CN104236549A - Course sending equipment and course sending method - Google Patents
Course sending equipment and course sending method Download PDFInfo
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- CN104236549A CN104236549A CN201410470104.9A CN201410470104A CN104236549A CN 104236549 A CN104236549 A CN 104236549A CN 201410470104 A CN201410470104 A CN 201410470104A CN 104236549 A CN104236549 A CN 104236549A
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- course
- angle
- control unit
- motion control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention relates to course sending equipment which comprises an interface unit, a position feedback unit, a motion control unit, a motion execution unit, a gear chain and a sending unit. A course sending method comprises the steps that the interface unit is used for receiving a digital interface course angle sent by a sensor and sending the course angle serving as a target angle to the motion control unit; the position feedback unit detects a current actual angle of the sensing unit and feeds back the actual angle to the motion control unit; the motion control unit acquires a target angle value and an actual angle value, compares the target angle value with the actual angle value for calculation and outputs a control voltage signal to a servo amplifier; the servo amplifier drives an execution motion to drive the gear chain and the sending unit to get close to the target angle until the actual angle value is equal to the target angle value. The course sending equipment disclosed by the invention receives the digital course angle sent by the sensor, can output multiple paths of analog course angles and has the advantages of high driving capacity, high precision, high instantaneity and variety of output formats.
Description
Technical field
The present invention relates to ship equipment, course transmitting apparatus when being related specifically to a kind of ship course in airmanship.
Background technology
Boats and ships need correct, that source is consistent course information when navigating by water, and the course information of boats and ships is produced by various kinds of sensors (such as magnetic compass, gyrocompass, optical fiber compass).The function of course transmitting apparatus is that the course angle sent by sensor accurately sends to the equipment needing this information, such as autopilot, radar, electronic chart, course repeater etc.Course transmitting apparatus can improve transmitted power on the one hand, drives more load; Load and sensing system can be made on the other hand mutually isolated, the reliability of raising system.
The performance quality of course transmitting apparatus directly can have influence on the correctness of ship course information.Course of the prior art transmitting apparatus mostly is simulation revolving die plan, analog-to-digital or numeral and turns digital forms, and the interface course signal form that course transmitting apparatus exports is single, driving force is weak, precision is low, poor real.
Summary of the invention
The object of patent of the present invention is to overcome above-mentioned the deficiencies in the prior art, provides a kind of new course transmitting apparatus.Course of the present invention transmitting apparatus is wanted accomplish to receive digital course angle, and output multi-channel driving force is strong, the false course angle information of high precision, high real-time and multi-format.
In order to reach foregoing invention object, the technical scheme that patent of the present invention provides is as follows:
A kind of course transmitting apparatus, it is characterized in that, this course transmitting apparatus includes:
Interface unit, this interface unit is used for the digital interface course angle information that receiving sensor sends, after format conversion, be sent to motion control unit;
Motion control unit, this motion control unit is used for the actual angle of the course heading that sends of reception interface unit and transmitting element, compares calculating, outputs voltage signal to Motor execution unit;
Motor execution unit, this Motor execution unit includes servoamplifier and actuating motor, for the voltage signal according to motion control unit, drives actuating motor driven gear chain and transmitting element to rotate;
Wheel chain and transmitting element, transmitting element selects rotary transformer or the synchro-transmitter of different output powers, voltage, frequency, speed ratio according to loading demand, and design is assemblied in each gear stage of wheel chain;
Position feedback unit, for detecting the actual angle residing for current transmitting element, is sent to motion control unit.
In the transmitting apparatus of course of the present invention, the sensor of described interface unit includes magnetic compass, gyrocompass and optical fiber compass.
In the transmitting apparatus of course of the present invention, include DSP in described motion control unit, the comparison that this processor is used for target angle angle value and actual corners angle value calculates.
In the transmitting apparatus of course of the present invention, the gear stage of described wheel chain includes 1 °/turn, 10 °/turns and 360 °/turns.
A kind of course sending method based on above-mentioned course transmitting apparatus, after described interface unit receives the digital interface course angle that sensor sends, motion control unit is sent to as angle on target, position feedback unit detects the actual angle residing for current transmitting element, feed back to motion control unit, after motion control unit obtains target angle angle value and actual corners angle value, compare calculating, control voltage signal is exported to servoamplifier according to result of calculation, after servoamplifier carries out power amplification, drive actuating motor driven gear chain and transmitting element close to angle on target, until actual corners angle value is identical with target angle angle value, the control voltage that now motion control unit exports is zero, actuating motor stops operating, the closed loop that formation like this course sends.
Based on technique scheme, course of the present invention transmitting apparatus and course sending method compared with prior art have following technological merit:
The present invention is a kind of course transmitting apparatus based on brand new ideas design, its major function is the digital course angle that receiving sensor sends, exportable multi-channel analog course angle, compared with prior art like product, it has, and driving force is strong, precision is high, real-time is high, the diversified advantage of output format.
Accompanying drawing explanation
Fig. 1 is the theory structure block diagram of a kind of course of the present invention transmitting apparatus.
Fig. 2 is the schematic diagram of embodiment 1 in course of the present invention transmitting apparatus and sending method.
Embodiment
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.
Please see Figure 1, as seen from the figure.A kind of course of the present invention transmitting apparatus mainly includes interface unit, position feedback unit, motion control unit, Motor execution unit, wheel chain and transmitting element on structure composition.Connected mode and the functional description of each ingredient are as follows:
Interface unit is used for the digital interface course angle information that receiving sensor sends, after format conversion, be sent to motion control unit; Motion control unit is used for the actual angle of the course heading that sends of reception interface unit and transmitting element, compares calculating, outputs voltage signal to Motor execution unit; Motor execution unit includes servoamplifier and actuating motor, for the voltage signal according to motion control unit, drives actuating motor driven gear chain and transmitting element to rotate; Be directed to wheel chain and transmitting element, transmitting element selects rotary transformer or the synchro-transmitter of different output powers, voltage, frequency, speed ratio according to loading demand, the design of these different transmitting elements is assemblied in each gear stage of wheel chain; Position feedback unit, for detecting the actual angle residing for current transmitting element, is sent to motion control unit.
Based on the course sending method of above-mentioned course transmitting apparatus, after described interface unit receives the digital interface course angle that sensor sends, motion control unit is sent to by CAN network as angle on target, object the course data of different communication protocol is converted to unified form to be sent in inner CAN network, unified form includes ID+ data, be provided with effective marker position in ID, data are course numerical value.
Position feedback unit detects the actual angle residing for current transmitting element, feed back to motion control unit, after motion control unit obtains target angle angle value and actual corners angle value, compare calculating, control voltage signal is exported to servoamplifier according to result of calculation, after servoamplifier carries out power amplification, drive actuating motor driven gear chain and transmitting element close to angle on target, until actual corners angle value is identical with target angle angle value, the control voltage that now motion control unit exports is zero, actuating motor stops operating, the closed loop that formation like this course sends.
Embodiment 1
With reference to Fig. 2, it is a course transmitting apparatus in the present embodiment, this equipment receives comes from the RS422 interface course angle of optical fiber compass, to load send 1 °, a road/turn selsyn signal, the signal composition two speed synchro signal of one 10 °, tunnel/turn and 360 °/turn, the signals of rotating transformer on 360 °, a road/turn.
In the present embodiment, course transmitting apparatus comprises: interface unit, and for receiving the RS422 interface course angle that optical fiber compass sends, the target angle angle value being converted into CAN interface is sent to motion control unit by CAN network.The course data of sensor different communication protocol being converted to unified form is sent in inner CAN network by CAN interface, and unified form includes ID+ data, is provided with effective marker position in ID, is course numerical value in data.
This course transmitting apparatus also comprises: position feedback unit, is made up of binary channels multipolar resolver and axes-angle conversion module.Wherein, multipolar resolver be arranged on wheel chain 360 °/turn gear stage on, its export dual-channel analog signal change parallel binary number into through shaft angle modular converter, be sent to motion control unit as the actual angle residing for current transmitting element.
This course transmitting apparatus also comprises: motion control unit, and DSP selected by core processing device, for receiving target angle value and actual angle, compares calculating, exports the voltage signal of ﹣ 10V ~+10V to Motor execution unit.
This course transmitting apparatus also comprises: Motor execution unit, is made up of direct current servo amplifier and direct current generator, for the ﹣ 10V ~+10V voltage signal exported according to motion control unit, drives DC motor drives chain, transmitting element to rotate.
This course transmitting apparatus also comprises: wheel chain and transmitting element, and transmitting element is 3 synchro-transmitters and 1 rotary transformer transmitter, be installed on respectively wheel chain 1 °/turn, 10 °/turn and 360 °/turn gear stage on.
The course of work of this course transmitting apparatus is described below:
1., after interface unit receives the RS422 interface course angle that optical fiber compass sends, the target angle angle value being converted into CAN interface is sent to motion control unit by CAN network.
2. the gear stage of wheel chain 360 °/turn is provided with the multipolar resolver of synchronous axial system, its dual-channel analog signal exported changes parallel binary number into through shaft angle modular converter, is sent to motion control unit as the actual angle residing for current transmitting element.
3. after motion control unit obtains target angle angle value and actual corners angle value, compare calculating, export the voltage signal of ﹣ 10V ~+10V to direct current servo amplifier.
4. after direct current servo amplifier carries out power amplification, output pulse width modulation voltage (pwm voltage is pwm signal), drive DC motor drives chain, the rotation of each transmission motor, close to angle on target, until actual corners angle value is identical with target angle angle value, now motion control unit exports control voltage is zero, and direct current generator stops operating, and now respectively sends motor output angle angle value consistent with the course heading from optical fiber compass.
The major function of course of the present invention transmitting apparatus and method is the digital course angle that receiving sensor (such as magnetic compass, gyrocompass, optical fiber compass) sends, exportable multi-channel analog course angle, has that driving force is strong, precision is high, real-time is high, the diversified advantage of output format.
Claims (5)
1. a course transmitting apparatus, is characterized in that, this course transmitting apparatus includes:
Interface unit, this interface unit is used for the digital interface course angle information that receiving sensor sends, and is sent to motion control unit through CAN network;
Motion control unit, this motion control unit is used for the actual angle of the course heading that sends of reception interface unit and transmitting element, compares calculating, outputs voltage signal to Motor execution unit;
Motor execution unit, this Motor execution unit includes servoamplifier and actuating motor, for the voltage signal according to motion control unit, drives actuating motor driven gear chain and transmitting element to rotate;
Wheel chain and transmitting element, transmitting element selects rotary transformer or the synchro-transmitter of different output powers, voltage, frequency, speed ratio according to loading demand, and design is assemblied in each gear stage of wheel chain;
Position feedback unit, for detecting the actual angle residing for current transmitting element, is sent to motion control unit.
2. a kind of course according to claim 1 transmitting apparatus, is characterized in that, the sensor of described interface unit includes magnetic compass, gyrocompass and optical fiber compass.
3. a kind of course according to claim 1 transmitting apparatus, is characterized in that, include DSP in described motion control unit, and the comparison that this processor is used for target angle angle value and actual corners angle value calculates.
4. a kind of course according to claim 1 transmitting apparatus, is characterized in that, the gear stage of described wheel chain includes 1 °/turn, 10 °/turns and 360 °/turns.
5. one kind utilizes the course sending method of the course transmitting apparatus described in claim 1, it is characterized in that, after described interface unit receives the digital interface course angle that sensor sends, motion control unit is sent to as angle on target, position feedback unit detects the actual angle residing for current transmitting element, feed back to motion control unit, after motion control unit obtains target angle angle value and actual corners angle value, compare calculating, control voltage signal is exported to servoamplifier according to result of calculation, after servoamplifier carries out power amplification, drive actuating motor driven gear chain and transmitting element close to angle on target, until actual corners angle value is identical with target angle angle value, the control voltage that now motion control unit exports is zero, actuating motor stops operating.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410470104.9A CN104236549B (en) | 2014-09-16 | 2014-09-16 | Course sending equipment and course sending method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410470104.9A CN104236549B (en) | 2014-09-16 | 2014-09-16 | Course sending equipment and course sending method |
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| CN104236549A true CN104236549A (en) | 2014-12-24 |
| CN104236549B CN104236549B (en) | 2017-04-12 |
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| CN201410470104.9A Active CN104236549B (en) | 2014-09-16 | 2014-09-16 | Course sending equipment and course sending method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709547A (en) * | 2018-03-14 | 2018-10-26 | 中船航海科技有限责任公司 | A kind of heading measure sending device and its measurement method for gyrocompass |
| CN108919363A (en) * | 2018-08-07 | 2018-11-30 | 哈尔滨工业大学 | One kind is adaptively according to course Aeromagnetic data processing method |
| CN112615768A (en) * | 2020-12-09 | 2021-04-06 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN118331156A (en) * | 2024-06-11 | 2024-07-12 | 中国船舶集团有限公司第七〇七研究所 | Method for transmitting course data by solid analog interface |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709547A (en) * | 2018-03-14 | 2018-10-26 | 中船航海科技有限责任公司 | A kind of heading measure sending device and its measurement method for gyrocompass |
| CN108709547B (en) * | 2018-03-14 | 2023-06-27 | 中船航海科技有限责任公司 | Course measurement transmitting device for gyro compass and measurement method thereof |
| CN108919363A (en) * | 2018-08-07 | 2018-11-30 | 哈尔滨工业大学 | One kind is adaptively according to course Aeromagnetic data processing method |
| CN112615768A (en) * | 2020-12-09 | 2021-04-06 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN112615768B (en) * | 2020-12-09 | 2022-02-11 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN118331156A (en) * | 2024-06-11 | 2024-07-12 | 中国船舶集团有限公司第七〇七研究所 | Method for transmitting course data by solid analog interface |
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| CN104236549B (en) | 2017-04-12 |
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Address after: 200136 Pudong New Area Jinqiao Road, Shanghai, No. 525 Applicant after: CSSC NAVIGATION TECHNOLOGY CO., LTD. Address before: 200136 Pudong New Area Jinqiao Road, Shanghai, No. 525 Applicant before: Shanghai Marine Instrument Co., Ltd. |
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