CN103868529B - Tank-type mixture self-calibration measure and control device and investigating method - Google Patents
Tank-type mixture self-calibration measure and control device and investigating method Download PDFInfo
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- CN103868529B CN103868529B CN201410105420.6A CN201410105420A CN103868529B CN 103868529 B CN103868529 B CN 103868529B CN 201410105420 A CN201410105420 A CN 201410105420A CN 103868529 B CN103868529 B CN 103868529B
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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 a kind of tank-type mixture self-calibration measure and control device, including indexing locking mechanism, this indexing locking mechanism includes the first rotary shaft transposition control motor, second rotary shaft transposition control motor, locking latch release shaft controls motor, first stepper motor driver, second stepper motor driver, the first infrared sensor being arranged in the first rotary shaft, the second infrared sensor being arranged in the second rotary shaft, it is arranged on the 3rd infrared sensor in locking latch release shaft, it is arranged on the travel switch in locking latch release shaft, controller, secondary power supply, crystal oscillator, storage chip, Magnetic isolation device, level conversion and driver, the CAN transceiver being connected with tank-type mixture, computer, first switching relay, second switching relay and four DC/DC insulating power supplies.The present invention can flexibly, reliably, accurately and quickly realize the self-calibration test of tank-type mixture under relatively 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 that the reaction time is short, reliability is high, volume is little, weight
The advantage such as light, is widely used in aerospace field, has important national defence meaning and huge
Economic benefit.
Traditional tank-type mixture needs to be equipped with special tank-type mixture parameter calibration test equipment,
Traditional tank-type mixture parameter calibration test equipment is generally by demarcating test table, observing and controlling rack
And device interior multichannel slip ring and connection cable form, wherein observing and controlling rack is mainly by master control
Computer (is used for demarcating test subject), and distribution control box is (for each observing and controlling in turntable
Parts are powered) and power control box (for motors all kinds of in turntable and driving thereof
Device is controlled) three parts composition.
Existing demarcation test table volume is big, and cost is high, and test use condition is harsh, this
A little factors significantly impact tank-type mixture and demarcate the efficiency of test, and above-mentioned tradition is demarcated test and set
(all properties parameter that demarcation tests out tank-type mixture) is tested in standby single demarcation, and the time is about
It it is 2 hours.
It addition, above-mentioned existing tank-type mixture parameter calibration test equipment, it uses and requires relatively
High (such as: the placement to temperature and humidity and equipment all has particular/special requirement).Meanwhile, used survey
Combination needs periodically to carry out demarcating test, and (i.e. all properties of tank-type mixture is demarcated in routine test
Parameter), and the manual steps that above-mentioned demarcation test needs is more, demarcates the mistake of test
Journey is more complicated, and there is human operational error affects the possibility demarcating test result.
Summary of the invention
Present invention aim to provide a kind of tank-type mixture self-calibration measure and control device and observing and controlling
Method, these apparatus and method can flexibly, reliably, the most also under relatively low cost
Quickly realize the self-calibration test of tank-type mixture.
For realizing this purpose, the tank-type mixture self-calibration measure and control device designed by the present invention, it
Including indexing locking mechanism, this indexing locking mechanism include the first rotary shaft transposition control motor,
Second rotary shaft transposition control motor, locking latch release shaft control motor, the first stepper motor drive
Dynamic device, the second stepper motor driver, the first infrared sensing of being arranged in the first rotary shaft
Device, the second infrared sensor being arranged in the second rotary shaft, be arranged on locking latch release shaft on
The 3rd infrared sensor, be arranged on locking latch release shaft on travel switch, it is characterised in that:
It also includes controller, a 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 electricity
Source, crystal oscillator, storage chip, Magnetic isolation device, level conversion and driver and tank-type mixture
Connect CAN (Controller Area Network, controller local area network) transceiver,
Computer, the first switching relay, the second switching relay；
Wherein, the first communication ends of described CAN transceiver connects computer, CAN transceiver
The second communication ends by Magnetic isolation device connect controller CAN signal communication ends, controller
Input/output end port connect level conversion and the first input/output of driver
(input/output, and I/O) port, the first infrared sensor, the second infrared sensor,
The signal output part of the 3rd infrared sensor and travel switch connects level conversion and driving respectively
First stepping motor control signal of the signal input part that device is corresponding, level conversion and driver
Output connects the step motor control signal input part of the first stepper motor driver, level
Second input/output end port of conversion and driver connects the one of the first switching relay coil
3rd input/output end port of end, level conversion and driver connects the second switching relay line
One end of circle；
The driving stepper motor signal output part of the first stepper motor driver connects the first switching
One end of relay normally open contact, the other end of the first switching relay normally open contact connects lock
Tight latch release shaft controls the signal input part of motor, the stepper motor of the first stepper motor driver
Driving signal output part to connect one end of the second switching relay normally open contact, the second switching continues
The other end of electrical equipment normally opened contact connects the signal input of the second rotary shaft transposition control motor
End；
Second stepping motor control signal output of described level conversion and driver connects the
The step motor control signal input part of two stepping motor driver, the second driving stepper motor
The driving stepper motor signal output part of device connects the signal of the first rotary shaft transposition control motor
Input；
The Serial Peripheral Interface (SPI) communication ends of described storage chip connects the serial peripheral of controller and connects
Port communications end (Serial Peripheral Interface--Serial Peripheral Interface (SPI)), the signal of crystal oscillator
Output connects the clock signal input terminal of controller；
The feeder ear of a described DC/DC insulating power supply respectively to the first infrared sensor,
Two infrared sensors, the 3rd infrared sensor, travel switch, secondary power supply, crystal oscillator, deposit
Storage chip, level conversion and driver, the isolation end power input of Magnetic isolation device, first
The step motor control power input of stepper motor driver, the second stepper motor driver
Step motor control power input power, the feeder ear of a DC/DC insulating power supply is also
The other end and second with the first switching relay coil switches another of relay coil respectively
End connects, and secondary power supply is powered to the first feeder ear of controller and the second feeder ear respectively；
The power supply switching control end of described level conversion and driver connects the 2nd DC/DC isolation
The control end of power supply, the driving source for step motor output of the 2nd DC/DC insulating power supply is even
Connect the driving source for step motor input of the first stepper motor driver；
The driving source for step motor output of described 3rd DC/DC insulating power supply connects second
The driving source for step motor input of stepper motor driver；
Described 4th DC/DC insulating power supply respectively to Magnetic isolation device be isolated end power supply and
The power input of CAN transceiver is powered.
Described controller is digital signal processor (digital singnal processor, DSP).
Described storage chip is EPROM (erasable programmable
Read-only memory, EPROM).
A kind of investigating method utilizing above-mentioned tank-type mixture self-calibration measure and control device, its feature exists
In, it comprises the steps:
Step 1: described controller reads from proving operation Step Information from storage chip；
Step 2: the first infrared sensor and the second infrared sensor are respectively by corresponding first turn
The rotational position signal of moving axis and the second rotary shaft feeds back to controller, and meanwhile, the 3rd is infrared
The status signal whether locking latch release shaft is locked or unlocked is fed back to by sensor and travel switch
Controller, controller according to above-mentioned first rotary shaft and the rotational position signal of the second rotary shaft,
The status signal whether locked or unlock of locking latch release shaft is to determine that indexing locking mechanism is current
State；
Step 3: computer has self-calibration by CAN transceiver to controller transmission and works
The CAN message frame of mode instruction, controller receives above-mentioned has self-calibration operating mode instruction
CAN message frame after enter self-calibration operating process；
Step 4: now controller checks in step 2 the first rotary shaft determined, second rotates
Whether axle and locking latch release shaft current state be at preassigned initial position；When first rotates
Axle, the second rotary shaft and locking latch release shaft current state when preassigned initial position,
Controller passes sequentially through level conversion and driver control the first stepper motor driver and lock
Tight latch release shaft controls motor and is unlocked locking latch release shaft；
When the first rotary shaft, the second rotary shaft and locking latch release shaft current state do not refer in advance
During fixed initial position, controller passes through level conversion and driver control the first stepper motor
Driver and/or the second stepper motor driver make the first rotary shaft, the second rotary shaft and locking
Latch release shaft returns to preassigned initial position；
Step 5: controller passes through level conversion and driver control the first stepper motor driver
And/or second stepper motor driver make the first rotary shaft, the second rotary shaft and locking latch release shaft
The operating procedure specified according to the self-calibration operating procedure information obtained in step 1 moves,
Now, if computer sends odd-job mode instruction to controller, then controller controls
First stepper motor driver and/or the second stepper motor driver make the first rotary shaft, second
Rotary shaft and locking latch release shaft complete specific action according to above-mentioned odd-job mode instruction, when
After the operating procedure that self-calibration operating procedure information specifies terminates, controller passes through level conversion
And driver control the first stepper motor driver and/or the second stepper motor driver make first
Rotary shaft, the second rotary shaft and locking latch release shaft return to preassigned initial position；
Step 6: while step 5 is carried out, controller passes through CAN with fixed time period
Transceiver is extracting time information from tank-type mixture information frame, and by this temporal information and step
The movable information of the first rotary shaft, the second rotary shaft and locking latch release shaft in rapid 5 together seals
Dress up tank-type mixture status information and send computer to by CAN transceiver.
Step 7, computer to controller send binding work mode instruction so that controller from
Have in the CAN message frame of self-calibration operating mode instruction and extract from staking-out work pattern and refer to
Order, and self-calibration operating mode instruction is stored in storage chip.
Described first rotary shaft, the second rotary shaft and locking latch release shaft preassigned initially
Position is that the first rotary shaft is in rotation zero degree position, the second rotary shaft is in rotation zero degree position
Put and lock latch release shaft and be in locking state.
The present invention mainly have employed Digital Signal Processing DSP and controls platform, and self-calibration observing and controlling fills
The dsp controller put gathers sensor and the survey of travel switch feedback in indexing locking mechanism
Trial signal, thereby determines that the state that tank-type mixture is current；Work is received by CAN port
Operation mode instruction and the CAN message frame of tank-type mixture output；After completing instruction response, right
Operating mode instruction resolves, and according to the step in instruction type output signal controlling organization
Enter electric machine rotation, make mechanism carry out indexing and stopping；Dsp controller exports from tank-type mixture
CAN message frame in extracting time information；Action during tank-type mixture self-calibration is believed
Breath (such as: turn to, put in place and locking etc.) is packaged into tank-type mixture together with temporal information
Status Information Frame is sent to computer；When tank-type mixture original state exception, self-calibration control
Unit processed can carry out correction process automatically, and completes self-calibration testing process.
Beneficial effects of the present invention:
Compared with traditional demarcation test equipment, the present invention by self-calibration measure and control device by tradition
Electrified equipment be designed to electronization equipment, electronization self-calibration measure and control device there is volume
Little (stock size may be designed to 100mm × 100mm × 80mm), the advantage of low cost.
It addition, the electronic self-calibration measure and control device of the present invention and investigating method can be according to users
Needing to carry out testing process renewal, self-calibration tank-type mixture is being equipped with the electronization of the present invention
Under conditions of self-calibration measure and control device, automation can be completed at short notice and demarcate test, single
Deutero-albumose location survey tries (all properties parameter that demarcation the tests out tank-type mixture) time by tradition electricity
Gas formula equipment within 2 hours, be reduced to 0.5 hour.
It addition, the present invention need not to existing tank-type mixture parameter calibration test equipment the same
Doing and regularly safeguard, reduce further the use cost of equipment, the demarcation of tank-type mixture is surveyed
Examination has been controlled by computer, it is to avoid the mistake that manual operation there will be, and also reduces people
Work cost.
The invention also achieves the status monitoring to whole self-calibration test process, this dress simultaneously
Be set to tank-type mixture exempt from dismounting and one-touch automatic test provides important technology and protects
Barrier.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Wherein, 1 first infrared sensor, 2 travel switches, 3 first rotary shaft indexings
Control motor, 4 second rotary shaft transposition control motors, 5 locking latch release shaft control motors,
6 first stepper motor drivers, 7 second stepper motor drivers, 8 controllers, 9
3rd infrared sensor, 10 the oneth DC/DC insulating power supplies, 11 the 2nd DC/DC
Insulating power supply, 12 the 3rd DC/DC insulating power supplies, 13 the 4th DC/DC insulating power supplies,
14 secondary power supplies, 15 crystal oscillators, 16 storage chips, 17 Magnetic isolation devices, 18 electricity
Flat turn is changed and driver, 19 tank-type mixture, 20 CAN transceiver, 21 computers,
22 first switching relays, 23 second switching relay, 24 second infrared sensors.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Tank-type mixture self-calibration measure and control device as described in Figure 1, it includes indexing locking mechanism
(this indexing locking mechanism is existing mechanism, and its structure and operation principle are in Patent No.
201210077665.3 Chinese patent " aircraft inertial navigation combination double-shaft self-calibration device " in
It has been described in detail), this indexing locking mechanism includes the first rotary shaft transposition control motor
3, the second rotary shaft transposition control motor 4, locking latch release shaft control motor the 5, first stepping
Motor driver the 6, second stepper motor driver 7, first be arranged in the first rotary shaft
Infrared sensor 1, the second infrared sensor 24 being arranged in the second rotary shaft, it is arranged on
Lock the 3rd infrared sensor 9 in latch release shaft, the travel switch being arranged in locking latch release shaft
2, it also includes that controller the 8, the oneth DC/DC insulating power supply the 10, the 2nd DC/DC isolates
Power supply the 11, the 3rd DC/DC insulating power supply the 12, the 4th DC/DC insulating power supply 13, secondary
Power supply 14, crystal oscillator 15, storage chip 16, Magnetic isolation device 17, level conversion and driver
18 CAN transceiver 20 being connected with tank-type mixture 19, computer the 21, first switching continue
Electrical equipment 22, second switches relay 23；
Wherein, the first communication ends of described CAN transceiver 20 connects computer 21, CAN
Second communication ends of transceiver 20 connects the CAN signal of controller 8 by Magnetic isolation device 17
Communication ends, the input/output end port of controller 8 connects level conversion and the first of driver 18
Input/output end port, first infrared sensor the 1, second infrared sensor the 24, the 3rd is infrared
The signal output part of sensor 9 and travel switch 2 connects level conversion and driver 18 respectively
Corresponding signal input part, level conversion and the first stepping motor control signal of driver 18
Output connects the step motor control signal input part of the first stepper motor driver 6, electricity
Flat turn is changed and the second input/output end port of driver 18 connects the first switching relay 22 line
3rd input/output end port of one end of circle, level conversion and driver 18 connects the second switching
One end of relay 23 coil；
The driving stepper motor signal output part of the first stepper motor driver 6 connects first and cuts
Changing one end of relay 22 normally opened contact, first switches another of relay 22 normally opened contact
End connects locking latch release shaft and controls the signal input part of motor 5, the first stepper motor driver 6
Driving stepper motor signal output part connect second switching relay 23 normally opened contact one
End, the other end of the second switching relay 23 normally opened contact connects the second rotary shaft transposition control
The signal input part of motor 4；
Second stepping motor control signal output of described level conversion and driver 18 connects
The step motor control signal input part of the second stepper motor driver 7, the second stepper motor
The driving stepper motor signal output part of driver 7 connects the first rotary shaft transposition control motor 3
Signal input part；
The Serial Peripheral Interface (SPI) communication ends of described storage chip 16 connects outside the serial of controller 8
If interface communication end, the signal output part of crystal oscillator 15 connects the clock signal input of controller 8
End；
The feeder ear of a described DC/DC insulating power supply 10 is respectively to the first infrared sensor
1, the second infrared sensor the 24, the 3rd infrared sensor 9, travel switch 2, secondary power supply
14, crystal oscillator 15, storage chip 16, level conversion and driver 18, Magnetic isolation device 17
Isolation end power input, the first stepper motor driver 6 step motor control power supply defeated
Enter end, the step motor control power input of the second stepper motor driver 7 is powered, the
The feeder ear of one DC/DC insulating power supply 10 switches relay 22 coil with first the most respectively
The other end of the other end and the second switching relay 23 coil connects, and secondary power supply 14 is respectively
Powering to the first feeder ear of controller 8 and the second feeder ear, (i.e. secondary power supply is to controller 8
There is provided kernel and the voltage of peripheral port)；
The power supply switching control end of described level conversion and driver 18 connects the 2nd DC/DC
The control end of insulating power supply 11, the driving stepper motor electricity of the 2nd DC/DC insulating power supply 11
Source output terminal connects the driving source for step motor input of the first stepper motor driver 6；
The driving source for step motor output of described 3rd DC/DC insulating power supply 12 connects
The driving source for step motor input of the second stepper motor driver 7；
Described 4th DC/DC insulating power supply 13 holds electricity to being isolated of Magnetic isolation device 17 respectively
The power input of source and CAN transceiver 20 is powered.
In technique scheme, described controller 8 is digital signal processor.
In technique scheme, described storage chip 16 is EPROM,
This EPROM is for preserving all information ginseng needed for self-calibration flow process
Number.
In technique scheme, described CAN transceiver 20 realizes controller 8 and computer
Information between 21 is mutual.
In technique scheme, the present invention is by driving stepper motor and switching relay, numeral
Signal processor and step motor control and CAN communication three part form, above-mentioned for realizing
Electrical isolation between three parts thus selected four DC/DC insulating power supply modules, the most right
Above-mentioned three parts are powered, and secondary power supply provides kernel with outer to digital signal processor
Enclose port voltage.
In technique scheme, the I/O port of controller 8 passes through level conversion and driver
18 acquisitions carrying out travel switch 2 and each infrared sensor feedback information, controller 8
I/O port carries out the control of the output of motor control signal also by level conversion and driver 18
System, the control of switching relay and the control of insulating power supply switch.Controller 8 realizes used
Surveying the control of combination self-calibration testing process, two stepper motor drivers realize first turn
Moving axis, the second rotary shaft and the control of locking latch release shaft correspondence stepper motor.
In technique scheme, owing to the control of stepper motor belongs to typical opened loop control body
System, the control process in order to ensure self-calibration measure and control device is reliable and accurate, and the present invention selects
First infrared sensor the 1, second infrared sensor the 24, the 3rd infrared sensor 9 and stroke
Switch 2 is as angle and the measuring cell of the feedback information that puts in place, and controller 8 can be according to above-mentioned
The signal of infrared ray sensor and travel switch 2 judges the state of current tank-type mixture.
In technique scheme, this programme is selected two relays (the first switching relay
22 and second switch relay 23), it is achieved by (the i.e. first stepping of a stepper motor driver
Motor driver 6) realize the second rotary shaft and the wheel flow control of locking latch release shaft.Reach to subtract
The purpose of little volume of the present invention.It addition, by controller 8 to line related before relay switches
Module carries out power-off control, is powered on power module by controller 8 after having switched again,
Avoid the electromagnetic interference produced in the charged handoff procedure of relay, it is ensured that tank-type mixture normal
Run.
In technique scheme, controller 8 receive computer 21 send startup self-calibration,
Stop self-calibration, bookbinding parameter and the instruction of odd-job pattern four class, and according to command request
Complete relevant treatment；Tank-type mixture 19 energising after controller 8 within the unit interval to computer
21 transmitting mechanism detailed information (such as: enable and disconnect), tank-type mixture global information (such as:
In demarcation) and tank-type mixture temporal information, it is simple to whole demarcation was tested by computer 21
Journey is monitored, and is prone to extract the effective information demarcated in test process；Controller 8 connects
Receive the odd-job mode instruction information that computer 21 sends, and to the tank-type mixture in mechanism
Realize Non-follow control, enable self-calibration tank-type mixture single step to realize specific action (such as: solve
Lock and indexing), improve the flexibility that product uses；Computer 21 passes through CAN transceiver
20 send binding instructio to controller 8, reach to revise the purpose of the demarcation flow process of controller 8,
The all parameter informations relevant with self-calibration flow process can be set by this communication protocol, to be controlled
Device 8 determines that forwarding gradually carries out information response to computer 21 after correct.
In the present invention, TMS320CXXXX series DSP chip selected by controller 8, should
Dsp chip is widely used in the fields such as the control of all kinds of motor and industrial automatic control, this programme
Middle dsp chip work dominant frequency is 120Mhz；There are 56 general GPIO being available for programming Control
Port, can easily carry out sensor feedback information collection and motor control signal output；Sheet
Interior 18K × 16 internal RAM, can run for self-calibration measure and control device program and provide at a high speed
Running space；8K × 16 Flash in sheet, can conveniently carry out measure and control device program code
Storage；3 on-chip timer Timer (32bitGP) can provide for measure and control device surveys accurately
Control sequential and minimum observing and controlling cycle；1 general SPI port configures with off-chip EEPROM
Chip carries out interface, it is achieved the preservation of self-calibration testing process and loading；1 enhancement mode
ECAN port carries out interface with control system or tester, it is achieved all kinds of CAN communication information
Mutual, can easily realize step motor control.
A kind of investigating method utilizing above-mentioned tank-type mixture self-calibration measure and control device, its feature exists
In, it comprises the steps:
Step 1: described controller 8 reads from proving operation step letter from storage chip 16
Breath；
Step 2: the first infrared sensor 1 and the second infrared sensor 24 are respectively by correspondence
The rotational position signal of the first rotary shaft and the second rotary shaft feeds back to controller 8, meanwhile,
The state whether locking latch release shaft is locked or unlocked by three infrared sensors 9 and travel switch 2
Signal feeds back to controller 8, and controller 8 is according to above-mentioned first rotary shaft and the second rotary shaft
Rotational position signal, locking latch release shaft the status signal whether locked or unlock determine turn
Position locking mechanism current state；
Step 3: computer 21 is had certainly to controller 8 transmission by CAN transceiver 20
The CAN message frame of staking-out work mode instruction, controller 8 receives above-mentioned has self-calibration work
Self-calibration operating process is entered after the CAN message frame of operation mode instruction；
Step 4: now controller 8 check step 2 determines the first rotary shaft, second turn
Whether moving axis and locking latch release shaft current state be at preassigned initial position；When first turn
Moving axis, the second rotary shaft and locking latch release shaft current state when preassigned initial position,
Controller 8 passes sequentially through level conversion and driver 18 controls the first stepper motor driver 6
And locking latch release shaft controls motor 5 and is unlocked locking latch release shaft；
When the first rotary shaft, the second rotary shaft and locking latch release shaft current state do not refer in advance
During fixed initial position, controller 8 controls the first stepping by level conversion and driver 18
Motor driver 6 and/or the second stepper motor driver 7 make the first rotary shaft, the second rotation
Axle and locking latch release shaft return to preassigned initial position；
Step 5: controller 8 controls the first stepper motor by level conversion and driver 18
Driver 6 and/or the second stepper motor driver 7 make the first rotary shaft, the second rotary shaft and
The operation step that locking latch release shaft specifies according to the self-calibration operating procedure information obtained in step 1
Suddenly move, now, refer to if computer 21 sends odd-job pattern to controller 8
Order, then controller 8 controls the first stepper motor driver 6 and/or the second driving stepper motor
Device 7 makes the first rotary shaft, the second rotary shaft and locking latch release shaft according to above-mentioned odd-job mould
Formula has instructed specific action, and the operating procedure specified when self-calibration operating procedure information terminates
After, controller 8 controls the first stepper motor driver 6 by level conversion and driver 18
And/or second stepper motor driver 7 make the first rotary shaft, the second rotary shaft and locking unlock
Axle returns to preassigned initial position；
Step 6: while step 5 is carried out, controller 8 passes through with fixed time period
CAN transceiver 20 is extracting time information from tank-type mixture information frame, and by this temporal information
And the first rotary shaft, the second rotary shaft and the movable information of locking latch release shaft in step 5
Together it is packaged into tank-type mixture status information and sends computer 21 to by CAN transceiver 20.
Step 7, computer 21 sends binding work mode instruction to controller 8 so that control
Device 8 processed extracts from staking-out work from the CAN message frame with self-calibration operating mode instruction
Mode instruction, and self-calibration operating mode instruction is stored in storage chip 16.
In technique scheme, described first rotary shaft, the second rotary shaft and locking latch release shaft
Preassigned initial position be the first rotary shaft be in rotation zero degree position, second rotate
Axle is in rotation zero degree position and locking latch release shaft is in locking state.
The content that this specification is not described in detail belongs to known to professional and technical personnel in the field
Prior art.
Claims (6)
1. a tank-type mixture self-calibration measure and control device, it includes indexing locking mechanism, this turn
Position locking mechanism includes the first rotary shaft transposition control motor (3), the second rotary shaft indexing control
Motor processed (4), locking latch release shaft control motor (5), the first stepper motor driver (6),
Second stepper motor driver (7), the first infrared sensor being arranged in the first rotary shaft
(1) the second infrared sensor (24) of, being arranged in the second rotary shaft, it is arranged on locking and solves
The 3rd infrared sensor (9) on lock shaft, the travel switch (2) being arranged in locking latch release shaft,
It is characterized in that: it also include controller (8), a DC/DC insulating power supply (10),
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) are connected with tank-type mixture (19)
CAN transceiver (20), computer (21), the first switching relay (22), the second switching
Relay (23)；
Wherein, the first communication ends of described CAN transceiver (20) connects computer (21),
Second communication ends of CAN transceiver (20) connects controller (8) by Magnetic isolation device (17)
CAN signal communication ends, the input/output end port of controller (8) connect level conversion and
First input/output end port of driver (18), the first infrared sensor (1), second red
The signal output of outer sensor (24), the 3rd infrared sensor (9) and travel switch (2)
End connects level conversion and the signal input part of driver (18) correspondence, level conversion respectively
And the first stepping motor control signal output of driver (18) connects the first stepper motor
The step motor control signal input part of driver (6), level conversion and driver (18)
Second input/output end port connect first switching relay (22) coil one end, level
3rd input/output end port of conversion and driver (18) connects the second switching relay (23)
One end of coil；
The driving stepper motor signal output part of the first stepper motor driver (6) connects first
One end of switching relay (22) normally opened contact, the first switching relay (22) is normally opened touches
The other end of point connects locking latch release shaft and controls the signal input part of motor (5), the first stepping
The driving stepper motor signal output part of motor driver (6) connects the second switching relay
(23) one end of normally opened contact, the other end of the second switching relay (23) normally opened contact
Connect the signal input part of the second rotary shaft transposition control motor (4)；
Described level conversion and the second stepping motor control signal output of driver (18)
Connect the step motor control signal input part of the second stepper motor driver (7), second step
The driving stepper motor signal output part entering motor driver (7) connects the first rotary shaft indexing
Control the signal input part of motor (3)；
The Serial Peripheral Interface (SPI) communication ends of described storage chip (16) connects controller (8)
Serial Peripheral Interface (SPI) communication ends, the signal output part of crystal oscillator (15) connects controller (8)
Clock signal input terminal；
The feeder ear of a described DC/DC insulating power supply (10) is respectively to the first infrared sensing
Device (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 isolation device (17), the first stepper motor driver (6)
Step motor control power input, the stepper motor control of the second stepper motor driver (7)
Power input processed is powered, the feeder ear of a DC/DC insulating power supply (10) the most respectively with
The other end of the first switching relay (22) coil and the second switching relay (23) coil
The other end connect, secondary power supply (14) respectively to the first feeder ear of controller (8) and
Second feeder ear is powered；
The power supply switching control end of described level conversion and driver (18) connects the 2nd DC/DC
The control end of insulating power supply (11), the stepper motor of the 2nd DC/DC insulating power supply (11)
Power output end is driven to connect the driving source for step motor of the first stepper motor driver (6)
Input；
The driving source for step motor output of described 3rd DC/DC insulating power supply (12) is even
Connect the driving source for step motor input of the second stepper motor driver (7)；
Described 4th DC/DC insulating power supply (13) respectively to Magnetic isolation device (17) by every
Power input from end power supply and CAN transceiver (20) is powered.
Tank-type mixture self-calibration measure and control device the most according to claim 1, its feature exists
In: described controller (8) is digital signal processor.
Tank-type mixture self-calibration measure and control device the most according to claim 1, its feature exists
In: described storage chip (16) is EPROM.
4. one kind utilizes the observing and controlling side of tank-type mixture self-calibration measure and control device described in claim 1
Method, it is characterised in that it comprises the steps:
Step 1: described controller (8) reads from proving operation from storage chip (16)
Step Information；
Step 2: the first infrared sensor (1) and the second infrared sensor (24) respectively will
The first corresponding rotary shaft and the rotational position signal of the second rotary shaft feed back to controller (8),
Meanwhile, whether locking latch release shaft is locked by the 3rd infrared sensor (9) and travel switch (2)
Status signal that is tight or that unlock feeds back to controller (8), and controller (8) is according to above-mentioned first
Rotary shaft and the rotational position signal of the second rotary shaft, whether locking or the solution of locking latch release shaft
The status signal of lock determines indexing locking mechanism current state；
Step 3: computer (21) is sent out to controller (8) by CAN transceiver (20)
Sending the CAN message frame with self-calibration operating mode instruction, controller (8) receives above-mentioned
Self-calibration operating process is entered after there is the CAN message frame of self-calibration operating mode instruction；
Step 4: now controller (8) check in step 2 determine the first rotary shaft, the
Whether two rotary shafts and locking latch release shaft current state be at preassigned initial position；When
One rotary shaft, the second rotary shaft and locking latch release shaft current state are in preassigned initial bit
When putting, controller (8) passes sequentially through level conversion and driver (18) controls the first stepping
Motor driver (6) and locking latch release shaft control motor (5) and carry out locking latch release shaft
Unlock；
When the first rotary shaft, the second rotary shaft and locking latch release shaft current state do not refer in advance
During fixed initial position, controller (8) controls the by level conversion and driver (18)
One stepper motor driver (6) and/or the second stepper motor driver (7) make the first rotation
Axle, the second rotary shaft and locking latch release shaft return to preassigned initial position；
Step 5: controller (8) controls the first step by level conversion and driver (18)
Enter motor driver (6) and/or the second stepper motor driver (7) make the first rotary shaft,
Second rotary shaft and locking latch release shaft are according to the self-calibration operating procedure information obtained in step 1
The operating procedure of regulation moves, now, if computer (21) is to controller (8)
Send odd-job mode instruction, then controller (8) controls the first stepper motor driver (6)
And/or second stepper motor driver (7) make the first rotary shaft, the second rotary shaft and locking solve
Lock shaft completes specific action according to above-mentioned odd-job mode instruction, when self-calibration operating procedure
After the operating procedure that information specifies terminates, controller (8) passes through level conversion and driver (18)
Control the first stepper motor driver (6) and/or the second stepper motor driver (7) makes
One rotary shaft, the second rotary shaft and locking latch release shaft return to preassigned initial position；
Step 6: while step 5 is carried out, controller (8) leads to fixed time period
Cross CAN transceiver (20) extracting time information from tank-type mixture information frame, and during by this
Between the first rotary shaft, the second rotary shaft and the fortune of locking latch release shaft in information and step 5
Dynamic information is together packaged into tank-type mixture status information and is sent to by CAN transceiver (20)
Computer (21).
Investigating method the most according to claim 4, it is characterised in that: described step 6
After also include step 7, computer (21) to controller (8) send binding work pattern refer to
Order so that controller (8) is from the CAN message frame with self-calibration operating mode instruction
Extract from staking-out work mode instruction, and self-calibration operating mode instruction is stored in storage core
In sheet (16).
Investigating method the most according to claim 4, it is characterised in that: described first turn
The preassigned initial position of moving axis, the second rotary shaft and locking latch release shaft is the first rotation
Axle is in rotation zero degree position, the second rotary shaft is in rotation zero degree position and locking latch release shaft
It is in locking state.
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| CN201410105420.6A CN103868529B (en) | 2014-03-20 | 2014-03-20 | Tank-type mixture self-calibration measure and control device and investigating method |
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| CN201410105420.6A CN103868529B (en) | 2014-03-20 | 2014-03-20 | Tank-type mixture self-calibration measure and control device and investigating method |
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| CN105007012B (en) * | 2015-07-16 | 2017-12-15 | 湖北三江航天万峰科技发展有限公司 | A kind of vehicle-mounted rotating table control system and method |
| CN110320935B (en) * | 2018-03-29 | 2022-03-22 | 航天科工惯性技术有限公司 | Remote automatic control method and device for rotary table |
| CN110375771B (en) * | 2019-07-15 | 2021-04-13 | 北京航天控制仪器研究所 | Three-floating inertial instrument floater running-in equipment |
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