CN103868529A - Inertia measurement unit self-calibrated measuring and control device and method - Google Patents
Inertia measurement unit self-calibrated measuring and control device and method Download PDFInfo
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- CN103868529A CN103868529A CN201410105420.6A CN201410105420A CN103868529A CN 103868529 A CN103868529 A CN 103868529A CN 201410105420 A CN201410105420 A CN 201410105420A CN 103868529 A CN103868529 A CN 103868529A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses an inertia measurement unit self-calibrated measuring and control device. The inertia measurement unit self-calibrated measuring and control device comprises a rotary position locking mechanism, wherein the rotary position locking mechanism comprises a first rotary shaft rotary position control motor, a second rotary shaft rotary position control motor, a locking and unlocking shaft control motor, a first stepping motor driver, a second stepping motor driver, a first infrared sensor arranged on a first rotary shaft, a second infrared sensor arranged on a second rotary shaft, a third infrared sensor arranged on a locking and unlocking shaft, a travel switch arranged on the locking and unlocking shaft, a controller, a secondary power supply, a crystal oscillator, a storage chip, a magnetic isolator, a level switch and driver, a CAN (Controller Area Network) receiver-transmitter connected with an inertia measurement unit, a computer, a first switching relay, a second switching relay and four DC/DC (Direct Current-Direct Current) isolation power supplies. The inertia measurement unit self-calibrated measuring and control device can flexibly, reliably, accurately and rapidly realize self-calibrated measurement of the inertia measurement unit at relative low cost.
Description
Technical field
The present invention relates to Aero-Space strap-down inertial technical field, concrete finger one is used to survey combination self-calibration measure and control device and investigating method.
Background technology
Strapdown inertial navigation system has the advantages such as the reaction time is short, reliability is high, volume is little, lightweight, is widely used in aerospace field, has important national defence meaning and huge economic benefit.
Traditional be used to survey combination and need to be equipped with special being used to and survey combination parameter and demarcate testing apparatus, traditional be used to survey combination parameter and demarcate testing apparatus and conventionally form by demarcating test table, observing and controlling rack and device interior multichannel slip ring and stube cable, wherein observing and controlling rack is mainly by main control computer (for demarcating test subject), and distribution control box (for each observing and controlling parts in turntable are powered) and power control box (for all kinds of motors and driver thereof in turntable are controlled) three parts form.
Existing demarcation test table volume is large, cost is high, test service condition harshness, these factors have greatly affected to be used to survey and have combined the efficiency of demarcating test, and single demarcation test (demarcation tests out all properties parameter of being used to the survey combination) time that above-mentioned tradition is demarcated testing apparatus is about 2 hours.
In addition, above-mentioned existing be used to survey combination parameter demarcation testing apparatus, its request for utilization higher (as: placement of temperature and humidity and equipment is all had to specific (special) requirements).Simultaneously, be used to survey combination and need to regularly demarcate test (being that all properties parameter of being used to survey combination is demarcated in routine test), and the manual steps that above-mentioned demarcation test needs is more, demarcate the process more complicated of test, exist human operational error to affect the possibility of demarcating test result.
Summary of the invention
Object of the present invention will provide one to be used to survey combination self-calibration measure and control device and investigating method exactly, and these apparatus and method can realize flexibly, reliably, accurately and fast and be used to survey the self-calibration test of combining under relatively low cost.
For realizing this object, what the present invention was designed is used to survey combination self-calibration measure and control device, and it comprises indexing locking mechanism, and this indexing locking mechanism comprises the first rotation axis transposition control motor, the second rotation axis transposition control motor, locking latch release shaft control motor, the first stepper motor driver, the second stepper motor driver, be arranged on the first infrared sensor on the first rotation axis, be arranged on the second infrared sensor on the second rotation axis, be arranged on the 3rd infrared sensor in locking latch release shaft, be arranged on the travel switch in locking latch release shaft, it is characterized in that: it also comprises controller, the one DC/DC(direct current conversion) insulating power supply, the 2nd DC/DC insulating power supply, the 3rd DC/DC insulating power supply, the 4th DC/DC insulating power supply, secondary power supply, crystal oscillator, storage chip, magnetic isolator, level conversion and driver, with be used to survey the CAN(Controller Area Network that is connected, controller local area network) transceiver, computing machine, the first transfer relay, the second transfer relay,
Wherein, the first communication ends of described CAN transceiver connects computing machine, the second communication end of CAN transceiver connects the CAN signal communication ends of controller by magnetic isolator, the input/output end port of controller connects the first I/O (input/output of level conversion and driver, and I/O) port, the first infrared sensor, the second infrared sensor, the signal output part of the 3rd infrared sensor and travel switch is connected respectively level conversion and signal input part corresponding to driver, the first stepping motor control signal output terminal of level conversion and driver connects the step motor control signal input part of the first stepper motor driver, the second input/output end port of level conversion and driver connects one end of the first transfer relay coil, the 3rd input/output end port of level conversion and driver connects one end of the second transfer relay coil,
The stepper motor of the first stepper motor driver drives signal output part to connect one end of the first transfer relay normally opened contact, the other end of the first transfer relay normally opened contact connects the signal input part of locking latch release shaft control motor, the stepper motor of the first stepper motor driver drives signal output part to connect one end of the second transfer relay normally opened contact, and the other end of the second transfer relay normally opened contact connects the signal input part of the second rotation axis transposition control motor;
The second stepping motor control signal output terminal of described level conversion and driver connects the step motor control signal input part of the second stepper motor driver, and the stepper motor of the second stepper motor driver drives signal output part to connect the signal input part of the first rotation axis transposition control motor;
The Serial Peripheral Interface (SPI) communication ends of described storage chip connects the Serial Peripheral Interface (SPI) communication ends (Serial Peripheral Interface--Serial Peripheral Interface (SPI)) of controller, and the signal output part of crystal oscillator connects the clock signal input terminal of controller;
The feeder ear of a described DC/DC insulating power supply is respectively to the first infrared sensor, the second infrared sensor, the 3rd infrared sensor, travel switch, secondary power supply, crystal oscillator, storage chip, level conversion and driver, the isolation end power input of magnetic isolator, the step motor control power input of the first stepper motor driver, the step motor control power input power supply of the second stepper motor driver, the feeder ear of the one DC/DC insulating power supply is also connected with the other end of the first transfer relay coil and the other end of the second transfer relay coil respectively, secondary power supply is powered to the first feeder ear and second feeder ear of controller respectively,
The electrical source exchange control end of described level conversion and driver connects the control end of the 2nd DC/DC insulating power supply, and the driving source for step motor output terminal of the 2nd DC/DC insulating power supply connects the driving source for step motor input end of the first stepper motor driver;
The driving source for step motor output terminal of described the 3rd DC/DC insulating power supply connects the driving source for step motor input end of the second stepper motor driver;
Described the 4th DC/DC insulating power supply is powered to the power input that is isolated end power supply and CAN transceiver of magnetic isolator respectively.
Described controller is digital signal processor (digital singnal processor, DSP).
Described storage chip is EPROM (Erasable Programmable Read Only Memory) (erasable programmable read-only memory, EPROM).
Utilize an above-mentioned investigating method of being used to survey combination self-calibration measure and control device, it is characterized in that, it comprises the steps:
Step 1: described controller reads self-calibration operation steps information from storage chip;
Step 2: the first infrared sensor and the second infrared sensor feed back to controller by the rotational position signal of the first rotation axis of correspondence and the second rotation axis respectively, simultaneously, whether the 3rd infrared sensor and travel switch lock locking latch release shaft or the status signal of release feeds back to controller, controller according to the rotational position signal of above-mentioned the first rotation axis and the second rotation axis, locking latch release shaft whether lock or the status signal of release is determined indexing locking mechanism current state;
Step 3: computing machine sends the CAN information frame with the instruction of self-calibration mode of operation to controller by CAN transceiver, computing machine enters self-calibration operating process after receiving the above-mentioned CAN information frame with the instruction of self-calibration mode of operation;
Step 4: this Time Controller checks that whether the first rotation axis, the second rotation axis and the locking latch release shaft current state determined in step 2 are at preassigned initial position; When the first rotation axis, the second rotation axis and locking latch release shaft current state are during at preassigned initial position, controller carries out release by level conversion and driver control the first stepper motor driver and locking latch release shaft control motor to locking latch release shaft successively;
When the first rotation axis, the second rotation axis and locking latch release shaft current state be not during at preassigned initial position, controller makes the first rotation axis, the second rotation axis and locking latch release shaft get back to preassigned initial position by level conversion and driver control the first stepper motor driver and/or the second stepper motor driver;
Step 5: controller makes the first rotation axis by level conversion and driver control the first stepper motor driver and/or the second stepper motor driver, the second rotation axis and locking latch release shaft are moved according to the operating procedure of the self-calibration operation steps information specifies of obtaining in step 1, now, if computing machine sends odd-job mode instruction to controller, controller control the first stepper motor driver and/or the second stepper motor driver make the first rotation axis, the second rotation axis and locking latch release shaft complete specific action according to above-mentioned odd-job mode instruction, after the operating procedure of self-calibration operation steps information specifies finishes, controller makes the first rotation axis by level conversion and driver control the first stepper motor driver and/or the second stepper motor driver, the second rotation axis and locking latch release shaft are got back to preassigned initial position,
Step 6: step 5 carry out in, controller with fixed time period by CAN transceiver from being used to survey extracting time information combined information frame, and the movable information of the first rotation axis in this temporal information and step 5, the second rotation axis and locking latch release shaft is together packaged into and is used to survey assembled state information exchange and crosses CAN transceiver and send computing machine to.
Step 7, computing machine sends binding work mode instruction to controller, makes controller extract the instruction of self-calibration mode of operation from have the CAN information frame of self-calibration mode of operation instruction, and the instruction of self-calibration mode of operation is stored in storage chip.
The preassigned initial position of described the first rotation axis, the second rotation axis and locking latch release shaft is that the first rotation axis is in rotating zero degree position, the second rotation axis in rotating zero degree position and locking latch release shaft in locking state.
The present invention has mainly adopted digital signal processing DSP to control platform, and in the dsp controller collection indexing locking mechanism in self-calibration measure and control device, the test signal of sensor and travel switch feedback, determines thus and be used to survey the current state of combination; Receive mode of operation instruction and be used to survey the CAN information frame of array output by CAN bus port; Complete after instruction response, to mode of operation, instruction is resolved, and rotates according to the stepper motor in instruction type output signal control gear, makes mechanism carry out transposition and stop; Dsp controller is extracting time information from be used to survey the CAN information frame of array output; Be packaged into and be used to survey assembled state information frame and send to computing machine together with temporal information being used to survey action message in combination self-calibration process (as: turn to, put in place with locking etc.); When being used to survey combination original state when abnormal, self-calibration control module can carry out correction process automatically, and completes self-calibration testing process.
Beneficial effect of the present invention:
Compared with traditional demarcation testing apparatus, the present invention is designed to electronic equipment by self-calibration measure and control device by traditional electrified equipment, electronization self-calibration measure and control device has volume little (stock size can be designed to 100mm × 100mm × 80mm), the advantage that cost is low.
In addition, electronic self-calibration measure and control device of the present invention and investigating method can need to carry out testing process renewal according to user, self-calibration is used to survey and is combined under the condition that has been equipped with electronic self-calibration measure and control device of the present invention, can complete at short notice robotization and demarcate test, single is demarcated 2 hour be reduced to 0.5 hour of test (demarcation tests out all properties parameter of being used to survey combination) time by conventional electrical formula equipment.
In addition, the present invention does not need to be used to survey combination parameter and to demarcate testing apparatus and equally do regular maintenance to existing, has further reduced the use cost of equipment, and the demarcation test of being used to survey combination is completed by computer control, the mistake of having avoided manual operation there will be, has also reduced cost of labor.
Simultaneously the present invention has also realized the status monitoring to whole self-calibration test process, this device for be used to survey combination exempt from dismounting and one-touch automatic test provides important technical guarantee.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Wherein, the 1-the first infrared sensor, 2-travel switch, the 3-the first rotation axis transposition control motor, the 4-the second rotation axis transposition control motor, 5-locking latch release shaft control motor, the 6-the first stepper motor driver, the 7-the second stepper motor driver, 8-controller, the 9-the three infrared sensor, the 10-the one DC/DC insulating power supply, the 11-the two DC/DC insulating power supply, the 12-the three DC/DC insulating power supply, the 13-the four DC/DC insulating power supply, 14-secondary power supply, 15-crystal oscillator, 16-storage chip, 17-magnetic isolator, 18-level conversion and driver, 19-be used to survey and combine, 20-CAN transceiver, 21-computing machine, the 22-the first transfer relay, the 23-the second transfer relay, the 24-the second infrared sensor.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Self-calibration measure and control device is combined in the survey of being used to as described in Figure 1, it comprises that (this indexing locking mechanism is existing mechanism to indexing locking mechanism, in the Chinese patent " aircraft is used to organize twin shaft self-calibration device " that its structure and principle of work are 201210077665.3 in the patent No., have been described in detail), this indexing locking mechanism comprises the first rotation axis transposition control motor 3, the second rotation axis transposition control motor 4, locking latch release shaft control motor 5, the first stepper motor driver 6, the second stepper motor driver 7, be arranged on the first infrared sensor 1 on the first rotation axis, be arranged on the second infrared sensor 24 on the second rotation axis, be arranged on the 3rd infrared sensor 9 in locking latch release shaft, be arranged on the travel switch 2 in locking latch release shaft, it also comprises controller 8, the one DC/DC insulating power supply 10, the 2nd DC/DC insulating power supply 11, the 3rd DC/DC insulating power supply 12, the 4th DC/DC insulating power supply 13, secondary power supply 14, crystal oscillator 15, storage chip 16, magnetic isolator 17, level conversion and driver 18, with be used to survey combination the 19 CAN transceivers 20 that are connected, computing machine 21, the first transfer relay 22, the second transfer relay 23,
Wherein, the first communication ends of described CAN transceiver 20 connects computing machine 21, the second communication end of CAN transceiver 20 connects the CAN signal communication ends of controller 8 by magnetic isolator 17, the input/output end port of controller 8 connects the first input/output end port of level conversion and driver 18, the first infrared sensor 1, the second infrared sensor 24, the signal output part of the 3rd infrared sensor 9 and travel switch 2 is connected respectively the signal input part of level conversion and driver 18 correspondences, the first stepping motor control signal output terminal of level conversion and driver 18 connects the step motor control signal input part of the first stepper motor driver 6, the second input/output end port of level conversion and driver 18 connects one end of the first transfer relay 22 coils, the 3rd input/output end port of level conversion and driver 18 connects one end of the second transfer relay 23 coils,
The stepper motor of the first stepper motor driver 6 drives signal output part to connect one end of the first transfer relay 22 normally opened contacts, the other end of the first transfer relay 22 normally opened contacts connects the signal input part of locking latch release shaft control motor 5, the stepper motor of the first stepper motor driver 6 drives signal output part to connect one end of the second transfer relay 23 normally opened contacts, and the other end of the second transfer relay 23 normally opened contacts connects the signal input part of the second rotation axis transposition control motor 4;
The second stepping motor control signal output terminal of described level conversion and driver 18 connects the step motor control signal input part of the second stepper motor driver 7, and the stepper motor of the second stepper motor driver 7 drives signal output part to connect the signal input part of the first rotation axis transposition control motor 3;
The Serial Peripheral Interface (SPI) communication ends of described storage chip 16 connects the Serial Peripheral Interface (SPI) communication ends of controller 8, and the signal output part of crystal oscillator 15 connects the clock signal input terminal of controller 8;
The feeder ear of a described DC/DC insulating power supply 10 is respectively to the first infrared sensor 1, the second infrared sensor 24, the 3rd infrared sensor 9, travel switch 2, secondary power supply 14, crystal oscillator 15, storage chip 16, level conversion and driver 18, the isolation end power input of magnetic isolator 17, the step motor control power input of the first stepper motor driver 6, the step motor control power input power supply of the second stepper motor driver 7, the feeder ear of the one DC/DC insulating power supply 10 is also connected with the other end of the first transfer relay 22 coils and the other end of the second transfer relay 23 coils respectively, secondary power supply 14 is respectively to the first feeder ear of controller 8 and the second feeder ear power supply (being secondary power supply provides kernel and peripheral port voltage to controller 8),
The electrical source exchange control end of described level conversion and driver 18 connects the control end of the 2nd DC/DC insulating power supply 11, and the driving source for step motor output terminal of the 2nd DC/DC insulating power supply 11 connects the driving source for step motor input end of the first stepper motor driver 6;
The driving source for step motor output terminal of described the 3rd DC/DC insulating power supply 12 connects the driving source for step motor input end of the second stepper motor driver 7;
Described the 4th DC/DC insulating power supply 13 is powered to the power input that is isolated end power supply and CAN transceiver 20 of magnetic isolator 17 respectively.
In technique scheme, described controller 8 is digital signal processor.
In technique scheme, described storage chip 16 is EPROM (Erasable Programmable Read Only Memory), and this EPROM (Erasable Programmable Read Only Memory) is for preserving the required all informations parameter of self-calibration flow process.
In technique scheme, described CAN transceiver 20 is realized the information interaction between controller 8 and computing machine 21.
In technique scheme, the present invention's three parts of being communicated by letter with transfer relay, digital signal processor and step motor control and CAN by stepper motor driving form, for therefore the electrical isolation realizing between above-mentioned three parts has been selected four DC/DC insulating power supply modules, respectively above-mentioned three parts are powered, secondary power supply provides kernel and peripheral port voltage to digital signal processor.
In technique scheme, the I/O port of controller 8 carries out obtaining of travel switch 2 and each infrared sensor feedback information by level conversion and driver 18, and the I/O port of controller 8 also carries out control, the control of transfer relay and the control of insulating power supply switch of the output of motor control signal by level conversion and driver 18.Controller 8 is realized the control of being used to survey combination self-calibration testing process, and two stepper motor drivers are realized the control to the first rotation axis, the second rotation axis and the corresponding stepper motor of locking latch release shaft.
In technique scheme, because the control of stepper motor belongs to typical open loop control system, control procedure in order to ensure self-calibration measure and control device is reliable and accurate, the present invention selects the first infrared sensor 1, the second infrared sensor 24, the 3rd infrared sensor 9 and travel switch 2 measuring sensor as angle and the feedback information that puts in place, and controller 8 can judge the current state of being used to survey combination according to the signal of above-mentioned infrared ray sensor and travel switch 2.
In technique scheme, in this programme, select two relays (the first transfer relay 22 and the second transfer relay 23), realize by a stepper motor driver (i.e. the first stepper motor driver 6) and realize the wheel current control to the second rotation axis and locking latch release shaft.Reach the object that reduces volume of the present invention.In addition, before relay switch, by controller 8, line related module is carried out to power-off control, after having switched, by controller 8, power module is powered on again, avoid the electromagnetic interference (EMI) that produces in the charged handoff procedure of relay, guarantee to be used to survey the normal operation of combination.
In technique scheme, startup self-calibration that controller 8 receiving computers 21 send, stop self-calibration, bookbinding parameter and the four class instructions of odd-job pattern, and complete relevant treatment according to command request; Be used to survey after combination 19 energisings controller 8 within the unit interval to computing machine 21 transmitting mechanism detailed information (as: enable and disconnect), be used to survey combination global information (as: in demarcation) and be used to survey assembly time information, be convenient to computing machine 21 whole demarcation test process is monitored, and be easy to extract the effective information of demarcating in test process; The odd-job mode instruction information that controller 8 receiving computers 21 send, and being used in mechanism surveyed to combination and realize manually control, make self-calibration be used to survey combination and can single step realize specific action (as: release and transposition), improve the dirigibility that product uses; Computing machine 21 sends binding instructio to controller 8 by CAN transceiver 20, reach the object of the demarcation flow process of change control device 8, can set all parameter informations relevant with self-calibration flow process by this communication protocol, after the definite forwarding of device 8 to be controlled is correct, successively computing machine 21 be carried out to information response.
In the present invention, controller 8 is selected TMS320CXXXX series DSP chip, and this dsp chip is widely used in the fields such as all kinds of Electric Machine Control and industrial automatic control, and in this programme, dsp chip work dominant frequency is 120Mhz; There are 56 general GPIO ports that can supply programming Control, can easily carry out sensor feedback information acquisition and motor control signal output; 18K × 16 internal RAM in sheet, can provide running space at a high speed for the operation of self-calibration measure and control device program; 8K × 16 in a sheet Flash, can conveniently carry out the storage of measure and control device program code; 3 on-chip timer Timer(32bitGP) can provide observing and controlling sequential accurately and minimum observing and controlling cycle for measure and control device; The outer EEPROM configuring chip of 1 general SPI port and sheet carries out interface, realizes preservation and the loading of self-calibration testing process; The eCAN port of 1 enhancement mode and control system or tester carry out interface, realize the mutual of all kinds of CAN communication informations, can easily realize step motor control.
Utilize an above-mentioned investigating method of being used to survey combination self-calibration measure and control device, it is characterized in that, it comprises the steps:
Step 1: described controller 8 reads self-calibration operation steps information from storage chip 16;
Step 2: the first infrared sensor 1 and the second infrared sensor 24 feed back to controller 8 by the rotational position signal of the first rotation axis of correspondence and the second rotation axis respectively, simultaneously, whether the 3rd infrared sensor 9 and travel switch 2 lock locking latch release shaft or the status signal of release feeds back to controller 8, controller 8 according to the rotational position signal of above-mentioned the first rotation axis and the second rotation axis, locking latch release shaft whether lock or the status signal of release is determined indexing locking mechanism current state;
Step 3: computing machine 21 sends the CAN information frame with the instruction of self-calibration mode of operation by CAN transceiver 20 to controller 8, and computing machine 21 enters self-calibration operating process after receiving the above-mentioned CAN information frame with the instruction of self-calibration mode of operation;
Step 4: this Time Controller 8 checks that whether the first rotation axis, the second rotation axis and the locking latch release shaft current state determined in step 2 are at preassigned initial position; When the first rotation axis, the second rotation axis and locking latch release shaft current state are during at preassigned initial position, controller 8 controls the first stepper motor driver 6 by level conversion and driver 18 successively and locking latch release shaft control motor 5 carries out release to locking latch release shaft;
When the first rotation axis, the second rotation axis and locking latch release shaft current state be not during at preassigned initial position, controller 8 controls the first stepper motor driver 6 by level conversion and driver 18 and/or the second stepper motor driver 7 makes the first rotation axis, the second rotation axis and locking latch release shaft get back to preassigned initial position;
Step 5: controller 8 controls the first stepper motor driver 6 by level conversion and driver 18 and/or the second stepper motor driver 7 makes the first rotation axis, the second rotation axis and locking latch release shaft are moved according to the operating procedure of the self-calibration operation steps information specifies of obtaining in step 1, now, if computing machine 21 sends odd-job mode instruction to controller 8, controller 8 is controlled the first stepper motor driver 6 and/or the second stepper motor driver 7 makes the first rotation axis, the second rotation axis and locking latch release shaft complete specific action according to above-mentioned odd-job mode instruction, after the operating procedure of self-calibration operation steps information specifies finishes, controller 8 controls the first stepper motor driver 6 by level conversion and driver 18 and/or the second stepper motor driver 7 makes the first rotation axis, the second rotation axis and locking latch release shaft are got back to preassigned initial position,
Step 6: step 5 carry out in, controller 8 with fixed time period by CAN transceiver 20 from being used to survey extracting time information combined information frame, and the movable information of the first rotation axis in this temporal information and step 5, the second rotation axis and locking latch release shaft is together packaged into and is used to survey assembled state information exchange and crosses CAN transceiver 20 and send computing machine 21 to.
Step 7, computing machine 21 sends binding work mode instruction to controller 8, makes controller 8 extract the instruction of self-calibration mode of operation from have the CAN information frame of self-calibration mode of operation instruction, and the instruction of self-calibration mode of operation is stored in storage chip 16.
In technique scheme, the preassigned initial position of described the first rotation axis, the second rotation axis and locking latch release shaft is that the first rotation axis is in rotating zero degree position, the second rotation axis in rotating zero degree position and locking latch release shaft in locking state.
The content that this instructions is not described in detail belongs to the known prior art of professional and technical personnel in the field.
Claims (6)
1. be used to survey a combination self-calibration measure and control device, it comprises indexing locking mechanism, and this indexing locking mechanism comprises the first rotation axis transposition control motor (3), the second rotation axis transposition control motor (4), locking latch release shaft control motor (5), the first stepper motor driver (6), the second stepper motor driver (7), be arranged on the first infrared sensor (1) on the first rotation axis, be arranged on the second infrared sensor (24) on the second rotation axis, be arranged on the 3rd infrared sensor (9) in locking latch release shaft, be arranged on the travel switch (2) in locking latch release shaft, it is characterized in that: it also comprises controller (8), the one DC/DC insulating power supply (10), the 2nd DC/DC insulating power supply (11), the 3rd DC/DC insulating power supply (12), the 4th DC/DC insulating power supply (13), secondary power supply (14), crystal oscillator (15), storage chip (16), magnetic isolator (17), level conversion and driver (18), with be used to survey the CAN transceiver (20) that is connected of combination (19), computing machine (21), the first transfer relay (22), the second transfer relay (23),
Wherein, the first communication ends of described CAN transceiver (20) connects computing machine (21), the second communication end of CAN transceiver (20) connects the CAN signal communication ends of controller (8) by magnetic isolator (17), the input/output end port of controller (8) connects the first input/output end port of level conversion and driver (18), the first infrared sensor (1), the second infrared sensor (24), the 3rd infrared sensor (9) is connected respectively level conversion and signal input part corresponding to driver (18) with the signal output part of travel switch (2), the first stepping motor control signal output terminal of level conversion and driver (18) connects the step motor control signal input part of the first stepper motor driver (6), the second input/output end port of level conversion and driver (18) connects one end of the first transfer relay (22) coil, the 3rd input/output end port of level conversion and driver (18) connects one end of the second transfer relay (23) coil,
The stepper motor of the first stepper motor driver (6) drives signal output part to connect one end of the first transfer relay (22) normally opened contact, the other end of the first transfer relay (22) normally opened contact connects the signal input part of locking latch release shaft control motor (5), the stepper motor of the first stepper motor driver (6) drives signal output part to connect one end of the second transfer relay (23) normally opened contact, and the other end of the second transfer relay (23) normally opened contact connects the signal input part of the second rotation axis transposition control motor (4);
The second stepping motor control signal output terminal of described level conversion and driver (18) connects the step motor control signal input part of the second stepper motor driver (7), and the stepper motor of the second stepper motor driver (7) drives signal output part to connect the signal input part of the first rotation axis transposition control motor (3);
The Serial Peripheral Interface (SPI) communication ends of described storage chip (16) connects the Serial Peripheral Interface (SPI) communication ends of controller (8), and the signal output part of crystal oscillator (15) connects the clock signal input terminal of controller (8);
The feeder ear of a described DC/DC insulating power supply (10) is respectively to the first infrared sensor (1), the second infrared sensor (24), the 3rd infrared sensor (9), travel switch (2), secondary power supply (14), crystal oscillator (15), storage chip (16), level conversion and driver (18), the isolation end power input of magnetic isolator (17), the step motor control power input of the first stepper motor driver (6), the step motor control power input power supply of the second stepper motor driver (7), the feeder ear of the one DC/DC insulating power supply (10) is also connected with the other end of the first transfer relay (22) coil and the other end of the second transfer relay (23) coil respectively, secondary power supply (14) is powered to the first feeder ear and second feeder ear of controller (8) respectively,
The electrical source exchange control end of described level conversion and driver (18) connects the control end of the 2nd DC/DC insulating power supply (11), and the driving source for step motor output terminal of the 2nd DC/DC insulating power supply (11) connects the driving source for step motor input end of the first stepper motor driver (6);
The driving source for step motor output terminal of described the 3rd DC/DC insulating power supply (12) connects the driving source for step motor input end of the second stepper motor driver (7);
Described the 4th DC/DC insulating power supply (13) is powered to the power input that is isolated end power supply and CAN transceiver (20) of magnetic isolator (17) respectively.
2. the survey combination self-calibration measure and control device of being used to according to claim 1, is characterized in that: described controller (8) is digital signal processor.
3. the survey combination self-calibration measure and control device of being used to according to claim 1, is characterized in that: described storage chip (16) is EPROM (Erasable Programmable Read Only Memory).
4. utilize an investigating method of being used to survey combination self-calibration measure and control device described in claim 1, it is characterized in that, it comprises the steps:
Step 1: described controller (8) reads self-calibration operation steps information from storage chip (16);
Step 2: the first infrared sensor (1) and the second infrared sensor (24) feed back to controller (8) by the rotational position signal of the first rotation axis of correspondence and the second rotation axis respectively, simultaneously, whether the 3rd infrared sensor (9) and travel switch (2) lock locking latch release shaft or the status signal of release feeds back to controller (8), controller (8) according to the rotational position signal of above-mentioned the first rotation axis and the second rotation axis, locking latch release shaft whether lock or the status signal of release is determined indexing locking mechanism current state;
Step 3: computing machine (21) sends the CAN information frame with the instruction of self-calibration mode of operation to controller (8) by CAN transceiver (20), computing machine (21) enters self-calibration operating process after receiving the above-mentioned CAN information frame with the instruction of self-calibration mode of operation;
Step 4: this Time Controller (8) checks that whether the first rotation axis, the second rotation axis and the locking latch release shaft current state determined in step 2 are at preassigned initial position; When the first rotation axis, the second rotation axis and locking latch release shaft current state are during at preassigned initial position, controller (8) controls the first stepper motor driver (6) by level conversion and driver (18) successively and locking latch release shaft control motor (5) carries out release to locking latch release shaft;
When the first rotation axis, the second rotation axis and locking latch release shaft current state be not during at preassigned initial position, controller (8) controls the first stepper motor driver (6) by level conversion and driver (18) and/or the second stepper motor driver (7) makes the first rotation axis, the second rotation axis and locks latch release shaft and get back to preassigned initial position;
Step 5: controller (8) controls the first stepper motor driver (6) by level conversion and driver (18) and/or the second stepper motor driver (7) makes the first rotation axis, the second rotation axis and locking latch release shaft are moved according to the operating procedure of the self-calibration operation steps information specifies of obtaining in step 1, now, if computing machine (21) sends odd-job mode instruction to controller (8), controller (8) control the first stepper motor driver (6) and/or the second stepper motor driver (7) make the first rotation axis, the second rotation axis and locking latch release shaft complete specific action according to above-mentioned odd-job mode instruction, after the operating procedure of self-calibration operation steps information specifies finishes, controller (8) controls the first stepper motor driver (6) by level conversion and driver (18) and/or the second stepper motor driver (7) makes the first rotation axis, the second rotation axis and locking latch release shaft are got back to preassigned initial position,
Step 6: step 5 carry out in, controller (8) with fixed time period by CAN transceiver (20) from being used to survey extracting time information combined information frame, and the movable information of the first rotation axis in this temporal information and step 5, the second rotation axis and locking latch release shaft is together packaged into and is used to survey assembled state information exchange and crosses CAN transceiver (20) and send computing machine (21) to.
5. investigating method according to claim 4, it is characterized in that: after described step 6, also comprise step 7, computing machine (21) sends binding work mode instruction to controller (8), make controller (8) extract the instruction of self-calibration mode of operation from there is the CAN information frame of self-calibration mode of operation instruction, and the instruction of self-calibration mode of operation is stored in storage chip (16).
6. investigating method according to claim 4, is characterized in that: the preassigned initial position of described the first rotation axis, the second rotation axis and locking latch release shaft is that the first rotation axis is in rotating zero degree position, the second rotation axis in rotating zero degree position and locking latch release shaft in locking state.
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