero-bit by this PWM drive steering wheel, and when load multichannel steering wheel, can also regulate parameter according to this zero-bit and generate multi-channel PWM driving signal, by multi-channel PWM drive signal respectively one by one the corresponding multichannel steering wheel of controlling run to corresponding zero-bit.

In addition, here control the process that steering wheel runs to corresponding zero-bit, be specifically as follows: control steering wheel according to the position signalling in this PWM servo driving signal and run to corresponding position zero-bit, and run to corresponding angle zero-bit according to the control of the angle signal in this PWM servo driving signal steering wheel.

In actual mechanical process, the fpga core chip of electric rudder system can receive the steering wheel zero-bit regulating command that flight control computer sends by the RS422 communication interface, then the steering wheel zero-bit that comprises in the zero-bit regulating command that receives being regulated parameter is stored in storer, by the fpga core chip, the zero-bit of steering wheel being regulated parameter again processes, the PWM of output steering wheel drives signal, drive rudder face and run to respective angles, complete the zero-bit of steering wheel is regulated.

by above technical scheme as seen, the embodiment of the present application provides a kind of steering wheel zero-bit control method, the method is based on fpga chip, developed simultaneously rudder system state parameter memory system, after steering gear system receives zero-bit regulating command from control end, at first by the fpga core chip for zero-bit regulating command process, extracting the zero-bit that comprises in this zero-bit regulating command regulates parameter and is stored in storer and stores, regulate parameter according to this zero-bit simultaneously and generate servo driving signal and output, drive steering wheel and run to corresponding zero-bit, complete the zero-bit of steering wheel is regulated.The steering wheel zero-bit control method that the embodiment of the present application provides can be regulated zero-bit parameter and be solidificated in storer, regulate parameter by FPGA according to this zero-bit steering wheel is carried out the zero-bit adjusting, the zero-bit adjustment process only relates to modifying of order, does not need to change hardware circuit, so stable performance, reliable.

Embodiment two:

The schematic flow sheet of the another kind of steering wheel zero-bit control method that Fig. 2 provides for the embodiment of the present application.

In the embodiment of the present application, whether control end such as flight control computer etc. go to check the zero-bit adjusting parameter that writes in rudder system correct sometimes as required, this moment, control end can send zero-bit adjusting parameter reading command to rudder system, and the electric steering engine zero-bit adjusting parameter that is solidificated in storer also can be according to certain communications protocol form, under fixing communication frequency, read from storer by the fpga core chip, feed back on flight control computer through data communication interface and show.

As shown in Figure 2, the method comprises the following steps:

S400: judge whether to receive the zero-bit adjusting parameter reading command from control end.

In the embodiment of the present application, when receiving zero-bit that control end sends and regulate the parameter reading command, just mean that control end need to read the zero-bit that is solidificated in the rudder system storer and regulate parameter, in order to check this zero-bit to regulate parameter whether correctly or whether need to change.

S500: if read the zero-bit of storage and regulate parameter and send to control end.

When receiving zero-bit that control end sends and regulating the parameter reading command, fpga chip reads the zero-bit that is solidificated in storer and regulates parameter, this parameter is sent to control end, for control end, the zero-bit that receives being regulated parameter analyzes, whether correct or no needs change in check, and where necessary this zero-bit adjusting parameter are given showing on display unit.

According to above technical scheme as can be known, the steering wheel zero-bit control method that the embodiment of the present application provides, can preserve the zero-bit of solidifying to control end feedback rudder system self as required and regulate parameter, whether correctly maybe need to revise in order to check this zero-bit to regulate parameter, such as: for whether inspection parameter writes correct, the electric steering engine zero-bit is regulated parameter can be by reading in storer, feed back on flight control computer through the fpga core chip and show, the accuracy that assurance steering wheel zero-bit that like this can be more reliable and more stable is regulated makes the performance of system more stable, reliable.

Embodiment three:

The schematic flow sheet of another steering wheel zero-bit control method that Fig. 3 provides for the embodiment of the present application.

In actual use, rudder system often can run into the situation of power-off restarting, at this moment needs the zero-bit of rudder system is readjusted.

In the embodiment of the present application, when the rudder system power-off restarting, can utilize the zero-bit that is solidificated in storer to regulate parameter rudder system is carried out reset operation.

As shown in Figure 3, the method comprises the following steps:

S600: judge whether power-off restarting of steering wheel.

S700: if, read the zero-bit of storage and regulate parameter, regulate parameter according to zero-bit and generate the servo driving signal, and run to corresponding zero-bit according to servo driving signal controlling steering wheel.

In the prior art, after power-off restarting, if resistance value and capacitance change, analog steering engine controller needs again the steering wheel zero-bit to be regulated, adjust capacitance and the resistance value of rudder system peripheral circuit, will revise hardware circuit like this, operation and adjusting are got up more loaded down with trivial details time-consuming, make the fast-response of system to reduce, and adjustability is relatively limited to.

In the embodiment of the present application, when the steering wheel power-off restarting, the starting-up signal of steering wheel power-off restarting can be detected, read thereby can control the zero-bit adjusting parameter that is solidificated in storer, zero-bit to rudder system is carried out reset operation, this adjustment is carried out from the software angle by digitial controller, compares the change hardware circuit, and software maintenance is convenient, simple and easy.

The detailed process of the reset operation here can for: utilize this zero-bit to regulate parameter and generate corresponding servo driving signal, the servo driving signal here can drive signal for PWM, comprise position signalling and/or angle signal, run to corresponding zero-bit by this PWM drive steering wheel, and when load multichannel steering wheel, can also regulate parameter according to this zero-bit and generate multi-channel PWM and drive signal, by multi-channel PWM drive signal respectively one by one the corresponding multichannel steering wheel of controlling run to corresponding zero-bit.

In addition, here control the process that steering wheel runs to corresponding zero-bit, be specifically as follows: control steering wheel according to the position signalling in this PWM servo driving signal and run to corresponding position zero-bit, and run to corresponding angle zero-bit according to the control of the angle signal in this PWM servo driving signal steering wheel.

according to above technical scheme as can be known, in the embodiment of the present application, at the fpga core chip internal, reset mechanism can be set, when system cut-off is restarted when re-powering, can read the good zero-bit of debugging of curing according to reset mechanism and regulate parameter from storer, and this parameter is input to fpga chip participation calculation process, output servo driving signal, drive steering wheel and run to corresponding zero-bit, like this when system cut-off restarts, the zero-bit of steering wheel still can remain unchanged, not needing again to send instruction by control end adjusts, thereby it is very easy to operate, be conducive to the maintenance of system, can greatly reduce the zeroing time, the capability of fast response of raising system.

Embodiment four:

The structural representation of a kind of steering wheel zero-bit regulating system that Fig. 4 provides for the embodiment of the present application.

The embodiment of the present application also provides a kind of steering wheel zero-bit regulating system, the structural representation of a kind of steering wheel zero-bit regulating system that Fig. 4 provides for the embodiment of the present application.

As shown in Figure 4, the steering wheel zero-bit regulating system that the application provides comprises: communication module 1, the FPGA module 2 that is connected with communication module 1, the storer 3 that is connected with FPGA module 2, wherein:

Communication module 1 is used for receiving from the zero-bit regulating command of control end and the zero-bit regulating command being sent to FPGA module 2, and the zero-bit regulating command is loaded with zero-bit and regulates parameter.

FPGA module 2 is used for resolving the zero-bit regulating command, and the zero-bit of extracting is wherein regulated parameter and zero-bit is regulated in parameter read-in storer 3, and generates the servo driving signal according to zero-bit adjusting parameter, controls steering wheel and runs to corresponding zero-bit.

Storer 3 is used for storing the zero-bit adjusting parameter that FPGA module 2 is extracted.

in the embodiment of the present application, electric steering engine zero-bit regulating system based on FPGA is by communication module 1, FPGA module 2, storer 3 forms, simultaneously there is again the power supply that is connected with these three modules respectively that the three is powered, communication module 1 is used for completing the both-way communication that control end is flight control computer and FPGA module 2, and realize voltage transitions, the effect of communication isolation, storer 3 is used for storing the zero-bit adjusting digital parameters of steering wheel, and the zero-bit of reading as required steering wheel is regulated parameter, FPGA module 2 is used for completing electric steering engine zero-bit parameter, control, the feedback input signal algorithm process, the PWM of output steering wheel drives signal, drive rudder face and run to respective angles, complete the zero-bit of four road steering wheels is regulated.

In actual applications, communication module 1 can adopt RS422 data communication module, consisted of by MAX1490AEPG chip, SN74HC86D chip and peripheral circuit, storer 3 can be made of AT24C02 chip and peripheral circuit, FPGA module 2 is connected with communication module 1, storer 3 and realizes controlling, and can be made of XC3S400 chip and peripheral circuit.

In actual mechanical process, the fpga core chip of electric rudder system can receive the steering wheel zero-bit regulating command that flight control computer sends by the RS422 communication interface, then the steering wheel zero-bit that comprises in the zero-bit regulating command that receives being regulated parameter is stored in storer, by the fpga core chip, the zero-bit of steering wheel being regulated parameter again processes, the PWM of output steering wheel drives signal, drive rudder face and run to respective angles, complete the zero-bit of steering wheel is regulated.

by above technical scheme as seen, the embodiment of the present application provides a kind of steering wheel zero-bit regulating system, this system is based on fpga chip, developed simultaneously rudder system state parameter memory system, after steering gear system receives zero-bit regulating command from control end, at first by the fpga core chip for zero-bit regulating command process, extracting the zero-bit that comprises in this zero-bit regulating command regulates parameter and is stored in storer and stores, regulate parameter according to this zero-bit simultaneously and generate servo driving signal and output, drive steering wheel and run to corresponding zero-bit, complete the zero-bit of steering wheel is regulated.The steering wheel zero-bit regulating system that the embodiment of the present application provides can be regulated zero-bit parameter and is solidificated in storer, regulate parameter by FPGA according to this zero-bit steering wheel is carried out the zero-bit adjusting, the zero-bit adjustment process only relates to modifying of order, does not need to change hardware circuit, so stable performance, reliable.

Embodiment five:

The structural representation of the another kind of steering wheel zero-bit regulating system that Fig. 5 provides for the embodiment of the present application.

In the embodiment of the present application, modular design is also adopted in FPGA module 2 inside.

As shown in Figure 5, the steering wheel zero-bit regulating system that provides of the application comprises in FPGA module 2:

Data processing module 21 is used for resolving the zero-bit regulating command, extracts zero-bit and regulates parameter.

Data read-write module 22 be used for zero-bit is regulated parameter read-in storer 3, or the zero-bit that stores in read memory 3 is regulated parameter.

Servo driving signal generation module 23 is used for regulating parameter according to zero-bit and generates the servo driving signal, and the servo driving signal comprises position signalling and/or angle signal.

in the embodiment of the present application, FPGA module 2 inside comprise data processing module 21, data read-write module 22 and servo driving signal generation module 23, after data processing module 21 receives data for the fpga core chip, according to communications protocol, data are carried out respective handling, and send and read, write command, data read-write module 22 is used for by serial ports, zero-bit being regulated parameter read-in storer 3, or the zero-bit that stores in read memory 3 is regulated parameter, servo driving signal generation module 23, be used for regulating parameter according to zero-bit and generate the servo driving signal, the servo driving signal comprises position signalling and/or angle signal.

Embodiment six:

The structural representation of another steering wheel zero-bit regulating system that Fig. 6 provides for the embodiment of the present application.

In the embodiment of the present application, whether control end such as flight control computer etc. go to check the zero-bit adjusting parameter that writes in rudder system correct sometimes as required, this moment, control end can send zero-bit adjusting parameter reading command to rudder system, and the electric steering engine zero-bit adjusting parameter that is solidificated in storer also can be according to certain communications protocol form, under fixing communication frequency, read from storer by the fpga core chip, feed back on flight control computer through data communication interface and show.

As shown in Figure 6, in the embodiment of the present application, FPGA module 2 also comprises:

Zero-bit is regulated parameter output module 24, is connected with storer 3, for the zero-bit adjusting parameter reading command that judges whether to receive from control end, if the zero-bit that stores in read memory 3 is regulated parameter and also sent to control end.

When receiving zero-bit that control end sends and regulate the parameter reading command, zero-bit in fpga chip is regulated parameter output module 24 and is read the zero-bit adjusting parameter that is solidificated in storer by data read-write module 22, and this parameter is sent to control end, for control end, the zero-bit that receives being regulated parameter analyzes, whether correct or no needs change in check, and where necessary this zero-bit adjusting parameter are given showing on display unit.

According to above technical scheme as can be known, the steering wheel zero-bit regulating system that the embodiment of the present application provides, can preserve the zero-bit of solidifying to control end feedback rudder system self as required and regulate parameter, whether correctly maybe need to revise in order to check this zero-bit to regulate parameter, such as: for whether inspection parameter writes correct, the electric steering engine zero-bit is regulated parameter can be by reading in storer, feed back on flight control computer through the fpga core chip and show, the accuracy that assurance steering wheel zero-bit that like this can be more reliable and more stable is regulated makes the performance of system more stable, reliable.

Embodiment seven:

The structural representation of another steering wheel zero-bit regulating system that Fig. 7 provides for the embodiment of the present application.

In actual use, rudder system often can run into the situation of power-off restarting, at this moment needs the zero-bit of rudder system is readjusted.

In the embodiment of the present application, when the rudder system power-off restarting, can utilize the zero-bit that is solidificated in storer to regulate parameter rudder system is carried out reset operation.

As shown in Figure 7, in the embodiment of the present application, this system also comprises:

Reseting module 4 is connected with storer with the FPGA module respectively, is used for judge whether power-off restarting of steering wheel, if, the zero-bit adjusting parameter that stores in read memory 3, and zero-bit is regulated parameter send to FPGA module 2.

in the embodiment of the present application, reseting module 4 is receiving reset instruction or is restarting when obtaining starting-up signal in rudder system outage, the zero-bit adjusting parameter that control will be solidificated in storer 3 is read, and zero-bit is regulated parameter send to FPGA module 2, zero-bit by 2 pairs of rudder systems of FPGA module is carried out reset operation, detailed process can be utilized this zero-bit to regulate parameter for: FPGA module 2 and generate corresponding servo driving signal, the servo driving signal here can drive signal for PWM, comprise position signalling and/or angle signal, run to corresponding zero-bit by this PWM drive steering wheel, and when load multichannel steering wheel, can also regulate parameter according to this zero-bit and generate multi-channel PWM driving signal, by multi-channel PWM drive signal respectively one by one the corresponding multichannel steering wheel of controlling run to corresponding zero-bit.

In addition, here control the process that steering wheel runs to corresponding zero-bit, be specifically as follows: control steering wheel according to the position signalling in this PWM servo driving signal and run to corresponding position zero-bit, and run to corresponding angle zero-bit according to the control of the angle signal in this PWM servo driving signal steering wheel.

according to above technical scheme as can be known, in the embodiment of the present application, reset mechanism can also be set, when system cut-off is restarted when re-powering, can be read by reseting module the good zero-bit of debugging of curing according to reset mechanism and regulate parameter from storer, and this parameter is input to fpga chip participation calculation process, output servo driving signal, drive steering wheel and run to corresponding zero-bit, like this when system cut-off restarts, the zero-bit of steering wheel still can remain unchanged, not needing again to send instruction by control end adjusts, thereby it is very easy to operate, be conducive to the maintenance of system, can greatly reduce the zeroing time, the capability of fast response of raising system.

The technical scheme that provides by above-described embodiment as can be known, steering wheel zero-bit control method and system based on FPGA that the application provides, when needs are regulated the steering wheel zero-bit, the control end of electric rudder system is such as flight control computer can be according to certain communications protocol, regulate reading and writing instruction and the data of parameter to fpga core chip transmission steering wheel zero-bit, after the fpga core chip receives write command, can according to the sequential chart of writing of memory chip, zero-bit be regulated parameter be written in the AT24C02 memory chip by serial on the SDA pin.

On the contrary, for whether inspection parameter writes correct, the electric steering engine zero-bit is regulated parameter also can be according to certain communications protocol form, under fixing communication frequency, by reading in the AT24C02 storer, the fpga core chip receive read instruction after, the sequential chart of reading according to the reservoir chip, zero-bit is regulated parameter by series read-out data on the SDA pin, data are input in the fpga core chip on the one hand, can feed back on flight control computer by the RS422 data communication interface through the fpga core chip on the other hand to show.

Simultaneously, when restarting in order to reach the rudder system outage, the steering wheel zero-bit does not need again to adjust, the purpose that zero-bit still can remain unchanged.At the fpga core chip internal, also be provided with reseting module, when system re-powered, reseting module was carried out and read the instruction that zero-bit is regulated parameter from the AT24C02 storer, and this parameter is input to control module participation computing.

Each functional module of fpga core chip internal of the application is all to adopt VHDL or VerilogHDL hardware description language to write generation, does not relate to the IP kernel of other company, and each functional module is with the global clock signal driver simultaneously, and parallel running is processed.It is according to certain communications protocol form that the electric steering engine zero-bit is regulated parameter, under fixing communication frequency, write in the AT24C02 storer through the fpga core chip by the RS422 data communication interface by flight control computer, the steering wheel zero-bit is regulated parameter and is participated in computing simultaneously, after carrying out relevant treatment, the PWM of output steering wheel drives signal, drives rudder face and runs to respective angles, completes the zero-bit of steering wheel is regulated.

In sum compared with prior art, the technical scheme that provides of the embodiment of the present application has following beneficial effect:

at first, the embodiment of the present application provides a kind of steering wheel zero-bit control method and system, the method and system are based on fpga chip, developed simultaneously rudder system state parameter memory system, after steering gear system receives zero-bit regulating command from control end, at first by the fpga core chip for zero-bit regulating command process, extracting the zero-bit that comprises in this zero-bit regulating command regulates parameter and is stored in storer and stores, regulate parameter according to this zero-bit simultaneously and generate servo driving signal and output, drive steering wheel and run to corresponding zero-bit, complete the zero-bit of steering wheel is regulated.The steering wheel zero-bit control method that the embodiment of the present application provides and system can regulate zero-bit parameter and be solidificated in storer, regulate parameter by FPGA according to this zero-bit steering wheel is carried out the zero-bit adjusting, the zero-bit adjustment process only relates to modifying of order, do not need to change hardware circuit, so stable performance, reliable.

Secondly, steering wheel zero-bit control method and system that the embodiment of the present application provides, can preserve the zero-bit of solidifying to control end feedback rudder system self as required and regulate parameter, whether correctly maybe need to revise in order to check this zero-bit to regulate parameter, such as: for whether inspection parameter writes correct, the electric steering engine zero-bit is regulated parameter can be by reading in storer, feed back on flight control computer through the fpga core chip and show, the accuracy that assurance steering wheel zero-bit that like this can be more reliable and more stable is regulated makes the performance of system more stable, reliable.

again, steering wheel zero-bit control method and system that the embodiment of the present application provides, can also reset mechanism be set at the fpga core chip internal, when system cut-off is restarted when re-powering, can read the good zero-bit of debugging of curing according to reset mechanism and regulate parameter from storer, and this parameter is input to fpga chip participation calculation process, output servo driving signal, drive steering wheel and run to corresponding zero-bit, like this when system cut-off restarts, the zero-bit of steering wheel still can remain unchanged, not needing again to send instruction by control end adjusts, thereby it is very easy to operate, be conducive to the maintenance of system, can greatly reduce the zeroing time, the capability of fast response of raising system.

In addition, just can realize the zero-bit of multi-channel electric steering wheel is regulated because the present invention has only adopted a slice fpga chip, the steering engine controller with respect to analog realization has reduced cost, and integrated level, reliability are higher.

Above a kind of steering wheel zero-bit control method and the system that the application is provided is described in detail, used specific case herein the application's principle and embodiment are set forth, the explanation of above embodiment just is used for helping to understand the application's method and core concept thereof; Simultaneously, for one of ordinary skill in the art, the thought according to the application all will change in specific embodiments and applications, and in sum, this description should not be construed as the restriction to the application.

In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment that between each embodiment, identical similar part is mutually referring to getting final product.

Need to prove, in this article, such as " greater than " or " surpassing " or " higher than " or " less than " or " lower than " etc. relationship description, all can be understood as " greater than and be not equal to " or " less than and be not equal to ", also can be understood as " more than or equal to " or " less than or equal to ", and not necessarily require or hint a kind of situation restriction or intrinsic that is necessary for.

In addition, in this article, relational terms such as " first " and " second " etc. only is used for an entity or operation are separated with another entity or operational zone, and not necessarily requires or hint and have the relation of any this reality or sequentially between these entities or operation.And, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make the process, method, article or the equipment that comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.In the situation that not more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.

Need to prove, the above is only a part of preferred embodiment of present techniques scheme, make those skilled in the art can fully understand or realize the application, rather than whole embodiment, General Principle as defined herein can be in the situation that do not break away from the application's spirit or scope, realization in other embodiments.Therefore; based on above embodiment; for those skilled in the art; do not break away from the application's principle, do not making under the creative work prerequisite, can also make multiple apparent modification and retouching; the every other embodiment that obtains by these modifications and retouching; can be applied to the present techniques scheme, these do not affect the application's realization, all should belong to the application's protection domain.Therefore, the application will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (10)

1. a steering wheel zero-bit control method, is characterized in that, comprising:
Reception is from the zero-bit regulating command of control end, and described zero-bit regulating command is loaded with zero-bit and regulates parameter;
Resolve described zero-bit regulating command, extract and store described zero-bit and regulate parameter;
Regulate parameter according to described zero-bit and generate the servo driving signal, control steering wheel and run to corresponding zero-bit.
2. method according to claim 1, is characterized in that, receives the zero-bit regulating command from control end, specifically comprises:
Control end is with the regulating command of Preset Time interval transmission zero-bit;
Synchronously receive the described zero-bit regulating command that described control end sends according to the time interval identical with the Preset Time interval of described control end.
3. method according to claim 1, is characterized in that, described servo driving signal specifically comprises:
Position signalling and/or angle signal.
4. method according to claim 3, is characterized in that, controls steering wheel and run to corresponding zero-bit, specifically comprises:
Control steering wheel according to described position signalling and run to corresponding position zero-bit;
And/or
Control steering wheel according to described angle signal and run to corresponding angle zero-bit.
5. method according to claim 1, is characterized in that, also comprises:
Judge whether to receive the zero-bit adjusting parameter reading command from described control end;
If read the described zero-bit of storage and regulate parameter and send to described control end.
6. method according to claim 1, is characterized in that, also comprises:
Judge whether power-off restarting of steering wheel;
If, read the described zero-bit of storage and regulate parameter, regulate parameter according to described zero-bit and generate the servo driving signal, and run to corresponding zero-bit according to described servo driving signal controlling steering wheel.
7. a steering wheel zero-bit regulating system, is characterized in that, this system comprises: communication module, the FPGA module that is connected with described communication module, the storer that is connected with described FPGA module, wherein:
Described communication module is used for receiving from the zero-bit regulating command of control end and described zero-bit regulating command being sent to described FPGA module, and described zero-bit regulating command is loaded with zero-bit and regulates parameter;
Described FPGA module is used for resolving described zero-bit regulating command, extracts described zero-bit and regulates parameter and described zero-bit is regulated in the described storer of parameter read-in, and regulate parameter generation servo driving signal according to described zero-bit, controls steering wheel and runs to corresponding zero-bit;
Described storer is used for storing the described zero-bit adjusting parameter that described FPGA module is extracted.
8. system according to claim 7, is characterized in that, described FPGA module comprises:
Data processing module is used for resolving described zero-bit regulating command, extracts described zero-bit and regulates parameter;
Data read-write module is used for described zero-bit is regulated the described storer of parameter read-in, or reads the zero-bit that stores in described storer and regulate parameter;
Servo driving signal generation module is used for regulating parameter according to described zero-bit and generates the servo driving signal, and described servo driving signal comprises position signalling and/or angle signal.
9. system according to claim 7, is characterized in that, described FPGA module also comprises:
Zero-bit is regulated the parameter output module, is connected with described storer, for the zero-bit adjusting parameter reading command that judges whether to receive from described control end, if read the described zero-bit that stores in described storer and regulate parameter and send to described control end.
10. system according to claim 7, is characterized in that, this system also comprises:
Reseting module is connected with described storer with described FPGA module respectively, is used for judge whether power-off restarting of steering wheel, if read the described zero-bit that stores in described storer and regulate parameter, and described zero-bit adjusting parameter is sent to described FPGA module.
CN2013100037800A 2013-01-06 2013-01-06 Method and system for steering engine zero adjustment CN103092218A (en)

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CN104973265A (en) * 2015-07-07 2015-10-14 西安航空学院 Method for correcting zero position of electric steering engine
CN105537926A (en) * 2015-12-15 2016-05-04 沪东中华造船(集团)有限公司 Method for removing mechanical zero offset of steering engine and rudder lever
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CN106546160A (en) * 2016-11-24 2017-03-29 兰州飞行控制有限责任公司 A kind of electric steering engine displacement transducer zero testing circuit
CN107102651A (en) * 2017-05-10 2017-08-29 北京机械设备研究所 A kind of online adjusting zero method of helm gear
CN109059682A (en) * 2018-08-31 2018-12-21 西安航天动力技术研究所 A kind of steering engine mechanical zero fast alignment device
CN109533384A (en) * 2018-11-02 2019-03-29 北京航天控制仪器研究所 A kind of electric steering engine fast zero-setting method
CN109533384B (en) * 2018-11-02 2020-09-18 北京航天控制仪器研究所 Rapid zero setting method for electric steering engine
CN109857054A (en) * 2019-02-28 2019-06-07 西安微电子技术研究所 A kind of electric steering engine Automatic Zero Set and its adjusting zero method

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