CN103207571B - 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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- CN103207571B CN103207571B CN201310068799.3A CN201310068799A CN103207571B CN 103207571 B CN103207571 B CN 103207571B CN 201310068799 A CN201310068799 A CN 201310068799A CN 103207571 B CN103207571 B CN 103207571B
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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 encoder signal simulation system and the analogy method that are applied to fuel manipulator crane analog machine.
Background technology
Fuel manipulator crane completes the key equipment of reactor refuling during being nuclear power station cold-refueling, load and unload under water between reactor core and fuel transfer device tumbler (RX side), transport fuel assembly, its coverage is that reactor refuling pond and in-pile component deposit pond.From the fuel manipulator crane use experience of domestic and international nuclear power station, during nuclear power station unit operation, fuel manipulator crane is parked in reactor building, and fuel manipulator crane cannot be used to carry out practical operation training to operator.Control desk now on fuel manipulator crane is removed and is transferred in certain andron, is connected with fuel manipulator crane analog machine, forms a complete fuel manipulator crane operation training system, to the training on operation that fuel manipulator crane operator is correlated with.
The fuel manipulator crane analog machine of nuclear power station all have employed the design of all-real object 1:1 both at home and abroad at present, and namely motor, scrambler, limit switch all have employed entity hardware device.This design philosophy be not only unfavorable for whole control system layout but also can not the various operating condition of analogue simulation flexibly, and lack good economy.
Summary of the invention
For the defect existed in prior art, the object of the present invention is to provide a kind of encoder signal simulation system and the method that are applied to fuel manipulator crane analog machine, improve the training efficiency of nuclear power station material-loading/unloading machine operator.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of encoder signal simulation system being applied to fuel manipulator crane analog machine, the simulate signal output module comprising clock signal acquisition module, the clock signal detection module be connected with clock signal acquisition module and be connected with clock signal detection module, this system also comprise speed acquisition module, with the scrambler Numerical Simulation Module of speed acquisition model calling and the Gray code conversion module that is connected with scrambler Numerical Simulation Module, Gray code conversion module is connected with simulate signal output module, wherein:
The synchronous SSI clock signal that clock signal acquisition module sends for the scrambler SSI signal simulation signal receiver gathering fuel manipulator crane control desk, and send signal to clock signal detection module (12);
Speed acquisition module for the rate signal that gathers fuel manipulator crane cart, dolly or main lifting handle and send and traffic direction signal, and calculates the speed values corresponding to unloader cart, dolly or the current travel position of main lifting handle according to the rate signal collected;
Scrambler Numerical Simulation Module is used for the current value calculating cart scrambler, bogie encoder or main lifting scrambler according to described speed values and traffic direction signal;
Gray code conversion module is used for the current value of scrambler to be converted to corresponding Gray code, and Gray code is carried out logical shift and is converted to the scrambler SSI simulate signal corresponding with actual coding device numerical value by the scrambler figure place corresponding according to the scrambler of the actual use of fuel manipulator crane cart, dolly or main lifting, and scrambler SSI simulate signal is sent to simulate signal output module;
Testing result for detecting the data transmission timing of synchronous SSI clock signal, and is sent to simulate signal output module by clock signal detection module;
Simulate signal output module is used for the scrambler SSI signal simulation signal receiver according to data transmission timing, scrambler SSI simulate signal being sent to fuel manipulator crane control desk.
Further, be applied to an encoder signal simulation system for fuel manipulator crane analog machine as above, described clock signal acquisition module gathers according to the sampling time interval I of setting and obtains the synchronous SSI clock signal that scrambler SSI signal simulation signal receiver sends.
Further, a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as above, described speed acquisition module gathers according to the sampling time interval II of setting and rate signal described in obtaining and traffic direction signal.
Further again, a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as above, scrambler Numerical Simulation Module comprises:
Incremental computations unit: for calculating the scrambler numerical value increment corresponding to cart scrambler, bogie encoder or main lifting scrambler according to speed values and default mathematical formulae;
Increment sign computing unit: positive and negative for according to traffic direction signal determination scrambler numerical value increment;
Current value computing unit: for the current value according to described scrambler numerical value increment and positive and negative calculating cart scrambler, bogie encoder or main lifting scrambler.
Further, a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as above, scrambler SSI simulate signal exports and is set to high level by simulate signal output module, and scrambler SSI simulate signal is sent scrambler SSI signal simulation signal receiver at the rising edge of synchronous SSI clock signal by simulate signal output module.
Be applied to a code device signal emulation mode for fuel manipulator crane analog machine, comprise the following steps:
(1) the synchronous SSI clock signal that the scrambler SSI signal simulation signal receiver gathering fuel manipulator crane control desk sends;
(2) gather rate signal and traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send, and calculate fuel manipulator crane cart, dolly or the speed values corresponding to the current travel position of main lifting handle;
(3) current value of cart scrambler, bogie encoder or main lifting scrambler is calculated according to described speed values and traffic direction signal;
(4) current value of scrambler is converted to corresponding Gray code, and Gray code is carried out logical shift and is converted to the scrambler SSI simulate signal corresponding with actual coding device numerical value by the scrambler figure place corresponding according to the scrambler of the actual use of fuel manipulator crane cart, dolly or main lifting;
(5) the data transmission timing of synchronous SSI clock signal is detected;
(6) according to data transmission timing, scrambler SSI simulate signal is sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk.
Further, a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as above, in step (three), the concrete mode according to the current value of speed values and traffic direction signal calculation code device is:
A. the scrambler numerical value increment corresponding to cart scrambler, bogie encoder or main lifting scrambler is calculated according to speed values and default mathematical formulae;
B. positive and negative according to traffic direction signal determination scrambler numerical value increment;
C. according to the current value of described scrambler numerical value increment and positive and negative calculating cart scrambler, bogie encoder or main lifting scrambler.
Further, a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as above, in step (five), the concrete mode detecting the data transmission timing of synchronous SSI clock signal is: the high level detecting synchronous SSI clock signal, if the duration of high level signal is greater than setting value t
1, then represent that the synchronous SSI clock signal sequence sending data occurs, otherwise continue to detect the high level of synchronous SSI clock signal until the clock sequence met the demands occurs; t
1span be 50-150ms.
Further again, a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as above, in step (six), the concrete mode according to data transmission timing scrambler SSI simulate signal being sent to scrambler SSI signal simulation signal receiver is:
I. detect the negative edge after synchronous SSI clock signal high level, negative edge occurs that presentation code device SSI simulate signal receiving equipment has got out received code device SSI simulate signal;
Ii. the rising edge after half clock period of synchronous SSI clock signal negative edge is detected, at the delay time t through setting
2after, simulate signal output module starts scrambler SSI simulate signal to be sent to scrambler SSI signal simulation signal receiver; t
2span be 0-1us;
Iii. after step I i terminates, simulate signal output module starts the negative edge detecting synchronous SSI clock signal, and after negative edge being detected, scrambler SSI simulate signal output port being set to low level and continuing a time interval is t
3the data fall time; t
3span be 10-40us.
Further, a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as above, in step I i, sent successively to lowest order by the most significant digit of scrambler SSI simulate signal at the rising edge of synchronous SSI clock signal, each of sending scrambler SSI simulate signal.
Beneficial effect of the present invention is: analogue system of the present invention and method can realize controlling flexibly to the scrambler simulate signal of fuel manipulator crane analog machine according to actual needs, the different operating mode of analogue simulation, no longer rely on real encoder hardware equipment, the fuel manipulator crane analog machine adopting this brand-new mentality of designing to research and develop has better economy compared with in the past, make fuel manipulator crane analog machine be easier to operation and arrange simultaneously, thus improve the training efficiency of nuclear power station material-loading/unloading machine operator, can be applicable to the same category of device analog machine of various nuclear power station heap-type.
Accompanying drawing explanation
Fig. 1 is a kind of structured flowchart being applied to the encoder signal simulation system of fuel manipulator crane analog machine of the present invention;
Fig. 2 is a kind of process flow diagram being 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 embodiment;
Fig. 4 is the workflow diagram of scrambler Numerical Simulation Module in embodiment;
Fig. 5 is the workflow diagram of simulate signal output module in embodiment.
Embodiment
Below in conjunction with Figure of description and embodiment, the present invention is described in further detail.
Fig. 1 shows a kind of structured flowchart being applied to the encoder signal simulation 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 Simulation 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 Simulation Module 15, scrambler Numerical Simulation Module 15 is connected with Gray code modular converter 16, 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 gathering 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;
Speed acquisition module 14 is for the rate signal that gathers fuel manipulator crane cart, dolly or main lifting handle and send and traffic direction signal, and calculate the speed values corresponding to unloader cart, dolly or the current travel position of main lifting handle according to the rate signal collected, speed values and traffic direction signal are sent to scrambler Numerical Simulation Module 15; The speed that this module is sent by the cart of fuel manipulator crane control desk, dolly or main lifting handle according to the sampling time interval collection of setting and traffic direction signal;
Scrambler Numerical Simulation Module 15 is for calculating the current value of cart scrambler, bogie encoder or main lifting scrambler according to described speed values and traffic direction signal; This module comprises:
Incremental computations unit: for calculating the scrambler numerical value increment corresponding to cart scrambler, bogie encoder or main lifting scrambler according to rate signal and default mathematical formulae;
Increment sign computing unit: positive and negative for according to traffic direction signal determination scrambler numerical value increment;
Current value computing unit: for the current value according to described scrambler numerical value increment and positive and negative calculating cart scrambler, bogie encoder or main lifting scrambler.
The mathematical formulae that the rate signal that speed acquisition module 14 collects utilizes program to preset by scrambler Numerical Simulation Module 15 carries out calculating scrambler numerical value increment corresponding with it, then is used for scrambler numerical value increment to be set to positive increment or negative value increment according to direction run signal; When the current value of calculation code device, be 0 by scrambler numerical variable (scrambler numerical value increment) assignment during 15 initialization of scrambler Numerical Simulation Module, then in each cycle period, scrambler numerical variable adds up with described positive increment or negative value increment, draws the current value of now fuel manipulator crane cart scrambler, bogie encoder or main lifting scrambler.
Gray code conversion module 16 is for being converted to corresponding Gray code by the current value of scrambler, and Gray code is carried out logical shift and is converted to the scrambler SSI simulate signal corresponding with actual coding device numerical value by the scrambler figure place corresponding according to the scrambler of the actual use of fuel manipulator crane cart, dolly or main lifting, and scrambler SSI simulate signal is sent to simulate signal output module 13.The first logical shift left one of current value of the scrambler that scrambler Numerical Simulation Module 15 obtains by this module, and then carry out XOR with original scrambler numerical value, draw the Gray code that now scrambler numerical value is corresponding, again scrambler figure place (such as: 25) corresponding according to the encoder hardware of the actual use of fuel manipulator crane for the Gray code obtained is carried out logical shift conversion, finally obtain the scrambler SSI simulate signal corresponding with actual coding device numerical value;
Testing result for detecting the data transmission timing of synchronous SSI clock signal, and is sent to simulate signal output module 13 by clock signal detection module 12;
Simulate signal output module 13 is for being sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk by scrambler SSI simulate signal according to data transmission timing.
Under normal circumstances, scrambler SSI signal exports and is set to high level by simulate signal output module 13, at the rising edge of synchronous SSI clock signal, scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver.
Analogue system of the present invention can realize the fuel manipulator crane code device signal utilizing software approach simulating realistic, can realize controlling flexibly to the scrambler simulate signal of fuel manipulator crane analog machine according to actual needs, the different operating mode of analogue simulation, no longer rely on real encoder hardware equipment, thus improve the training efficiency of nuclear power station material-loading/unloading machine operator.Scrambler SSI simulate signal receiving equipment and fuel manipulator crane handle belong to fuel manipulator crane control desk, wherein scrambler SSI simulate signal receiving equipment is responsible for sending synchronous SSI clock signal to fuel manipulator crane analog machine, receives the scrambler SSI simulate signal sent by fuel manipulator crane analog machine simultaneously; 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 fuel manipulator crane analog machine, fuel manipulator crane analog machine carries out according to these signals the current value that logic and numerical operation draw 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 parametric controller can adopt based on the parametric controller of FPGA technology and the corresponding load module of this platform and output module, and such as parametric controller adopts that NICompactRIO platform, programming software adopt NI LabVIEW software, clock signal acquisition module adopts NI9401 digital quantity input module, speed acquisition module to adopt NI9222 Analog input mModule, simulate signal output module to adopt NI9401 digital output module.
Fig. 2 shows a kind of process flow diagram being applied to the code device signal emulation mode of fuel manipulator crane analog machine based on analogue system in Fig. 1, and the method comprises the following steps:
The synchronous SSI clock signal that step S21: 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 sets according to software program also obtains the synchronous SSI clock signal sent by the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk, and sends signal to clock signal detection module 12.
Step S22: the rate signal that collection fuel manipulator crane cart, dolly or main lifting handle send and traffic direction signal;
Step S23: the current value calculating cart scrambler, bogie encoder or main lifting scrambler;
The sampling time interval collection that speed acquisition module 14 sets 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 simulator software program is through logical process and numerical evaluation, draw now fuel manipulator crane cart, dolly or the speed values corresponding to the current travel position of main lifting handle and direction, and speed values and direction are sent to scrambler Numerical Simulation Module 15, scrambler Numerical Simulation Module 15 calculates and unloader cart according to described speed values and traffic direction signal, the cart scrambler of dolly or main lifting difference correspondence, the current value of bogie encoder or main lifting scrambler, calculate concrete mode as shown in Figure 4:
1) mathematical formulae first, preset according to speed values and program calculates the scrambler numerical value increment corresponding to cart scrambler, bogie encoder or main lifting scrambler;
2) positive and negative again according to traffic direction signal determination scrambler numerical value increment;
3) according to the current value of described scrambler numerical value increment and positive and negative calculating cart scrambler, bogie encoder or main lifting scrambler.
The mathematical formulae that the speed values of S22 in step utilizes program to preset by scrambler Numerical Simulation Module 15 carries out calculating the scrambler numerical value increment corresponded, traffic direction signal is used for scrambler numerical value increment to be set to positive increment or negative value increment, be 0 by scrambler numerical variable assignment during initialization, then in each cycle period, scrambler numerical variable adds up with described positive increment or negative value increment, draws the current value of now fuel manipulator crane cart scrambler, bogie encoder or main lifting scrambler.Wherein, it is prior art that the mathematical formulae utilizing program to preset according to speed values calculates corresponding scrambler numerical value increment.
Step S24: conversion processing is carried out to the current value of scrambler, and obtain the scrambler SSI simulate signal corresponding with actual coding device numerical value according to the scrambler figure place that reality uses;
The current value of the scrambler that step S23 obtains by Gray code conversion module 16 carries out Gray code conversion, specifically by first for the current value of scrambler logical shift left one, and then carry out XOR with original scrambler numerical value, draw the Gray code that now scrambler numerical value is corresponding, again scrambler figure place (such as: 25) corresponding according to the encoder hardware of the actual use of fuel manipulator crane for the Gray code obtained is carried out logical shift conversion, finally obtain the scrambler SSI simulate signal corresponding with actual coding device numerical value.Wherein, it is prior art that the scrambler figure place used according to reality is converted to corresponding scrambler SSI simulate signal to Gray code logical shift.
Step S25: the data transmission timing detecting synchronous SSI clock signal;
Step S26: scrambler SSI simulate signal is sent to scrambler SSI signal simulation signal receiver according to data transmission timing.
By the data transmission timing of the synchronous SSI clock signal in clock signal detection module 12 detecting step S21, and testing result is sent to simulate signal output module 13, simulate signal output module 13 is sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk according to the scrambler SSI simulate signal that step S24 obtains by the data transmission timing calculated in step S25.The concrete mode detecting the data transmission timing of synchronous SSI clock signal is: the high level detecting synchronous SSI clock signal, if the duration of high level signal is greater than setting value t
1, then represent that the synchronous SSI clock signal sequence sending data is about to occur, otherwise continue to detect the high level of synchronous SSI clock signal until the clock sequence met the demands occurs; t
1span be 50-150ms.
The concrete mode according to data transmission timing scrambler SSI simulate signal being sent to scrambler SSI signal simulation signal receiver is:
I. detect the negative edge after synchronous SSI clock signal high level, negative edge occurs that presentation code device SSI simulate signal receiving equipment has got out received code device SSI simulate signal;
Ii. the rising edge after half clock period of synchronous SSI clock signal negative edge is detected, at the delay time t through setting
2after, simulate signal output module starts scrambler SSI simulate signal to be sent to scrambler SSI signal simulation signal receiver; t
2span be 0-1us;
Iii. after step I i terminates, simulate signal output module starts the negative edge detecting synchronous SSI clock signal, and after negative edge being detected, scrambler SSI simulate signal output port being set to low level and continuing a time interval is t
3the data fall time; t
3span be 10-40us.
In 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 obtained in step S21, first synchronous SSI clock signal high level is first detected, then high level lasting time is judged, if the duration exceedes certain hour interval t
1, then represent that the synchronous SSI clock signal sequence sending data is about to occur, after this when simulate signal output module 13 detects the negative edge of synchronous SSI clock signal, show now receiving equipment be ready to can received code device SSI simulate signal.After simulate signal output module detects half clock period of synchronous SSI clock signal negative edge, there is rising edge in synchronous SSI clock signal, then be t through a time interval
2time delay after, simulate signal output module starts to send scrambler SSI simulate signal, that first send when sending is the most significant digit MSB of scrambler SSI simulate signal, the like, simulate signal output module 13 detects that the rising edge of synchronous SSI clock just sends a scrambler SSI simulate signal, until the lowest order LSB of scrambler SSI simulate signal is sent at every turn.After sending end, simulate signal output module 13 starts the negative edge detecting synchronous SSI clock signal, and detecting that scrambler SSI simulate signal output port is set to low level and continues a time interval by negative edge post-simulation signal output module is t
3the data fall time, scrambler SSI signal output port is set to lasting high level by last simulate signal output module, until need next time to resend scrambler SSI simulate signal.So far, whole scrambler SSI signal simulation simulation process terminates, as shown in Figure 5.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technology thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. one kind is applied to the encoder signal simulation system of fuel manipulator crane analog machine, comprise clock signal acquisition module (11), the clock signal detection module (12) be connected with clock signal acquisition module (11) and the simulate signal output module (13) be connected with clock signal detection module (12), this system also comprises speed acquisition module (14), the scrambler Numerical Simulation Module (15) be connected with speed acquisition module (14) and the Gray code conversion module (16) be connected with scrambler Numerical Simulation 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 gathering fuel manipulator crane control desk, and send signal to clock signal detection module (12);
Speed acquisition module (14) for the rate signal that gathers fuel manipulator crane cart, dolly or main lifting handle and send and traffic direction signal, and calculates the speed values corresponding to unloader cart, dolly or the current travel position of main lifting handle according to the rate signal collected;
Scrambler Numerical Simulation Module (15) is for calculating the current value of cart scrambler, bogie encoder or main lifting scrambler according to described speed values and traffic direction signal;
Gray code conversion module (16) is for being converted to corresponding Gray code by the current value of scrambler, and Gray code is carried out logical shift and is converted to the scrambler SSI simulate signal corresponding with actual coding device numerical value by the scrambler figure place corresponding according to the scrambler of the actual use of fuel manipulator crane cart, dolly or main lifting handle, and scrambler SSI simulate signal is sent to simulate signal output module (13);
Testing result for detecting the data transmission timing of synchronous SSI clock signal, and is sent to simulate signal output module (13) by clock signal detection module (12);
Simulate signal output module (13) is for being sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk by scrambler SSI simulate signal according to data transmission timing.
2. a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as claimed in claim 1, is characterized in that: described clock signal acquisition module (11) gathers according to the sampling time interval I of setting and obtains the synchronous SSI clock signal that scrambler SSI signal simulation signal receiver sends.
3. a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as claimed in claim 1, is characterized in that: described speed acquisition module (14) gathers according to the sampling time interval II of setting and rate signal described in obtaining and traffic direction signal.
4. a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as described in claim 1 or 3, is characterized in that, scrambler Numerical Simulation Module (15) comprising:
Incremental computations unit: for calculating the scrambler numerical value increment corresponding to cart scrambler, bogie encoder or main lifting scrambler according to speed values and default mathematical formulae;
Increment sign computing unit: positive and negative for according to traffic direction signal determination scrambler numerical value increment;
Current value computing unit: for the current value according to described scrambler numerical value increment and positive and negative calculating cart scrambler, bogie encoder or main lifting scrambler.
5. a kind of encoder signal simulation system being applied to fuel manipulator crane analog machine as claimed in claim 1, it is characterized in that: scrambler SSI simulate signal exports and is set to high level by simulate signal output module (13), scrambler SSI simulate signal is sent scrambler SSI signal simulation signal receiver at the rising edge of synchronous SSI clock signal by simulate signal output module.
6. be applied to a code device signal emulation mode for fuel manipulator crane analog machine, comprise the following steps:
(1) the synchronous SSI clock signal that the scrambler SSI signal simulation signal receiver gathering fuel manipulator crane control desk sends;
(2) gather rate signal and traffic direction signal that fuel manipulator crane cart, dolly or main lifting handle send, and calculate fuel manipulator crane cart, dolly or the speed values corresponding to the current travel position of main lifting handle;
(3) current value of cart scrambler, bogie encoder or main lifting scrambler is calculated according to described speed values and traffic direction signal;
(4) current value of scrambler is converted to corresponding Gray code, and Gray code is carried out logical shift and is converted to the scrambler SSI simulate signal corresponding with actual coding device numerical value by the scrambler figure place corresponding according to the scrambler of the actual use of fuel manipulator crane cart, dolly or main lifting handle;
(5) the data transmission timing of synchronous SSI clock signal is detected;
(6) according to data transmission timing, scrambler SSI simulate signal is sent to the scrambler SSI signal simulation signal receiver of fuel manipulator crane control desk.
7. a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as claimed in claim 6, is characterized in that: in step (three), and the concrete mode according to the current value of speed values and traffic direction signal calculation code device is:
A. the scrambler numerical value increment corresponding to cart scrambler, bogie encoder or main lifting scrambler is calculated according to speed values and default mathematical formulae;
B. positive and negative according to traffic direction signal determination scrambler numerical value increment;
C. according to the current value of described scrambler numerical value increment and positive and negative calculating cart scrambler, bogie encoder or main lifting scrambler.
8. a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as claimed in claims 6 or 7, it is characterized in that: in step (five), the concrete mode detecting the data transmission timing of synchronous SSI clock signal is: the high level detecting synchronous SSI clock signal, if the duration of high level signal is greater than setting value t
1, then represent that the synchronous SSI clock signal sequence sending data occurs, otherwise continue to detect the high level of synchronous SSI clock signal until the clock sequence met the demands occurs; t
1span be 50-150ms.
9. a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as claimed in claim 8, it is characterized in that: in step (six), the concrete mode according to data transmission timing scrambler SSI simulate signal being sent to scrambler SSI signal simulation signal receiver is:
I. detect the negative edge after synchronous SSI clock signal high level, negative edge occurs that presentation code device SSI simulate signal receiving equipment has got out received code device SSI simulate signal;
Ii. the rising edge after half clock period of synchronous SSI clock signal negative edge is detected, at the delay time t through setting
2after, simulate signal output module starts scrambler SSI simulate signal to be sent to scrambler SSI signal simulation signal receiver; t
2span be 0-1us;
Iii. after step I i terminates, simulate signal output module starts the negative edge detecting synchronous SSI clock signal, and after negative edge being detected, scrambler SSI simulate signal output port being set to low level and continuing a time interval is t
3the data fall time; t
3span be 10-40us.
10. a kind of code device signal emulation mode being applied to fuel manipulator crane analog machine as claimed in claim 9, it is characterized in that: in step I i, sent successively to lowest order by the most significant digit of scrambler SSI simulate signal at the rising edge of synchronous SSI clock signal, each of sending scrambler SSI simulate signal.
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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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| CN102759633A (en) * | 2012-07-05 | 2012-10-31 | 上海交通大学 | Real-time rotating speed detection module of servo motor based on FPGA (Field Programmable Gate Array) |
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