CN104836488B - A kind of compact type vehicle-mounted radar sets up control system - Google Patents
A kind of compact type vehicle-mounted radar sets up control system Download PDFInfo
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- CN104836488B CN104836488B CN201510236459.6A CN201510236459A CN104836488B CN 104836488 B CN104836488 B CN 104836488B CN 201510236459 A CN201510236459 A CN 201510236459A CN 104836488 B CN104836488 B CN 104836488B
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Abstract
The invention discloses a kind of compact type vehicle-mounted radar to set up control system, including a rectifier bridge, master controller, keyboard, display screen, azimuth encoder, pitching encoder, level meter, two backrest strut motors and four support leg motors, master controller passes through RS485 buses and support leg motor and backrest motor connection；Master controller is connected by RS485 serial ports with level meter；Master controller is connected with azimuth encoder, pitching encoder respectively by SSI interfaces；Master controller is connected by I/O mouths with keyboard and display screen；Master controller passes through CAN interface and bearing servo motor connection.The present invention reduces radar and sets up the volume of control system, simplify the connection cables of system, improve the reliability of system.
Description
Technical field
The invention belongs to Radar Technology field, more particularly to a kind of compact type vehicle-mounted radar to set up control system.
Background technology
Trailer-mounted radar auto-erecting system can be divided into two kinds of hydraulic and electromechanical type, hydraulic auto-erecting according to power source
The characteristics of system is that load is big, cost is high, maintenance is complicated, and this framework can choose the industrial rack product of maturation, have skill
Art is ripe, low cost and other advantages, but hydraulic auto-erecting system simultaneously there is also control system volume is big, wiring is complicated,
The shortcomings of temperature applicability difference, these shortcomings of hydraulic auto-erecting system were used, it is necessary to screen or temperature applicability improves
Tend to solve when Large Radar system, but often influenceed in small compact type radar system just than more prominent, to tight
The type development of radar structure system of gathering brings very big pressure.
The characteristics of electromechanical auto-erecting system is that load is smaller, cost is relatively low, maintenance is simple, suitable for miniradar system
System.Traditional electro-mechanical formula radar auto-erecting control system is mainly made up of PLC, servo-driver, servomotor and level meter etc.,
But because radar auto-erecting system has some inherent features, first, the working time is short, the frame of high maneuverability tampers work
Time is all within 5 minutes；Second, power of motor is little, the support leg motor and backrest strut motor of existing high maneuverability are general
In 800W or so.These conventional motors select industrial servomotor, industrial servomotor be all mostly according to it is long when work and set up
Meter, and industrial servomotor needs to consider the versatility of different occasions, remaining abundant interface, such servomotor driving
Device is done just bigger, adds the volume and weight of auto-erecting system.
So in order to adapt to miniradar system design, need badly and miniaturization is carried out to radar auto-erecting control system set
Meter.
The content of the invention
The technical problems to be solved by the invention, which are the provision of one kind, can reduce volume, simplify connection cables and raising
The radar construction system of reliability.
The present invention is that solve above-mentioned technical problem by the following technical programs：
A kind of compact type vehicle-mounted radar sets up control system, including rectifier bridge, master controller, keyboard, display screen, a side
Position encoder, pitching encoder, level meter, two backrest strut motors and four support leg motors, the rectifier bridge is by 220VAC
320VDC is transformed to power for the support leg motor and backrest strut motor；The master controller by RS485 buses with it is described
Support leg motor and backrest strut motor connection；The master controller is connected by RS485 interfaces with the level meter；The master control
Device processed is connected with the azimuth encoder, pitching encoder respectively by SSI interfaces；The master controller by I/O interfaces with
The keyboard connects with display screen；The master controller passes through CAN interface and bearing servo motor connection.
Preferably, the master controller is realized based on control chip TMS320F2812, is integrated with two-way RS485 serial ports, one
Road SPI interface, all the way CAN interface and eight road 24V switch value input interfaces, eight road I/O keyboard interfaces and 12 road I/O display screens
Interface.
Preferably, the backrest strut motor, support leg motor pass through RS485 interface circuits and the control chip
TMS320F2812 SCIA pins connection；The level meter passes through RS485 interface circuits and the control chip
TMS320F2812 SCIB pins connection；The pitching encoder, azimuth encoder pass through SSI interface circuits and the control
The SPI pins connection of chip TMS 320 F 2812；The bearing servo motor passes through CAN interface circuit and the control chip
TMS320F2812 CAN pins connection；The keyboard is by keyboard interface circuit with the control chip TMS320F2812's
The connection of the pin of GPIOA0~7；24V switching values are by 24V switch interfaces circuit with the control chip TMS320F2812's
The connection of the pin of GPIOA8~15；The display screen is by display screen interface circuit with the control chip TMS320F2812's
The connection of the pin of GPIOB0~11.
Preferably, support leg motor and backrest the strut motor uses the brshless DC motor of drive control integration,
The brshless DC motor includes motor body, motor driver and electromagnetic brake, and the control line of the electromagnetic brake is straight
Connect and be welded on the motor driver, the motor driver set axle is arranged on the afterbody of the motor body, the one
The control power supply for changing brshless DC motor is inputted using 24VDC, 320VDC input of the driving power using 220VAC after rectified.
Preferably, the motor driver receives the control instruction that sends of master controller by RS485 serial ports and drives nothing
The positive and negative operating of brushless motor, while rotating speed brshless DC motor, the state of brshless DC motor are anti-by RS485 serial ports
Feed master controller, the motor driver extension has two-way 24V switch value input interfaces and all the way brake control interface.
Preferably, the brushless direct current motor controller integrates two-way limit signal, and 24VDC limit signals are turned by optocoupler
It is changed to the I/O interfaces of TTL signal Access Control chip TMS 320 F 2812；RS485 signals are through level shifting circuit Access Control core
Piece TMS320F2812 ports；The bus current of brshless DC motor is converted to 0~3V voltages letter by current sensor ACS713
Number, and input detections of the control chip TMS320F2812 by the bus current of the existing brshless DC motor of AD causes for gossip；Control chip
TMS320F2812 drives the electromagnetic brake of brshless DC motor by I/O interfaces through power amplification；Outside 24VDC power supplys warp
DC/DC power supply chips are converted to 15VDC and 5VDC, and 15VDC is power drive chip power supply, and linear power supply chip turns 5VDC again
3.3VDC and 1.8VDC is changed to power for control chip TMS320F2812 and peripheral control circuits.
Preferably, the control chip TMS320F2812 detections brshless DC motor three-phase hall signal, and according to Hall
The road PWM of signal output six, brshless DC motor is driven by driving power drive chip I RSM836-045MA after amplification.
Preferably, the two-way SSI interface circuits are by level shifting circuit and by switching switch and the control core
The piece TMS320F2812 pins of SPI all the way are connected, and azimuth encoder and pitching are gathered by the way of Time-sharing control according to instruction
The value of encoder.
Preferably, the mode detailed process of the Time-sharing control is:Control chip TMS320F2812 SPI interface passes through
Analog switch and level shifting circuit timesharing access pitching encoder or azimuth encoder, when needing to adjust the radar angle of pitch,
Control chip TMS320F2812 sends switching command, and control analog switch is pitching encoder Access Control chip
TMS320F2812 SPI interface；When radar normal operation, control chip TMS320F2812 sends switching command, controls mould
Intend SPI interface of the switch azimuth encoder Access Control chip TMS 320 F 2812.
Preferably, the course of work of the SSI interface circuits is：Control chip TMS320F2812 SPI pins work in
Active mode, SPICLKA provide synchronised clock to external equipment, and external data is passed to control chip by SPISIMA
TMS320F2812；Control chip TMS320F2812 SPISIMIA, SPICLKA pin and analog switch MAX4619 data
Passage X, Y pin is connected, control chip TMS320F2812 GPIOB13, GPIOB13 pin and analog switch MAX4619 control
System selection A, B pin is connected；When analog switch MAX4619 control selections A, B are simultaneously 0, control chip TMS320F2812
SPI pins be connected with electrical level transferring chip D6 (MAX3488)；When analog switch MAX4619 control selections A, B are simultaneously 1
When, control chip TMS320F2812 SPI pins are connected with electrical level transferring chip D7 (MAX3488)；The SSI interface circuits
In be provided with 120 Ω bus termination build-out resistor R32, R33, R34 and R35.
There is advantages below compared with prior art：First, master controller has abandoned traditional PLC design patterns, by adopting
Printed board design method to control chip TMS320F2812 for core, realize the miniaturization Integrated design of master controller；
It is designed by the support leg motor to auto-erecting system and backrest strut motor according to short time duty, the volume weight of motor
Amount will reduce；Meanwhile for further Integrated design, by the way that the motor driver of brshless DC motor is directly integrated into electricity
The afterbody of machine body, motor driver receive the control instruction that sends of master controller by RS485 serial ports and drive brushless electric machine
Positive and negative operating, while rotating speed, the motor status motor feed back to master controller by RS485 serial ports；Furthermore brushless dc
The extension of machine driver has two-way 24V switch value input interfaces and all the way brake control interface, such support leg motor or backrest support
The limit switch and electromagnetic brake of bar motor can be accessed on brushless direct current motor driver nearby, simplify cable wiring；Most
Afterwards, the control line of electromagnetic brake is directly welded on motor driver.
The present invention reduces radar and sets up control system volume, simplifies radar erection control system connection cables, improves
Radar construction system reliability.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the system hardware block diagram of the present invention；
Fig. 2 is the composition frame chart of drive control integrated brushless direct current motor of the present invention；
Fig. 3 is the control block diagram of brshless DC motor of the present invention；
Fig. 4 is the composition frame chart of master controller of the present invention；
Fig. 5 is SSI interface circuits.
Corresponding component title of the numeral represented by with letter in figure：
1. the keyboard of 2. master controller of rectifier bridge 3.
4. the pitching encoder of 5. azimuth encoder of display screen 6.
7. the support leg motor of 8. backrest strut motor of level meter 9.
10. the motor body of 11. brshless DC motor of bearing servo motor 111.
112. the electromagnetic brake of motor driver 113..
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
The present invention will be further described below in conjunction with the accompanying drawings：
A kind of compact type vehicle-mounted radar of the present invention sets up the general frame of control system as shown in figure 1, including a rectification
7, two bridge 1, master controller 2, keyboard 3, display screen 4, azimuth encoder 5, pitching encoder 6, level meter backrest strut motors 8
With four support leg motors 9, it is the support leg motor 9 and backrest strut motor 8 that 220VAC is transformed to 320VDC by the rectifier bridge 1
Power supply；The master controller 2 is connected by RS485 buses with the support leg motor 9 and backrest strut motor 8；The main control
Device 2 is connected by RS485 serial ports with the level meter 7；The master controller 2 by SSI interfaces respectively with the azimuth coding
Device 5, pitching encoder 6 connect；The master controller 2 is connected by I/O mouths with the keyboard 3 and display screen 4；The main control
Device 2 is connected by CAN with bearing servo motor 10.
The master controller 2 is realized based on TMS320F2812, is integrated with two-way RS485 serial ports, all the way SPI interface, all the way
CAN and eight road 24V switch value input interfaces, the interface of the eight road I/O keyboards 3 and interface of 12 road I/O display screens 4.Master controller 2 is got rid of
Traditional PLC design patterns have been abandoned, the printed board design method using TMS320F2812 as core has been used, realizes master controller 2
Miniaturization Integrated design.
The backrest strut motor 8, support leg motor 9 pass through RS485 interface circuits and the control chip TMS320F2812
SCIA pins connection；The level meter 7 is managed by RS485 interface circuits and the control chip TMS320F2812 SCIB
Pin connects；The pitching encoder 6, azimuth encoder 5 are by SSI interface circuits with the control chip TMS320F2812's
SPI pins connect；The bearing servo motor 10 is managed by CAN interface circuit and the control chip TMS320F2812 CAN
Pin connects；The keyboard 3 is connected by the pin of keyboard interface circuit and control chip TMS320F2812 GPIOA0~7；
24V switching values are connected by the pin of 24V switch interfaces circuit and control chip TMS320F2812 GPIOA8~15；
The display screen 4 is connected by the pin of display screen interface circuit and control chip TMS320F2812 GPIOB0~11.
The absolute encoder that radar sets up azimuth encoder 5 in control system and pitching encoder 6 is two SSI interfaces
Device, connected by interface circuit and TMS320F2812 SPI interface.But TMS320F2812 only has SPI interface all the way, it is impossible to
Two encoder values are read simultaneously, in order to solve this contradiction, it is contemplated that the radar angle of pitch under ground information radar running status
And infrequently adjust, and need adjust the angle of pitch when, azimuth again can not have to operating, therefore can using Time-sharing control side
Formula gathers the angle of pitch and azimuth.Specifically, TMS320F2812 SPI interface passes through analog switch and level shifting circuit point
Jie Ru not pitching encoder 6 or azimuth encoder 5.When needing to adjust the radar angle of pitch, TMS320F2812 sends switching and referred to
Order, control analog switch access pitching encoder 6 TMS320F2812 SPI interface；When radar normal operation,
TMS320F2812 sends switching command, and control analog switch accesses azimuth encoder 5 TMS320F2812 SPI interface.
In order to reduce construction system volume weight, simplify connection cables, support leg motor 9 and backrest strut motor 8 use
Drive control integrated brushless direct current motor 11, as shown in Fig. 2 the brshless DC motor 11 includes motor body 111, motor
Driver 112 and electromagnetic brake 113, the control line of the electromagnetic brake 113 are directly welded at the motor driver 112
On, described 112 sets of axles of motor driver are arranged on the afterbody of the motor body 111, the integrated brushless direct current motor
Power supply is controlled to be inputted using 24VDC, 320VDC input of the driving power using 220VAC after rectified.
The control power supply of drive control integrated brushless direct current motor 11 is inputted using 24VDC, and driving power uses
320VDC inputs after 220VAC is rectified.
The control block diagram of the brshless DC motor 11 is as shown in figure 3, control chip TMS320F2812 detects brushless direct-current
The three-phase hall signal of motor 11, and six road PWM are exported according to hall signal, by driving power drive chip after amplification
IRSM836-045MA and then driving brshless DC motor 11.
The present invention sets the support leg motor 9 to auto-erecting system and backrest strut motor 8 according to short time duty
Meter, the volume weight of such motor will reduce；Meanwhile for further Integrated design, by by brshless DC motor 11
Motor driver 112 is directly integrated into the afterbody of motor body 111, and motor driver 112 receives main control by RS485 serial ports
Control instruction that device 2 is sent simultaneously drives 11 positive and negative operating of brshless DC motor, while rotating speed, the motor status motor pass through
RS485 serial ports feeds back to master controller 2；In order to realize that support leg motor 9 and the limit signal of backrest strut motor 8 detect nearby,
Simplify cable wiring, the controller of brshless DC motor 11 integrates two-way limit signal, and 24V limit signals are converted to by optocoupler
The I/O mouths of TTL signal Access Control chip TMS 320 F 2812；RS485 signals are through level shifting circuit Access Control chip
TMS320F2812 ports；The bus current of brshless DC motor 11 is converted to 0~3V voltages letter by current sensor ACS713
Number, and input detections of the control chip TMS320F2812 by the bus current of the existing brshless DC motor 11 of AD causes for gossip；Control core
Piece TMS320F2812 drives the brake of brshless DC motor 11 by I/O mouths through power amplification.Outside 24V power supplys are through DC/DC
Power supply chip is converted to 15V and 5V, and 15V power supplys are power drive chip power supply, and linear power supply chip is converted to 5V power supplys again
3.3V and 1.8V is that control chip and peripheral control circuits are powered.Finally, the control line of electromagnetic brake 113 is directly welded at
On the motor driver 112 of brshless DC motor 11.
As shown in figure 4, master controller 2 is realized based on TMS320F2812 control chips, control chip TMS320F2812 warps
The sensor and executing agency for crossing interface circuit and radar construction system are connected.
The SSI interface circuits of collection azimuth encoder 5 and the data of pitching encoder 6 are situated between in detail below by Fig. 5
Continue：
As shown in figure 5, control chip TMS320F2812 SPI works in active mode, SPICLKA carries to external equipment
For synchronised clock, external data is passed to control chip TMS320F2812 by SPISIMA.Control chip TMS320F2812's
SPISIMIA, SPICLKA pin are connected with analog switch MAX4619 data channel X, Y pin, control chip
TMS320F2812 GPIOB13, GPIOB13 pin is connected with analog switch MAX4619 control selections A, B pin.Work as simulation
Switch MAX4619 control selections A, B simultaneously for 0 when, control chip TMS320F2812 SPI just with electrical level transferring chip D6
(MAX3488) it is connected；When analog switch MAX4619 control selections A, B are simultaneously 1, control chip TMS320F2812's
SPI is just connected with electrical level transferring chip D7 (MAX3488), so as to realize system to azimuth encoder 5 and point of pitching encoder 6
When switching control, R32~R35 is 120 Ω bus termination build-out resistor in Fig. 5.
The present invention reduces radar and sets up control system volume, simplifies radar erection control system connection cables, improves
Radar construction system reliability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of compact type vehicle-mounted radar sets up control system, it is characterised in that including a rectifier bridge, master controller, keyboard,
Display screen, azimuth encoder, pitching encoder, level meter, two backrest strut motors and four support leg motors, the rectifier bridge
220VAC is transformed into 320VDC to power for the support leg motor and backrest strut motor；The master controller is total by RS485
Line and the support leg motor and backrest strut motor connection；The master controller is connected by RS485 interfaces with the level meter；
The master controller is connected with the azimuth encoder, pitching encoder respectively by SSI interface circuits；The master controller leads to
I/O interfaces are crossed to be connected with the keyboard and display screen；The master controller passes through CAN interface and bearing servo motor connection.
2. a kind of compact type vehicle-mounted radar according to claim 1 sets up control system, it is characterised in that the main control
Device is realized based on control chip TMS320F2812, is integrated with two-way RS485 serial ports, all the way SPI interface, all the way CAN interface and eight
Road 24V switch value input interfaces, eight road I/O keyboard interfaces and 12 road I/O display screen interfaces.
3. a kind of compact type vehicle-mounted radar according to claim 2 sets up control system, it is characterised in that the backrest support
Bar motor, support leg motor are connected by RS485 interface circuits with the SCIA pins of the control chip TMS320F2812；It is described
Level meter is connected by RS485 interface circuits with the SCIB pins of the control chip TMS320F2812；The pitching coding
Device, azimuth encoder are connected by SSI interface circuits with the SPI pins of the control chip TMS320F2812；Watch in the orientation
Motor is taken to be connected with the CAN pins of the control chip TMS320F2812 by CAN interface circuit；The keyboard passes through keyboard
The pin of interface circuit and the control chip TMS320F2812 GPIOA0~7 is connected；24V switching values are connect by 24V switching values
The pin of mouthful circuit and the control chip TMS320F2812 GPIOA8~15 is connected；The display screen passes through display screen interface
The pin of circuit and the control chip TMS320F2812 GPIOB0~11 is connected.
4. a kind of compact type vehicle-mounted radar according to claim 2 sets up control system, it is characterised in that the support leg electricity
Machine and backrest strut motor include motor sheet using the brshless DC motor of drive control integration, the brshless DC motor
Body, motor driver and electromagnetic brake, the control line of the electromagnetic brake are directly welded on the motor driver, institute
The afterbody that motor driver set axle is arranged on the motor body is stated, the control power supply of the integrated brushless direct current motor uses
24VDC is inputted, 320VDC input of the driving power using 220VAC after rectified.
5. a kind of compact type vehicle-mounted radar according to claim 4 sets up control system, it is characterised in that the motor drives
Move the control instruction that device is sent by RS485 serial ports reception master controller and drive the positive and negative operating of brshless DC motor, while handle
The rotating speed of brshless DC motor, the state of brshless DC motor feed back to master controller, the motor driving by RS485 serial ports
Device extension has two-way 24V switch value input interfaces and all the way brake control interface.
6. a kind of compact type vehicle-mounted radar according to claim 5 sets up control system, it is characterised in that described brushless straight
Flow electric machine controller and integrate two-way limit signal, 24VDC limit signals are converted to TTL signal Access Control chip by optocoupler
TMS320F2812 I/O interfaces；RS485 signals are through level shifting circuit Access Control chip TMS 320 F 2812 port；Electric current
The bus current of brshless DC motor is converted to 0~3V voltage signals by sensors A CS713, and inputs control chip
The detection that TMS320F2812 passes through the bus current of the existing brshless DC motor of AD causes for gossip；Control chip TMS320F2812 passes through I/
O Interface drives the electromagnetic brake of brshless DC motor through power amplification；Outside 24VDC power supplys are changed through DC/DC power supply chips
For 15VDC and 5VDC, 15VDC is the control power supply of power drive chip, and linear power supply chip is converted to 3.3VDC to 5VDC again
And 1.8VDC, respectively control chip TMS320F2812 and peripheral control circuits power supply.
7. a kind of compact type vehicle-mounted radar according to claim 6 sets up control system, it is characterised in that the control core
Piece TMS320F2812 detects brshless DC motor three-phase hall signal, and exports six road PWM according to hall signal, passes through amplification
Power drive chip I RSM836-045MA is driven afterwards and then drives brshless DC motor.
8. a kind of compact type vehicle-mounted radar according to claim 3 sets up control system, it is characterised in that the two-way
SSI interface circuits are managed by level shifting circuit and the SPI all the way by switching switch and the control chip TMS320F2812
Pin is connected, and gathers the value of azimuth encoder and pitching encoder by the way of Time-sharing control according to instruction.
9. a kind of compact type vehicle-mounted radar according to claim 8 sets up control system, it is characterised in that the timesharing control
The mode detailed process of system is:Control chip TMS320F2812 SPI interface passes through analog switch and level shifting circuit timesharing
Pitching encoder or azimuth encoder are accessed, when needing to adjust the radar angle of pitch, control chip TMS320F2812 sends switching
Instruction, SPI interface of the control analog switch pitching encoder Access Control chip TMS 320 F 2812；When radar normal operation
When, control chip TMS320F2812 sends switching command, and control analog switch is azimuth encoder Access Control chip
TMS320F2812 SPI interface.
10. a kind of compact type vehicle-mounted radar according to claim 3 sets up control system, it is characterised in that the SSI connects
The course of work of mouthful circuit is：Control chip TMS320F2812 SPI pins work in active mode, and SPICLKA is set to outside
Standby to provide synchronised clock, external data is passed to control chip TMS320F2812 by SPISIMA；Control chip TMS320F2812
SPISIMIA, SPICLKA pin be connected with analog switch MAX4619 data channel X, Y pin, control chip
TMS320F2812 GPIOB13, GPIOB13 pin is connected with analog switch MAX4619 control selections A, B pin；Work as simulation
When control selections A, B for switching MAX4619 are 0 simultaneously, control chip TMS320F2812 SPI pins and electrical level transferring chip
D6 is connected；When analog switch MAX4619 control selections A, B simultaneously for 1 when, control chip TMS320F2812 SPI pins with
Electrical level transferring chip D7 is connected；In the SSI interface circuits provided with 120 Ω bus termination build-out resistor R32, R33, R34 and
R35, electrical level transferring chip D6 and electrical level transferring chip D7 use MAX3488.
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| CN109683500B (en) * | 2019-02-18 | 2020-01-24 | 航天南湖电子信息技术股份有限公司 | Electrical control system of vehicle-mounted radar antenna hydraulic frame withdrawing mechanism |
| CN113341819B (en) * | 2021-06-16 | 2022-06-03 | 南京驰韵科技发展有限公司 | Radar antenna automatic erection and withdrawal real-time control system and method |
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