CN103941738A - Unrestraint model remote control and testing module and method - Google Patents
Unrestraint model remote control and testing module and method Download PDFInfo
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- CN103941738A CN103941738A CN201410132321.7A CN201410132321A CN103941738A CN 103941738 A CN103941738 A CN 103941738A CN 201410132321 A CN201410132321 A CN 201410132321A CN 103941738 A CN103941738 A CN 103941738A
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Abstract
The invention discloses an unrestraint model remote control and testing module and method. The module comprises a central controller, a wireless module, a posture sensor, a pushing-twisting force signal conditioner, an AD module, a propeller control interface, a steering engine control interface and a track indicating interface. The central controller controls working of a propeller and a steering engine according to remote measuring instructions received by the wireless module through the propeller control interface and the steering engine control interface, the model posture is measured in real time through the posture sensor, pushing force or twisting force generated by the propeller is measured in real time through the pushing-twisting force signal conditioner and the AD module, propeller speed, steering engine angles, the model posture and the pushing force or the twisting force are transmitted to a bank in real time through the wireless module, and track indication signals are output through the track indicating interface. A modularization integration technology is used, moving control, posture information, pushing-twisting force information and other controlling and testing information of an unrestraint model are achieved through a set of remote measuring modules, and functionality integration and modularization operation are achieved.
Description
Technical field
The present invention relates to unrestricted model remote control and measuring technology, be applicable to without retraining free-running model, in visual range, carry out ship trajectory control and model attitude and the high frequency collection and the real-time graph that push away the information such as torsion are shown on the water surface.
Background technology
Unrestricted model remote control and measuring technology comprise the control of model ship trajectory, the test of model attitude information and model and push away torsional test etc., classic method adopts multisystem combined running, i.e. navigation is controlled, model attitude information and push away torsional test and adopt separately independently system, its coordinate operation completes by manual type intervention, causes device to disperse, and functions is single, device is numerous, connect numerous and diversely, operating personnel are numerous, and workload is large and reliability is low.
Summary of the invention
For the problems referred to above, the invention provides and a kind ofly can by various Function Integration Mechanisms together, realize unrestricted model remote control and test module and remote control and the method for testing of the system combination of multisystem single module.
Technical scheme of the present invention is as follows:
Unrestricted model remote control and a test module, comprise central controller, wireless module, attitude sensor, push away torsion signal conditioner, AD module, screw propeller control interface, rudder control interface and track indication interface;
Described central controller is system core parts, includes control and capture program and orbiting motion algorithm, receives and to remaining part sending controling instruction, and coordinates each component function according to feedback information;
Described wireless module is connected with central controller, it receives the telemetry command that SBC sends, telemetry command is sent to central controller, and the feedback information of the propeller speed of the unrestricted model that central controller is collected, steering wheel angle, model attitude, thrust or torsion is sent to SBC in real time;
Described attitude sensor is connected with central controller, and it measures attitude angle and the angular acceleration of unrestricted model in real time, and above-mentioned model attitude information is fed back to central controller;
Described pushing away after torsion signal conditioner connects AD module is connected with central controller, and pushing away and sending into AD module converts after torsion signal conditioner is nursed one's health the thrust of the screw propeller generation of unrestricted model or torsion is that digital signal is sent to central controller;
Described screw propeller control interface is connected with central controller with rudder control interface, it receives the steering order that central controller is sent, screw propeller and the steering wheel of controlling respectively unrestricted model carry out work, and revolution speed of propeller and the current angle of steering wheel are fed back to central controller;
Described track indication interface is connected with central controller, and it is the result of calculation output trajectory indicator signal to the movement locus of unrestricted model according to central controller.
The present invention also provides a kind of unrestricted model remote control and method of testing, wireless module is controlled and is received the telemetry command that SBC sends by transmitting-receiving, after being resolved, instruction is sent to central controller, central controller converts and obtains the required pulse separately of screw propeller and steering wheel according to described telemetry command, control two pulse producers and produce respectively required pulse, and by screw propeller control interface and rudder control interface, export that described pulse is controlled screw propeller respectively and steering wheel is worked, make unrestricted model according to the desired orbiting motion of telemetry command; Screw propeller control interface, rudder control interface feed back to central controller by propeller speed, steering wheel angle respectively simultaneously; The real-time measurement model attitude of attitude sensor 3 is sent to central controller after communications protocol is resolved; Push away torsion signal conditioner and AD module and measure in real time thrust or the torsion that screw propeller produces, after signal condition and AD conversion, be sent to central controller; Central controller is sent in SBC by described propeller speed, steering wheel angle and model attitude, thrust or torsion by wireless module in real time; Central controller 1 calculates the movement locus of unrestricted model by built-in orbiting motion algorithm, by track, indicates interface output trajectory indicator signal.
Useful technique effect of the present invention is:
The present invention adopts modularization integrating technology, by the motion control of unrestricted model, attitude information and push away the controls such as torsion information and detecting information is realized by a set of telemetry module, has realized functional integrated and modularization running.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present invention.
Fig. 2 is workflow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As shown in Figure 1, module of the present invention by central controller 1, wireless module 2, attitude sensor 3, push away torsion signal conditioner 4, AD module 5, screw propeller control interface 6, rudder control interface 7 and track indication interface 8 forms.
Central controller 1 is system core parts, includes control and capture program and orbiting motion algorithm, receives and to remaining part sending controling instruction, and coordinates each component function according to feedback information.Wireless module 2 is connected with the lan interfaces (LAN) of central controller 1, for receiving and dispatching the instruction between SBC and central controller 1.Attitude sensor 3 is connected with the serial communication interface (COM) of central controller 1, for attitude angle and the angular acceleration of Real-time Feedback unrestricted model.Push away and after thrust that the 4 pairs of screw propellers of torsion signal conditioner produce or torsion are nursed one's health, send into AD module 5 and be converted to digital signal and carry out acquisition process.Screw propeller control interface 6 and rudder control interface 7 control respectively screw propeller and steering wheel carries out work, and feeds back revolution speed of propeller and the current angle of steering wheel.Track is indicated 8 output trajectory indicator signals.
As shown in Figure 2, workflow of the present invention is: wireless module 2 is controlled and received the telemetry command that SBC sends by transmitting-receiving, after being resolved, instruction is sent to central controller 1, central controller 1 converts and obtains the required pulse separately of screw propeller and steering wheel according to above-mentioned instruction, control two pulse producers and produce respectively required pulse, and control screw propeller respectively and steering wheel is worked by the described pulse of screw propeller control interface 6 and rudder control interface 7 output, thereby make unrestricted model according to sending the desired orbiting motion of instruction.Screw propeller control interface 6, rudder control interface 7 feed back to central controller 1 by propeller speed, steering wheel angle respectively simultaneously.The real-time measurement model attitude of attitude sensor 3 is sent to central controller 1 after communications protocol is resolved; Push away torsion signal conditioner 4 and AD module 5 measurement screw propeller produces in real time thrust or torsion, after signal condition and AD conversion, be sent to central controller 1.Central controller 1 is sent to propeller speed, steering wheel angle and model attitude, thrust or torsion in SBC in real time by wireless module 2.Central controller 1 calculates the movement locus of unrestricted model by built-in orbiting motion algorithm, by track, indicates interface 8 output trajectory indicator signals; Track indication has output when model setting in motion, no-output during model stop motion, and output signal is 12V level signal, the orbiting motion algorithm adopting in the present invention is prior art.
Above-described is only the preferred embodiment of the present invention, the invention is not restricted to above embodiment.Be appreciated that the oher improvements and changes that those skilled in the art directly derive or associate without departing from the spirit and concept in the present invention, within all should thinking and being included in protection scope of the present invention.
Claims (2)
1. unrestricted model remote control and a test module, is characterized in that: comprise central controller (1), wireless module (2), attitude sensor (3), push away torsion signal conditioner (4), AD module (5), screw propeller control interface (6), rudder control interface (7) and track indication interface (8);
Described central controller (1) is system core parts, includes control and capture program and orbiting motion algorithm, receives and to remaining part sending controling instruction, and coordinates each component function according to feedback information;
Described wireless module (2) is connected with central controller (1), it receives the telemetry command that SBC sends, telemetry command is sent to central controller (1), and the feedback information of the propeller speed of the unrestricted model that central controller (1) is collected, steering wheel angle, model attitude, thrust or torsion is sent to SBC in real time;
Described attitude sensor (3) is connected with central controller (1), and it measures attitude angle and the angular acceleration of unrestricted model in real time, and above-mentioned model attitude information is fed back to central controller (1);
Described pushing away after torsion signal conditioner (4) connects AD module (5) is connected with central controller (1), pushes away after torsion signal conditioner (4) is nursed one's health the thrust of the screw propeller generation of unrestricted model or torsion, to send into AD module (5) and be converted to digital signal and be sent to central controller (1);
Described screw propeller control interface (6) is connected with central controller (1) with rudder control interface (7), it receives the steering order that central controller (1) is sent, screw propeller and the steering wheel of controlling respectively unrestricted model carry out work, and revolution speed of propeller and the current angle of steering wheel are fed back to central controller (1);
Described track indication interface (8) is connected with central controller (1), and it is the result of calculation output trajectory indicator signal to the movement locus of unrestricted model according to central controller (1).
2. a unrestricted model remote control and method of testing, it is characterized in that: wireless module is controlled and received the telemetry command that SBC sends by transmitting-receiving, after being resolved, instruction is sent to central controller, central controller converts and obtains the required pulse separately of screw propeller and steering wheel according to described telemetry command, control two pulse producers and produce respectively required pulse, and by screw propeller control interface and rudder control interface, export that described pulse is controlled screw propeller respectively and steering wheel is worked, make unrestricted model according to the desired orbiting motion of telemetry command; Screw propeller control interface, rudder control interface feed back to central controller by propeller speed, steering wheel angle respectively simultaneously; The real-time measurement model attitude of attitude sensor 3 is sent to central controller after communications protocol is resolved; Push away torsion signal conditioner and AD module and measure in real time thrust or the torsion that screw propeller produces, after signal condition and AD conversion, be sent to central controller; Central controller is sent in SBC by described propeller speed, steering wheel angle and model attitude, thrust or torsion by wireless module in real time; Central controller 1 calculates the movement locus of unrestricted model by built-in orbiting motion algorithm, by track, indicates interface output trajectory indicator signal.
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| CN201410132321.7A CN103941738A (en) | 2014-04-02 | 2014-04-02 | Unrestraint model remote control and testing module and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839964A (en) * | 2017-11-29 | 2019-06-04 | 深圳市优必选科技有限公司 | Steering engine control method and terminal device |
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Application publication date: 20140723 |