CN103207571A - Encoder signal simulation system and method applied to simulator of loading and unloading machine - Google Patents
Encoder signal simulation system and method applied to simulator of loading and unloading machine Download PDFInfo
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- CN103207571A CN103207571A CN2013100687993A CN201310068799A CN103207571A CN 103207571 A CN103207571 A CN 103207571A CN 2013100687993 A CN2013100687993 A CN 2013100687993A CN 201310068799 A CN201310068799 A CN 201310068799A CN 103207571 A CN103207571 A CN 103207571A
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Abstract
The invention discloses an encoder signal simulation system and method applied to a simulator of a loading and unloading machine. The method includes: firstly calculating a current numerical value of the encoder according to collected speed and moving direction signals sent by a large vehicle, a small vehicle or a main lifting handle of a console of the loading and unloading machine; secondly converting the current numerical value and obtaining an encoder SSI (synchronous serial interface) simulation signal corresponding to an actual encoder value according to a real encoder hardware; and lastly, obtaining a transmission time series of the encoder SSI simulation signal according to a synchronous SSI clock signal sent by an encoder SSI simulation signal receiving device, and sending the encoder SSI simulation signal to the encoder SSI signal receiving device to finish the analogue simulation of the encoder SSI simulation signal. The simulator system and method can flexibly control the encoder simulation signal of the simulator of the loading and unloading machine and simulates different working conditions without relying on the real encoder hardware device, thereby improving the training efficiency of an operator of the loading and unloading machine of a nuclear power station.
Description
Technical field
The present invention relates to the analog simulation control field of nuclear power station material-loading/unloading machine, be specifically related to a kind of code device signal analogue system and analogy method that is applied to the fuel manipulator crane analog machine.
Background technology
Fuel manipulator crane is the key equipment of finishing reactor refuling during the nuclear power station cold-refueling, load and unload, transport fuel assembly under water between reactor core and fuel transfer device tumbler (RX side), its coverage is that reactor refuling pond and in-pile component are deposited the pond.From the fuel manipulator crane use experience of domestic and international nuclear power station, during the nuclear power station unit operation, fuel manipulator crane is parked in the reactor building, can't use fuel manipulator crane that the operator is carried out the practical operation training.The control desk on the fuel manipulator crane was removed and was transferred in certain andron this moment, linked to each other with the fuel manipulator crane analog machine, formed a complete fuel manipulator crane operation training system, the training on operation that the fuel manipulator crane operator is correlated with.
The fuel manipulator crane analog machine of at present domestic and international nuclear power station has all adopted the design of all-real object 1:1, and namely motor, scrambler, limit switch have all adopted the entity hardware device.This design philosophy not only had been unfavorable for the layout of The whole control system but also various operating conditions of analogue simulation flexibly, and lacked excellent economy.
Summary of the invention
At the defective that exists in the prior art, the object of the present invention is to provide a kind of code device signal analogue system and method that is applied to the fuel manipulator crane analog machine, improve nuclear power station material-loading/unloading machine operation person's training efficiency.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine, comprise clock signal acquisition module, the clock signal detection module that is connected with the clock signal acquisition module and the simulate signal output module that is connected with the clock signal detection module, this system also comprises speed acquisition module, the scrambler numerical evaluation module that is connected with the speed acquisition module and the Gray code conversion module that is connected with scrambler numerical evaluation module, the Gray code conversion module is connected with the simulate signal output module, wherein:
The synchronous SSI clock signal that the clock signal acquisition module sends for the scrambler SSI signal simulation signal receiver of gathering the fuel manipulator crane control desk, and send signal to clock signal detection module (12);
The speed acquisition module is used for gathering rate signal and the traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send, and calculates the corresponding speed numerical value of unloader cart, dolly or the current travel position of main lifting handle according to the rate signal that collects;
Scrambler numerical evaluation module is used for according to described speed numerical value and traffic direction calculated signals cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler;
The Gray code conversion module is used for the current numerical value of scrambler is converted to corresponding Gray code, and according to fuel manipulator crane cart, dolly or mainly promote the actual scrambler corresponding codes device figure place of using and Gray code is carried out logical shift be converted to the simulate signal with actual coding device numerical value corresponding codes device SSI, and scrambler SSI simulate signal is sent to the simulate signal output module;
The clock signal detection module is for detection of the synchronous data transmission timing of SSI clock signal, and testing result is sent to the simulate signal output module;
The simulate signal output module is used for according to the data transmission timing scrambler SSI simulate signal being sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk.
Further, aforesaid a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine, the synchronous SSI clock signal that scrambler SSI signal simulation signal receiver sends is gathered and obtained to described clock signal acquisition module according to the sampling time interval I that sets.
Further, aforesaid a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine, described rate signal and traffic direction signal are gathered and obtained to described speed acquisition module according to the sampling time interval II that sets.
Further again, aforesaid a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine, scrambler numerical evaluation module comprises:
Incremental computations unit: be used for calculating cart scrambler, dolly scrambler or the main corresponding scrambler numerical value of the scrambler increment that promotes according to speed numerical value and default mathematical formulae;
Increment sign computing unit: be used for determining the positive and negative of scrambler numerical value increment according to the traffic direction signal;
Current numerical value computing unit: be used for according to described scrambler numerical value increment and positive and negative calculating cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler.
Further, aforesaid a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine, the simulate signal output module is set to high level with the output of scrambler SSI simulate signal, and the simulate signal output module sends scrambler SSI signal simulation signal receiver in synchronous SSI rising edge of clock signal with scrambler SSI simulate signal.
A kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine may further comprise the steps:
(1) gathers the synchronous SSI clock signal that the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk sends;
(2) gather rate signal and the traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send, and calculate fuel manipulator crane cart, dolly or the corresponding speed numerical value of the current travel position of main lifting handle;
(3) according to described speed numerical value and traffic direction calculated signals cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler;
(4) the current numerical value of scrambler is converted to corresponding Gray code, and according to fuel manipulator crane cart, dolly or mainly promote the actual scrambler corresponding codes device figure place of using and Gray code is carried out logical shift be converted to the simulate signal with actual coding device numerical value corresponding codes device SSI;
(5) the data transmission timing of the synchronous SSI clock signal of detection;
(6) scrambler SSI simulate signal is sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk according to the data transmission timing.
Further, aforesaid a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine in the step (three), according to the concrete mode of the current numerical value of speed numerical value and traffic direction calculated signals scrambler is:
A. calculate cart scrambler, dolly scrambler or the main corresponding scrambler numerical value of the scrambler increment that promotes according to speed numerical value and default mathematical formulae;
B. determine the positive and negative of scrambler numerical value increment according to the traffic direction signal;
C. according to described scrambler numerical value increment and positive and negative calculating cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler.
Further, aforesaid a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine, in the step (five), the concrete mode that detects the data transmission timing of synchronous SSI clock signal is: detect the high level of synchronous SSI clock signal, if the duration of high level signal is greater than setting value t
1, then expression sends the synchronous SSI clock signal sequence appearance of data, occurs until the clock sequence that meets the demands otherwise continuation detects the high level of synchronous SSI clock signal; t
1Span be 50-150ms.
Further again, aforesaid a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine, in the step (six), according to the data transmission timing with the concrete mode that scrambler SSI simulate signal sends to scrambler SSI signal simulation signal receiver be:
I. detect synchronous SSI clock signal high level negative edge afterwards, negative edge presentation code device SSI simulate signal receiving equipment occurs and has been ready to received code device SSI simulate signal;
Ii. detect the rising edge after half clock period of synchronous SSI clock signal negative edge, at the delay time t through setting
2After, the simulate signal output module begins scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver; t
2Span be 0-1us;
Iii. after step I i finished, the simulate signal output module began to detect the negative edge of synchronous SSI clock signal, detected that scrambler SSI simulate signal output port to be set to low level and to continue a time interval behind the negative edge be t
3The data fall time; t
3Span be 10-40us.
Further, aforesaid a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine, among the step I i, send successively at most significant digit to the lowest order of synchronous SSI rising edge of clock signal by scrambler SSI simulate signal, send of scrambler SSI simulate signal at every turn.
Beneficial effect of the present invention is: analogue system of the present invention and method can realize control flexibly to the scrambler simulate signal of fuel manipulator crane analog machine according to actual needs, the different operating modes of analogue simulation, no longer rely on real encoder hardware equipment, the fuel manipulator crane analog machine that adopts the research and development of this new design idea has better economy with comparing in the past, make the fuel manipulator crane analog machine be easier to operation and layout simultaneously, thereby improved nuclear power station material-loading/unloading machine operation person's training efficiency, can be applicable to the same category of device analog machine of various nuclear power station heap types.
Description of drawings
Fig. 1 is a kind of structured flowchart that is applied to the code device signal analogue system of fuel manipulator crane analog machine of the present invention;
Fig. 2 is a kind of process flow diagram that is applied to the code device signal emulation mode of fuel manipulator crane analog machine of the present invention;
Fig. 3 is the workflow diagram of clock detection module in the embodiment;
Fig. 4 is the workflow diagram of scrambler numerical evaluation module in the embodiment;
Fig. 5 is the workflow diagram of simulate signal output module in the embodiment.
Embodiment
The present invention is described in further detail below in conjunction with Figure of description and embodiment.
Fig. 1 shows a kind of structured flowchart that is applied to the code device signal analogue system of fuel manipulator crane analog machine of the present invention, this system comprises clock signal acquisition module 11, clock signal detection module 12, simulate signal output module 13, speed acquisition module 14, scrambler numerical evaluation module 15 and Gray code conversion module 16, clock signal acquisition module 11 is connected with clock signal detection module 12, clock signal detection module 12 is connected with simulate signal output module 13, speed acquisition module 14 is connected with scrambler numerical evaluation module 15, scrambler numerical evaluation module 15 is connected with Gray code modular converter 16, and Gray code conversion module 16 is connected with simulate signal output module 13; Wherein:
The synchronous SSI clock signal that clock signal acquisition module 11 sends for the scrambler SSI signal simulation signal receiver of gathering the fuel manipulator crane control desk, and send signal to clock signal detection module 12; The synchronous SSI clock signal that this module is sent by scrambler SSI signal simulation signal receiver according to the sampling time interval collection of setting;
Scrambler numerical evaluation module 15 is used for according to described speed numerical value and traffic direction calculated signals cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler; This module comprises:
Incremental computations unit: be used for calculating cart scrambler, dolly scrambler or the main corresponding scrambler numerical value of the scrambler increment that promotes according to rate signal and default mathematical formulae;
Increment sign computing unit: be used for determining the positive and negative of scrambler numerical value increment according to the traffic direction signal;
Current numerical value computing unit: be used for according to described scrambler numerical value increment and positive and negative calculating cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler.
The rate signal that scrambler numerical evaluation module 15 collects speed acquisition module 14 utilizes the predefined mathematical formulae of program to calculate corresponding codes device numerical value increment with it, is used for scrambler numerical value increment according to the direction run signal again and is set to positive increment or negative value increment; When the current numerical value of calculation code device, be 0 with scrambler numerical variable (scrambler numerical value increment) assignment during 15 initialization of scrambler numerical evaluation module, the scrambler numerical variable adds up with described positive increment or negative value increment in each cycle period then, draws fuel manipulator crane cart scrambler this moment, dolly scrambler or the main current numerical value that promotes scrambler.
Gray code conversion module 16 is used for the current numerical value of scrambler is converted to corresponding Gray code, and according to fuel manipulator crane cart, dolly or mainly promote the actual scrambler corresponding codes device figure place of using and Gray code is carried out logical shift be converted to the simulate signal with actual coding device numerical value corresponding codes device SSI, and scrambler SSI simulate signal is sent to simulate signal output module 13.One of the current numerical value elder generation logical shift left of the scrambler that this module obtains scrambler numerical evaluation module 15, and then carry out XOR with original scrambler numerical value, draw the Gray code of scrambler numerical value correspondence this moment, again the Gray code that obtains is carried out the logical shift conversion according to the encoder hardware corresponding codes device figure place (for example: 25) of the actual use of fuel manipulator crane, finally obtain the simulate signal with actual coding device numerical value corresponding codes device SSI;
Clock signal detection module 12 is for detection of the synchronous data transmission timing of SSI clock signal, and testing result is sent to simulate signal output module 13;
Simulate signal output module 13 is used for according to the data transmission timing scrambler SSI simulate signal being sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk.
Generally, simulate signal output module 13 is set to high level with the output of scrambler SSI signal, in synchronous SSI rising edge of clock signal scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver.
Analogue system of the present invention can realize utilizing the real fuel manipulator crane code device signal of software approach emulation, can realize control flexibly to the scrambler simulate signal of fuel manipulator crane analog machine according to actual needs, the different operating modes of analogue simulation, no longer rely on real encoder hardware equipment, thereby improve nuclear power station material-loading/unloading machine operation person's training efficiency.Scrambler SSI simulate signal receiving equipment and fuel manipulator crane handle belong to the fuel manipulator crane control desk, wherein scrambler SSI simulate signal receiving equipment is responsible for sending synchronous SSI clock signal to the fuel manipulator crane analog machine, receives the scrambler SSI simulate signal that is sent by the fuel manipulator crane analog machine simultaneously; The fuel manipulator crane operator is when carrying out training on operation, operation fuel manipulator crane handle, send speed and the traffic direction signal of fuel manipulator crane cart, dolly or main lifting handle, deliver to the fuel manipulator crane analog machine, the fuel manipulator crane analog machine carries out logic according to these signals and numerical operation draws the current numerical value of fuel manipulator crane scrambler, and then utilizes this numerical value to carry out the analogue simulation of scrambler SSI signal.
In actual application, fuel manipulator crane analog machine control platform can adopt control platform and the corresponding load module of this platform and the output module based on the FPGA technology, adopts NI CompactRIO platform, programming software to adopt NI LabVIEW software, clock signal acquisition module to adopt NI9401 digital quantity input module, speed acquisition module to adopt NI9222 analog quantity load module, simulate signal output module to adopt NI9401 digital quantity output module such as the control platform.
Fig. 2 shows a kind of process flow diagram that is applied to the code device signal emulation mode of fuel manipulator crane analog machine based on analogue system among Fig. 1, and this method may further comprise the steps:
Step S21: the synchronous SSI clock signal that capturing and coding device SSI signal simulation signal receiver sends;
SSI(Synchronous Serial Interface according to scrambler) signal transmitter system, the sampling time interval collection that clock signal acquisition module 11 is set according to software program is also obtained the synchronous SSI clock signal that the scrambler SSI signal simulation signal receiver by the fuel manipulator crane control desk sends, and send signal to clock signal detection module 12.
Step S22: gather rate signal and traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send;
Step S23: calculate cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler;
The sampling time interval collection that speed acquisition module 14 is set according to software program is by the cart of fuel manipulator crane control desk, the speed that dolly or main lifting handle send and traffic direction signal, fuel manipulator crane analog machine software program is through logical process and numerical evaluation, draw fuel manipulator crane cart this moment, the corresponding speed numerical value of dolly or the current travel position of main lifting handle and direction, and speed numerical value and direction sent to scrambler numerical evaluation module 15, scrambler numerical evaluation module 15 is according to described speed numerical value and traffic direction calculated signals and unloader cart, dolly or the main cart scrambler of correspondence respectively that promotes, dolly scrambler or the main current numerical value that promotes scrambler, calculate concrete mode as shown in Figure 4:
1) at first, calculates cart scrambler, dolly scrambler or the main corresponding scrambler numerical value of the scrambler increment that promotes according to speed numerical value and the default mathematical formulae of program;
2) determine the positive and negative of scrambler numerical value increment according to the traffic direction signal again;
3) according to described scrambler numerical value increment and positive and negative calculating cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler.
Scrambler numerical evaluation module 15 utilizes the default mathematical formulae of program to calculate with it corresponding scrambler numerical value increment the speed numerical value of S22 in the step, the traffic direction signal is used for scrambler numerical value increment and is set to positive increment or negative value increment, be 0 with scrambler numerical variable assignment during initialization, the scrambler numerical variable adds up with described positive increment or negative value increment in each cycle period then, draws fuel manipulator crane cart scrambler this moment, dolly scrambler or the main current numerical value that promotes scrambler.Wherein, utilize the default mathematical formulae of program to calculate corresponding codes device numerical value increment according to speed numerical value and be prior art.
Step S24: the current numerical value to scrambler carries out conversion processing, and the scrambler figure place of using according to reality obtains the simulate signal with actual coding device numerical value corresponding codes device SSI;
Gray code conversion module 16 is carried out Gray code conversion with the current numerical value of the scrambler that step S23 obtains, specifically be with one of the first logical shift left of the current numerical value of scrambler, and then carry out XOR with original scrambler numerical value, draw the Gray code of scrambler numerical value correspondence this moment, again the Gray code that obtains is carried out the logical shift conversion according to the encoder hardware corresponding codes device figure place (for example: 25) of the actual use of fuel manipulator crane, finally obtain the simulate signal with actual coding device numerical value corresponding codes device SSI.Wherein, logical shift is converted to corresponding codes device SSI simulate signal and is prior art the scrambler figure place of using according to reality to Gray code.
Step S25: the data transmission timing that detects synchronous SSI clock signal;
Step S26: scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver according to the data transmission timing.
Detected the data transmission timing of the synchronous SSI clock signal among the step S21 by clock signal detection module 12, and testing result sent to simulate signal output module 13, the scrambler SSI simulate signal that simulate signal output module 13 obtains step S24 according to the data transmission timing that calculates among the step S25 sends to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk.The concrete mode that detects the data transmission timing of synchronous SSI clock signal is: detect the high level of synchronous SSI clock signal, if the duration of high level signal is greater than setting value t
1, then expression sends the synchronous SSI clock signal sequence appearance soon of data, occurs until the clock sequence that meets the demands otherwise continuation detects the high level of synchronous SSI clock signal; t
1Span be 50-150ms.
According to the data transmission timing with the concrete mode that scrambler SSI simulate signal sends to scrambler SSI signal simulation signal receiver be:
I. detect synchronous SSI clock signal high level negative edge afterwards, negative edge presentation code device SSI simulate signal receiving equipment occurs and has been ready to received code device SSI simulate signal;
Ii. detect the rising edge after half clock period of synchronous SSI clock signal negative edge, at the delay time t through setting
2After, the simulate signal output module begins scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver; t
2Span be 0-1us;
Iii. after step I i finished, the simulate signal output module began to detect the negative edge of synchronous SSI clock signal, detected that scrambler SSI simulate signal output port to be set to low level and to continue a time interval behind the negative edge be t
3The data fall time; t
3Span be 10-40us.
In the present embodiment, the flow process of the data transmission timing of clock signal detection module detection simulation signal output module as shown in Figure 3, clock signal detection module 12 is according to the synchronous SSI clock signal of obtaining among the step S21, detect synchronous SSI clock signal high level at first earlier, judge high level lasting time then, if the duration surpasses certain hour t at interval
1, then the expression synchronous SSI clock signal sequence that sends data is about to occur, and after this detects the negative edge of synchronous SSI clock signal when simulate signal output module 13, show this moment receiving equipment be ready to can received code device SSI simulate signal.After the simulate signal output module detected half clock period of synchronous SSI clock signal negative edge, rising edge appearred in the SSI clock signal synchronously, is t through a time interval again
2Time-delay after, the simulate signal output module begins to send scrambler SSI simulate signal, that at first send when sending is the most significant digit MSB of scrambler SSI simulate signal, and the like, the rising edge that simulate signal output module 13 detects synchronous SSI clock at every turn just sends a scrambler SSI simulate signal, sends until the lowest order LSB of scrambler SSI simulate signal to finish.After sending end, simulate signal output module 13 begins to detect the negative edge of synchronous SSI clock signal, and detecting that negative edge post-simulation signal output module is set to scrambler SSI simulate signal output port low level and continues a time interval is t
3The data fall time, last simulate signal output module is set to lasting high level with scrambler SSI signal output port, need resend scrambler SSI simulate signal until next time.So far, whole scrambler SSI signal simulation simulation process finishes, as shown in Figure 5.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technology thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. code device signal analogue system that is applied to the fuel manipulator crane analog machine, comprise clock signal acquisition module (11), the clock signal detection module (12) that is connected with clock signal acquisition module (11) and the simulate signal output module (13) that is connected with clock signal detection module (12), this system also comprises speed acquisition module (14), the scrambler numerical evaluation module (15) that is connected with speed acquisition module (14) and the Gray code conversion module (16) that is connected with scrambler numerical evaluation module (15), Gray code conversion module (16) is connected with simulate signal output module (13), it is characterized in that:
The synchronous SSI clock signal that clock signal acquisition module (11) sends for the scrambler SSI signal simulation signal receiver of gathering the fuel manipulator crane control desk, and send signal to clock signal detection module (12);
Speed acquisition module (14) is used for gathering rate signal and the traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send, and calculates the corresponding speed numerical value of unloader cart, dolly or the current travel position of main lifting handle according to the rate signal that collects;
Scrambler numerical evaluation module (15) is used for according to described speed numerical value and traffic direction calculated signals cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler;
Gray code conversion module (16) is used for the current numerical value of scrambler is converted to corresponding Gray code, and according to fuel manipulator crane cart, dolly or mainly promote the actual scrambler corresponding codes device figure place of using and Gray code is carried out logical shift be converted to the simulate signal with actual coding device numerical value corresponding codes device SSI, and scrambler SSI simulate signal is sent to simulate signal output module (13);
Clock signal detection module (12) is for detection of the synchronous data transmission timing of SSI clock signal, and testing result is sent to simulate signal output module (13);
Simulate signal output module (13) is used for according to the data transmission timing scrambler SSI simulate signal being sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk.
2. a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine as claimed in claim 1 is characterized in that: the synchronous SSI clock signal that scrambler SSI signal simulation signal receiver sends is gathered and obtained to described clock signal acquisition module (11) according to the sampling time interval I that sets.
3. a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine as claimed in claim 1 is characterized in that: described rate signal and traffic direction signal are gathered and obtained to described speed acquisition module (14) according to the sampling time interval II that sets.
4. as claim 1 or 3 described a kind of code device signal analogue systems that are applied to the fuel manipulator crane analog machine, it is characterized in that scrambler numerical evaluation module (15) comprising:
Incremental computations unit: be used for calculating cart scrambler, dolly scrambler or the main corresponding scrambler numerical value of the scrambler increment that promotes according to speed numerical value and default mathematical formulae;
Increment sign computing unit: be used for determining the positive and negative of scrambler numerical value increment according to the traffic direction signal;
Current numerical value computing unit: be used for according to described scrambler numerical value increment and positive and negative calculating cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler.
5. a kind of code device signal analogue system that is applied to the fuel manipulator crane analog machine as claimed in claim 1, it is characterized in that: simulate signal output module (13) is set to high level with the output of scrambler SSI simulate signal, and the simulate signal output module sends scrambler SSI signal simulation signal receiver in synchronous SSI rising edge of clock signal with scrambler SSI simulate signal.
6. code device signal emulation mode that is applied to the fuel manipulator crane analog machine may further comprise the steps:
(1) gathers the synchronous SSI clock signal that the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk sends;
(2) gather rate signal and the traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send, and calculate fuel manipulator crane cart, dolly or the corresponding speed numerical value of the current travel position of main lifting handle;
(3) according to described speed numerical value and traffic direction calculated signals cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler;
(4) the current numerical value of scrambler is converted to corresponding Gray code, and according to fuel manipulator crane cart, dolly or mainly promote the actual scrambler corresponding codes device figure place of using and Gray code is carried out logical shift be converted to the simulate signal with actual coding device numerical value corresponding codes device SSI;
(5) the data transmission timing of the synchronous SSI clock signal of detection;
(6) scrambler SSI simulate signal is sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk according to the data transmission timing.
7. a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine as claimed in claim 6 is characterized in that: in the step (three), according to the concrete mode of the current numerical value of speed numerical value and traffic direction calculated signals scrambler be:
A. calculate cart scrambler, dolly scrambler or the main corresponding scrambler numerical value of the scrambler increment that promotes according to speed numerical value and default mathematical formulae;
B. determine the positive and negative of scrambler numerical value increment according to the traffic direction signal;
C. according to described scrambler numerical value increment and positive and negative calculating cart scrambler, dolly scrambler or the main current numerical value that promotes scrambler.
8. as claim 6 or 7 described a kind of code device signal emulation modes that are applied to the fuel manipulator crane analog machine, it is characterized in that: in the step (five), the concrete mode that detects the data transmission timing of synchronous SSI clock signal is: detect the high level of synchronous SSI clock signal, if the duration of high level signal is greater than setting value t
1, then expression sends the synchronous SSI clock signal sequence appearance of data, occurs until the clock sequence that meets the demands otherwise continuation detects the high level of synchronous SSI clock signal; t
1Span be 50-150ms.
9. a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine as claimed in claim 8, it is characterized in that: in the step (six), according to the data transmission timing with the concrete mode that scrambler SSI simulate signal sends to scrambler SSI signal simulation signal receiver be:
I. detect synchronous SSI clock signal high level negative edge afterwards, negative edge presentation code device SSI simulate signal receiving equipment occurs and has been ready to received code device SSI simulate signal;
Ii. detect the rising edge after half clock period of synchronous SSI clock signal negative edge, at the delay time t through setting
2After, the simulate signal output module begins scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver; t
2Span be 0-1us;
Iii. after step I i finished, the simulate signal output module began to detect the negative edge of synchronous SSI clock signal, detected that scrambler SSI simulate signal output port to be set to low level and to continue a time interval behind the negative edge be t
3The data fall time; t
3Span be 10-40us.
10. a kind of code device signal emulation mode that is applied to the fuel manipulator crane analog machine as claimed in claim 9, it is characterized in that: among the step I i, send successively at most significant digit to the lowest order of synchronous SSI rising edge of clock signal by scrambler SSI simulate signal, send of scrambler SSI simulate signal at every turn.
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| CN104516293A (en) * | 2014-10-22 | 2015-04-15 | 中国电子科技集团公司第四十一研究所 | Incremental encoder simulating device and method |
| CN106200613A (en) * | 2016-07-11 | 2016-12-07 | 浙江大学 | A kind of analog detecting synchronous serial signal fault and analog detecting method |
| CN108052093A (en) * | 2017-12-20 | 2018-05-18 | 哈尔滨广瀚燃气轮机有限公司 | A kind of feedback signal simulator of executing agency's absolute position encoder |
| CN109542030A (en) * | 2018-10-15 | 2019-03-29 | 中国核电工程有限公司 | A kind of nuclear power station material-loading/unloading machine condition monitoring system and its monitoring method based on FPGA |
| CN110989485A (en) * | 2019-12-13 | 2020-04-10 | 华电重工股份有限公司 | Hard wire control method, device and equipment for discharging car |
| CN112017499A (en) * | 2020-07-17 | 2020-12-01 | 中国核电工程有限公司 | Semi-physical material loading and unloading machine simulator system based on simulation technology |
| CN112665835A (en) * | 2020-11-12 | 2021-04-16 | 中广核核电运营有限公司 | Testing device and system for overspeed protection device |
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| CN104516293A (en) * | 2014-10-22 | 2015-04-15 | 中国电子科技集团公司第四十一研究所 | Incremental encoder simulating device and method |
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| CN110989485A (en) * | 2019-12-13 | 2020-04-10 | 华电重工股份有限公司 | Hard wire control method, device and equipment for discharging car |
| CN112017499A (en) * | 2020-07-17 | 2020-12-01 | 中国核电工程有限公司 | Semi-physical material loading and unloading machine simulator system based on simulation technology |
| CN112017499B (en) * | 2020-07-17 | 2023-05-16 | 中国核电工程有限公司 | Semi-physical loading and unloading machine simulator system based on simulation technology |
| CN112665835A (en) * | 2020-11-12 | 2021-04-16 | 中广核核电运营有限公司 | Testing device and system for overspeed protection device |
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