CN104865436A - Self-adaptive multi-gear unmanned plane airborne current measurer with program control interface - Google Patents
Self-adaptive multi-gear unmanned plane airborne current measurer with program control interface Download PDFInfo
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Abstract
The invention relates to a self-adaptive multi-gear unmanned plane airborne current measurer with a program control interface. The measurer comprises an instruction receiving module, an instruction decoding signal acquisition module, a power supply switch driving module, a power supply switch module, an I-V signal conversion module and a data sending module. A minimum application system which takes a single-chip microcomputer as a core is employed, the circuit is simplified, the volume is reduced, the electrical interface of a controller is improved, multi-gear measurement of current is realized through a manual control mode or a program control mode, and on-off control can also be carried out on the measuring circuit through a manual control mode or a program control mode. According to the invention, the disadvantages of manual control, clumsy appearance and incapability of meeting an unmanned plane airborne application requirement by use of a conventional current measuring device are overcome, and the effects of remote control and detection of the measuring circuit through remote control instructions without manual operation are achieved.
Description
Technical field
The invention belongs to field of current measurement, relate to a kind of unmanned aerial vehicle onboard current measurer with programmable interface self-adaptative adjustment gear.
Background technology
At present, known current measure device is by manual operation, is sealed in metering circuit by current measuring device, and according to demand, manual switching is measured gear and measured.Because of palpus manual operation, volume is comparatively large, and precision is poor, cannot realize the current monitoring under unmanned and remote environment in the unmanned plane finite space.Known patent (number of patent application 201120541372) is then based on current measurement, it exports as analog quantity and does not have programmable interface, therefore cannot communicate with airborne equipment, the program control command of airborne equipment cannot be responded simultaneously, the airborne request for utilization of unmanned plane machine can not be applicable to.
Summary of the invention
The technical matters that the present invention solves is: automatically can not adjust measurement range according to the actual value of measuring object to overcome existing current measurer, volume is larger, and electric interfaces and unmanned aerial vehicle onboard environment mismatch problem, design a kind of unmanned aerial vehicle onboard current measurer with programmable interface self-adaptative adjustment gear.
Technical scheme of the present invention is: design a kind of unmanned aerial vehicle onboard current measurer with programmable interface self-adaptative adjustment gear, comprise command reception module, Instruction decoding signal acquisition module, power switch driver module, power switching module, I-V signal conversion module and data transmission blocks; External control devices sends program control or manual steering order to command reception module, after command reception module converts level, import Instruction decoding signal acquisition module into; The current signal that extraneous load power source sends is after I-V signal modular converter is converted to voltage signal, and import Instruction decoding signal acquisition module into, after the collection of Instruction decoding signal acquisition module is scaled current value, and initial threshold compares; When the current value through converting exceeds initial threshold, Instruction decoding signal acquisition module exports pass control signal automatically, to power switch driver module, after power switch driver module amplifying signal, imports power switching module into, power switching module performs and closes operation, protects outside equipment to be detected; When the current value converted does not exceed initial threshold, Instruction decoding signal acquisition module exports to open and controls signal to power switch driver module, power switching module is imported into after power switch driver module amplifying signal, power switching module performs and opens operation, current signal is finally imported into outside equipment to be detected; Instruction decoding current value that signal acquisition module is surveyed and operating state data return to data transmission blocks simultaneously, after data transmission blocks switching levels, send to external unit.
Further technical scheme of the present invention is: under manual mode, when needing the current value obtaining different accuracy, external control devices sends the command signal switching different gear, command reception module, after command reception module converts level, import Instruction decoding signal acquisition module into carry out gear switching, the different accuracy current value of acquisition is returned to data transmission blocks, after data transmission blocks switching levels, sends to external unit.
Further technical scheme of the present invention is: described command reception module is the RS232 signal receiver (2) in MAX3232 chip, data transmission blocks is the RS232 sender unit (8) in MAX3232 chip, Instruction decoding signal acquisition module is single-chip microcomputer (3), power switch driver module is relay drive circuit (9), and power switching module is relay (10); I-V modular converter comprises three gear I-V change-over circuits, and three gear I-V signal conversion module form by current sense amplifier (N1), resistance, electric capacity (C1) and electric capacity (C2); Resistance in I gear I-V change-over circuit is R1, and the resistance in II gear I-V change-over circuit is R2, and the resistance in III gear I-V change-over circuit is R3, and resistance R1, resistance R2, resistance R3 three connect mutually; The resistor coupled in parallel of current sense amplifier (N1) and this gear circuit, current sense amplifier (N1) is parallel with electric capacity (C1), electric capacity (C2) over the ground, and the data acquisition port of the output terminal of current sense amplifier (N1) in some gear I-V change-over circuits AD0 ~ AD3 upper with single-chip microcomputer (3) is respectively connected; The output pin of the RS232 signal receiver (2) in MAX3232 chip is connected with the URXD0 port on single-chip microcomputer (3); The input pin of the RS232 sender unit (8) in MAX3232 chip is connected with the UTXD0 port on single-chip microcomputer (3); Relay drive circuit is made up of operational amplifier (N2), resistance (R4), resistance (R5), resistance (R6), resistance (R7), electric capacity (C3), triode (D1), diode (D2); Resistance (R4) one section is connected with the P1.0 on single-chip microcomputer (3), the in-phase input end of the other end and operational amplifier (N2)+be connected, and between connect parallel resistance (R5) and electric capacity (C1), the equal ground connection of the other end of resistance (R5) and electric capacity (C1); Resistance (R6) one end ground connection, the inverting input-connection of another termination operational amplifier (N2); Resistance (R7) one this equipment of termination is powered port Vcc, the other end is the same with resistance (R6) connect operational amplifier (N2) inverting input; The positive source input Vs+ of operational amplifier (N2) connects this equipment and to power port Vcc, power cathode input Vs-ground connection; The base stage b of the output termination triode (D1) of operational amplifier (N2); The collector c of triode connects equipment and to power port Vcc; Triode penetrate the control input end that grade e connects power switching module, connect the negative pole of diode (D2) simultaneously; The plus earth of diode; The control output end ground connection of relay (10), the equipment connection of normally opened contact and outside electric current to be detected, moving contact is connected with the output terminal of resistance R3 in III gear I-V change-over circuit.
Further technical scheme of the present invention is: self duty related data that Instruction decoding acquisition module exports is working method, the gear gathered, the current value of collection and power switch driver module is performed to the operating control signal of "ON" or "Off".
Further technical scheme of the present invention is: described single-chip microcomputer is 430 series monolithics.
Invention effect
Technique effect of the present invention is: present invention employs with single-chip microcomputer is the minimal application system of core, simplify circuit and reduce volume, improve the electric interfaces of controller, achieve and by manual or stored program control system, the many gears of electric current are measured, also by manual or stored program control system ON/OFF control is carried out to measured circuit.Instant invention overcomes the deficiency that the heavy and electric interfaces of existing current measure device manual control, external form does not meet unmanned aerial vehicle onboard practicality, to achieve without the need to manual operation by telecommand the Long-distance Control of measured circuit and Detection results.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention
Fig. 2 is the structural representation of the I gear I-V signal change-over circuit in the present invention
Fig. 3 is the structural representation of the II gear gear I-V signal change-over circuit in the present invention
Fig. 4 is the structural representation of the III gear I-V signal change-over circuit in the present invention
Fig. 5 is the structural drawing of repeat circuit driving circuit of the present invention
1-steering order transmitting apparatus, 2-RS232 signal receiver, 3-MSP430F149 single-chip microcomputer, 4-load power source inputs, and 5-I keeps off I-V signaling conversion circuit, and 6-II keeps off I-V signaling conversion circuit, 7-III keeps off I-V signaling conversion circuit, 8-RS232 sender unit, 9-relay drive circuit, 10-relay.
In Fig. 2-Fig. 4: R1-resistance, N1-current sense amplifier, C1-electric capacity, C2-electric capacity.
In Fig. 5: R4-resistance, R5-resistance, R6-resistance, R7-resistance, N2-operational amplifier, C3-electric capacity, D1-triode, D2-diode.
Wherein in MSP430F149 single-chip microcomputer: AD0-I keeps off the signals collecting port of I-V signaling conversion circuit; AD1-II keeps off the signals collecting port of I-V signaling conversion circuit; AD2-III keeps off the signals collecting port of I-V signaling conversion circuit.
Embodiment
Below in conjunction with concrete embodiment, technical solution of the present invention is further illustrated.
1. see Fig. 1-Fig. 5, a kind of unmanned aerial vehicle onboard current measurer with programmable interface self-adaptative adjustment gear, comprise RS232 signal receiver 2, MSP430F149 single-chip microcomputer 3, external loading power supply 4, I keeps off I-V signaling conversion circuit 5, II keeps off I-V signaling conversion circuit 6, III and keeps off I-V signaling conversion circuit 7, RS232 sender unit 8, relay drive circuit 9, and relay 10.
Wherein I gear I-V signaling conversion circuit 5 comprises current sense amplifier N1, resistance R1, electric capacity C1 and electric capacity C2, and the resistance of resistance R1 is 2 Ω; II keeps off I-V signaling conversion circuit 6 and comprises current sense amplifier N1, resistance R2, electric capacity C1 and electric capacity C2, and wherein the resistance of resistance R2 is 0.2 Ω; III keeps off I-V signaling conversion circuit 7 and comprises current sense amplifier N1, resistance R3, electric capacity C1 and electric capacity C2, and wherein the resistance of resistance R3 is 0.02 Ω.
In the I-V signaling conversion circuit of three gears, annexation is: the resistor coupled in parallel of current sense amplifier N1 and this gear circuit, current sense amplifier N1 is parallel with electric capacity C1, electric capacity C2 over the ground, and the output terminal of current sense amplifier N1 in some gear I-V change-over circuits is connected with the data acquisition port of AD0 ~ AD3 on single-chip microcomputer 3 respectively; The output pin of the RS232 signal receiver 2 in MAX3232 chip is connected with the URXD0 port on single-chip microcomputer 3; The input pin of the RS232 sender unit 8 in MAX3232 chip is connected with the UTXD0 port on single-chip microcomputer 3; The pin of relay drive circuit 9 input end is connected with the P1.0 port on single-chip microcomputer 3, the output terminal of relay drive circuit 9 is connected with the control input end of relay 10, the control output end ground connection of relay 10, the equipment connection of normally opened contact and outside electric current to be detected, moving contact is connected with the output terminal of resistance R3 in III gear I-V change-over circuit.In Fig. 2-Fig. 4, C1 is 0.01uF, C2 be 0.1uF, N1 is MAX4173T chip, and wherein resistance R1 value is 2 Ω, and resistance R2 value is 0.2 Ω, and resistance R3 value is 0.02 Ω.In Fig. 5, R4 is 10k Ω, R5 be 470k Ω, R6 be 20k Ω, R7 be 20k Ω, C3 be 2.2uF, N2 is LM134 chip, and D1 is triode model be 9013, D2 be diode model is IN4007.The 5.0V operating voltage that VCC5.0 provides for this equipment for the external world.
Be defaulted as program control mode of operation when this device powers on, give tacit consent to the maximum range (2A) that current threshold is this device simultaneously.The current threshold of this device according to concrete request for utilization, can be changed by steering order, and change scope is 0A ~ 2A.When Instruction decoding signal acquisition module working method is Program Mode, when surveyed current value exceeds the current value range surveyed in I-V signaling conversion circuit, Instruction decoding acquisition module automatically exports pass and controls signal to power switch driving circuit, input power on-off circuit after power switch driving circuit amplifying signal, power switch circuit performs and closes operation; When surveyed current value is arranged in the current value range that I-V signaling conversion circuit surveys, decoded signal acquisition module judges according to the current value range measured by different gear I-V signaling conversion circuit; When surveyed current value is positioned at the current value range measured by one of them gear I-V signaling conversion circuit, decoded signal acquisition module gathers the voltage signal that this gear I-V signaling conversion circuit exports; After voltage signal is scaled current value by decoded signal acquisition module, itself and set current threshold are compared.
Instruction decoding signal acquisition module working method be manual mode or Program Mode time, changed current value and set current threshold compare by decoded signal acquisition module; When current value is greater than or equal to current threshold, Instruction decoding signal acquisition module exports the control signal of pass operation automatically to power switch driver module; Input power switch module after power switch driver module amplifying signal; Power switching module performs and closes operation; Now, the current signal of external loading power supply imports power switching module into through the conversion of I-V signal conversion module, and current signal stops the equipment of the outside electric current to be detected of input; When current value is less than current threshold, opens or close steering order through command reception module input Instruction decoding signal acquisition module, be converted to input power switch drive module after control signal through Instruction decoding signal acquisition module; Input power switch module after power switch driver module amplifying signal; Power switching module performs and opens or close operation; If power switching module performs and opens operation, current signal is through the equipment of the outside electric current to be detected of power switching module input; If power switching module performs close operation, current signal stops the equipment of the outside electric current to be detected of input; Current data when its duty and measurement is given outside transmission commander equipment through data transmission blocks output feedack by Instruction decoding signal acquisition module.
The present invention, when powering up work, is defaulted as program control working method, and its workflow is with described to be switched to the workflow of program control working method by instruction identical.Steering order signal imports into by the URXD0 port of the MSP430 single-chip microcomputer of equipment by the RS232 signal receiver of MAX3232 chip by the instruction transmitting apparatus in its external world.The application program that MSP430 single-chip microcomputer runs changes the working method of this equipment according to steering order.Wherein the content of steering order comprises: it is program control or manual for arranging working method, the current threshold of setting, collection gear set under manual mode and switching manipulation.Arrange working method all to be performed by this equipment at any time with the content arranging current value.And the content of the collection gear arranged and switching manipulation only just can be able to perform under this equipment is in manual state, under being in programmed state by equipment, the application program of device interior can not resolve data corresponding to these instructions in steering order.
The method for designing of steering order form is adopted as known method for designing, such as design con-trol instruction frame length is 16 bytes, 1st, the 2nd and the 3rd byte can be used as instruction frame head, for fixed value 16 system number 0x61 (decimalize number is: 6*16+1=97), be controlling functions code from the 4th byte to the 9th byte, function code is corresponding with byte value, program control or manually controlled work mode is set, current threshold is set, arrange and measure gear, start or stop measurement, 10th ~ 15 bytes are spare bytes, 16th byte is postamble, is the cumulative sum of front 15 bytes.
When to receive continuous 3 byte datas be 0x61 to this equipment, then think the frame head that have received frame steering order data, from first 0x61 byte, receive 16 byte datas is exactly frame steering order data backward.After this equipment receives director data, can first pass through cumulative to front 15 bytes, and obtain remainder divided by 256 (10 system numbers), if the remainder after calculating is identical with the received the 16th byte, then this equipment can a frame director data received by task effectively and start to resolve, otherwise can think that it is invalid, and not carry out any operation.
When this equipment thinks that director data is effective, start to resolve instruction, its method is as follows: this equipment the 4th byte is for arranging program control or manually controlled work mode, as this byte to be 16 system numbers be 0x10 (corresponding decimal number is 16), represent and be set to stored program control system, when this byte be 16 system numbers is 0x20, represents and be set to manual method.5th, 6,7 bytes are used for arranging current threshold, the current threshold integer wherein set by the 5th byte representation, the current threshold decimal that the 6th, 7 byte representations are arranged.The current threshold such as arranged is 1.355A, then the 5th byte value is 0x01,6th and the 7th byte is 0x01 (10 corresponding system numbers are 1) and 0x63 (10 corresponding system numbers are 99), and the conversion method of its decimal is 1*256+99=355.The measurement range allowed due to this equipment is 0A ~ 2A, and therefore, even if as current threshold settings > 2A, current threshold also can be set in 2A by this equipment.8th byte is used for arranging collection gear, this equipment has 3 gears, when the 8th byte 16 system number is that 0x01 represents the voltage signal gathering I gear I-V change-over circuit and export, when the 8th byte 16 system number is that 0x02 represents the voltage signal gathering II gear I-V change-over circuit and export, when the 8th byte 16 system number is that 0x03 represents the voltage signal gathering III gear I-V change-over circuit and export, if the 8th byte is other values, then this equipment keeps current residing collection gear.9th byte is for arranging the output of power switch control signal, when the 8th byte 16 system number is that 0x00 represents that control signal is closed in output, for being that 0x11 represents that control signal is opened in output when the 9th byte 16 system number, if the 9th byte is other values, then this equipment keeps current output signal.10th ~ 15 bytes are null byte, do not use at present, and this equipment does not also carry out parse operation to these byte datas, use for during this equipment development New function in the future, and giving tacit consent to the value inserted is 16 system number 0xFF.Wherein only have when the 4th byte of director data is 0x20 (manual mode), the content of the 8th byte (gear setting) and the 9th byte (switch control rule) just resolved by MSP430 single-chip microcomputer, and performs respective operations.
When MSP430 single-chip microcomputer works on power or by steering order, working method is set to Program Mode, then this equipment is in program control mode of operation.Refer to that MSP430 single-chip microcomputer can keep off by AD2 port processing III the voltage signal gathering corresponding I-V signaling conversion circuit and export first automatically, and converse corresponding current value according to formula I=k*V+a.Parse current threshold (identifier is Ia) set in steering order simultaneously.
When the current value converted exceeds the collection range limited at this equipment (I >=2A) or when exceeding set current threshold (I >=Ia), refer to that MSP430 single-chip microcomputer can pass through P1.0 port output low level (namely closing control signal) automatically to relay drive circuit, the control input end of relay is outputted to after relay drive circuit amplifies, relay does not perform adhesive operation, therefore relay moving contact cannot with normally opened contact short circuit, make to keep off through III the current signal that in I-V signaling conversion circuit, resistance R3 imports into and cannot pass to external electric equipment, external electric equipment cannot power up, thus perform pass operation.
When the current value converted is in the collection range of this equipment time (0A≤I < 2A), and when not exceeding set current threshold (I < Ia), if current value is in the current range that this gear is corresponding, then MSP430 single-chip microcomputer keeps the voltage signal that the I-V signaling conversion circuit gathering current shift exports, no longer be switched to other gear collections, then converse corresponding current value according to formula I=k*V+a.Otherwise, MSP430 single-chip microcomputer can automatically switch and gather the voltage signal that II keeps off the output of corresponding I-V signaling conversion circuit, if current value is in the current range that this gear is corresponding, then MSP430 single-chip microcomputer keeps the voltage signal that the I-V signaling conversion circuit gathering current shift exports, no longer be switched to other gear collections, then converse corresponding current value according to formula I=k*V+a.Otherwise MSP430 single-chip microcomputer can automatically switch and gather the voltage signal that I keeps off the output of corresponding I-V signaling conversion circuit, and converses corresponding current value according to formula I=k*V+a.When this equipment is switched to II gear or I gear, I and current threshold Ia still can compare by this equipment in real time, once I >=Ia, then MSP430 single-chip microcomputer can pass through P1.0 port output low level (namely closing control signal) automatically to power switch driving circuit, finally realizes the pass operation of power switch circuit.
Meanwhile, operating state data current for this equipment can be returned to extraneous instruction transmitting apparatus by UTXD0 port through the RS232 sender unit of MAX3232 chip by MSP430 single-chip microcomputer.The data wherein returned comprise working method, the gear of collection, the current value of collection and to exporting the operating control signal opened or close.
The method for designing of return data is identical with the method for designing of steering order, such as designing return data frame length is 16 bytes, 1st, the 2nd and the 3rd byte can be used as instruction frame head, for fixed value 16 system number 0x71 (decimalize number is: 6*16+1=113), be operating state data from the 4th byte to the 12nd byte, 13rd ~ 15 bytes are spare bytes, and the 16th byte is postamble, are the cumulative sum of front 15 bytes.The coded system steering order of operating state data is identical.The working method that 4th byte representation is current, 5th, the current value after 6,7 byte representations conversions, wherein the 5th byte representation the integer of the current value that converts, 6th, the decimal of 7 byte representation conversion current values, the collection gear that 8th byte representation is current, the 9th byte representation switching manipulation, the 10th, 11,12 bytes are for representing set current threshold, current threshold integer wherein set by the 10th byte representation, the current threshold decimal that the 11st, 12 byte representations are arranged.
When this equipment automatically performs pass operation under Program Mode, by steering order, its mode of operation need be set to manual mode, and send under manual mode open operational order after could realize this equipment open operational motion.
When outside send commander equipment by the RS232 data sink of MAX3232 chip import in steering order, MSP430 single-chip microcomputer is set to manual mode time.First MSP430 single-chip microcomputer can resolve the switching manipulation of the 9th byte content in steering order, when the 9th byte is 0x00, the P1.0 port output low level signal (pass control signal) of MSP430 single-chip microcomputer imports the control input end of relay into after relay drive circuit amplifies, relay does not perform adhesive operation, therefore relay moving contact cannot with normally opened contact short circuit, make to keep off through III the current signal that in I-V signaling conversion circuit, resistance R3 imports into and cannot pass to external electric equipment, external electric equipment cannot power up, thus performs pass operation.When the 9th byte is 0x11, the P1.0 port of MSP430 single-chip microcomputer exports the control input end that high level signal (opening control signal) imports relay into after relay drive circuit amplifies, relay performs adhesive operation, therefore relay moving contact can with normally opened contact short circuit, make to keep off through III the current signal that in I-V signaling conversion circuit, resistance R3 imports into and can pass to external electric equipment, external electric equipment works on power, thus performs out operation.
MSP430 single-chip microcomputer can arrange according to the data of the 8th byte in instruction the voltage signal gathering corresponding gear I-V change-over circuit and export afterwards, and is converted into current value I.Meanwhile, in conversion steering order the 5th, 6, current threshold Ia set by 7 bytes.Again current value I and current threshold Ia is compared, as I >=Ia, the P1.0 port output low level signal (pass control signal) of MSP430 single-chip microcomputer; As I < Ia, the P1.0 port of MSP430 single-chip microcomputer keeps exporting high level signal (opening control signal).
Meanwhile, operating state data current for this equipment can be returned to extraneous instruction transmitting apparatus by UTXD0 port through the RS232 sender unit of MAX3232 chip by MSP430 single-chip microcomputer.The data wherein returned comprise working method, the gear of collection, the control signal that the current value of collection and output are opened or closed.
When this equipment works, the work reason of I-V change-over circuit is as follows: for the I-V change-over circuit of I gear, as the resistance R1 having electric current through I-V change-over circuit, can produce faint voltage signal at resistance R1 two ends, current sense amplifier N1 can be gathered this voltage signal by Rs+ and Rs-and amplify the AD0 port being passed to MSP430 single-chip microcomputer by Vout pin.II gear keeps off identical with the I-V change-over circuit principle of work that III keeps off and I.
Wherein the enlargement factor of MAX4173T is 20 times, the operating voltage of this circuit is Vcc5.0V, the maximum voltage that MAX4173T exports under 5.0V operating voltage is 5.0V, so be 0V ~ 0.25V (namely 5.0/20) in the collectable voltage change range in R1 two ends.Due to R1=0.02 Ω, so the collectable curent change scope of this circuit is 0A ~ 12.5A (i.e. 0.25/R1=0.25/0.02) theoretically, but in fact selected R1 resistance is not by the electric current of more than 3A, simultaneously in order to ensure reliability, therefore setting range of current at MSP430 single-chip microcomputer Program is 0A ~ 2A.In like manner II gear can gather by current value is 0A ~ 1.25A, and when the electric current passed through is greater than 1.25A, the MAX4173T of II gear can keep exporting 5.0V always, so MSP430 single-chip microcomputer cannot collect II again keep off changing voltage when being greater than 1.25A.In like manner III gear can gather the current value passed through is 0A ~ 0.125A, and when the electric current passed through is greater than 0.125A, the MAX4173T of III gear can keep exporting 5.0V always, so MSP430 single-chip microcomputer cannot collect III again keep off changing voltage when being greater than 0.125.MSP430 single-chip microcomputer gathers the AD passage of each gear is simultaneously the same, and its acquisition range is identical with acquisition precision.Therefore when gathering I and keeping off output voltage, although the range of current that can gather is large, acquisition precision is on the low side, and when in like manner gathering III gear output voltage, although the range of current that can gather is little, acquisition precision is high.When collection gear be I at that time, current value to remain into after radix point 1, but when gathering III gear, current value to remain into after radix point 3, can measure accurate present current consumption value.Under Program Mode, the indication range that the changing method of 3 gears is divided into I gear by application program is 0 ~ 20mA, indication range 20 ~ the 200mA of II gear, the indication range that III keeps off I gear is 200mA ~ 2A, namely when electric current is less than 200mA, gather gear and switch to II gear from III gear, be now switched to I gear when current value is less than 20mA collection gear from II gear.Such as when tested electric current is 35mA, under Program Mode, current acquisition gear can remain on II gear automatically, and the current data of passback is 0.04A, and can not be accurate to 0.035A.So Program Mode cannot obtain more accurate current data.Unmanned plane needs to obtain accurate current data when factory inspection and ordinary maintenance detect, and the mode therefore by manual control switches the more accurate current measurement value of gear acquisition.Simultaneously, switch frequent by avoiding the lower current value gear when gear switch threshold value of being surveyed of Program Mode, there is the overlap of 1% in each gear measurement range of software design patterns, such as the measurement range of I gear is 0mA ~ 22mA, the measurement range of II gear is 18mA ~ 220mA, it is 180mA ~ 2A that III keeps off measurement range, if when pre-test gear is I gear, current measured is greater than 22mA, measure gear and just can automatically switch to II gear, when current measured is less than 18mA, measuring gear could keep off by switchback I automatically, and the switching that II gear and III keep off with it in like manner.Under manual mode, by switching gear, the current value of different accuracy can be obtained.
Relay drive circuit principle of work is as follows: resistance R4, R5, R6, R7 and operational amplifier N2 (LM134) constitute known comparator circuit.The impulse disturbances produced when the effect filtering MSP430 single-chip microcomputer of electric capacity C3 works.When MSP430 single-chip microcomputer P1.0 port exports high level, level is 3.3V, is 3.2V after R6 and R7 dividing potential drop at the level of LM134 electrode input end.Vcc5.0V voltage, after R4, R5 dividing potential drop, is 2.5V at the level of the negative input of LM134.Because 3.2V is greater than 2.5V, therefore can export high level at operational amplifier output terminal, level voltage is all 5.0V with Vcc phase.Otherwise when MSP430 single-chip microcomputer P1.0 port output low level, level is 0.1V, be 0.0V at the level of LM134 electrode input end after R6 and R7 dividing potential drop.Because 0.0V is less than 2.5V, therefore in operational amplifier output terminal meeting output low level, level voltage is 0V.
When triode D1 inputs base stage b port input 5.0V due to identical with collector c port voltage, therefore triode is in state of saturation, so triode ON, it is penetrated level end e mouth and exports triode On current, to the control input end of relay, drive relay adhesive, perform and open operation.When triode D1 inputs base stage b port input 0.0V due to identical with collector port c voltage, therefore triode is in cut-off state, so triode ON, it penetrates a grade port e no-output, relay not adhesive, performs and closes operation.The Main Function of diode D2 is its ground connection of resistance when the design port e of triode has output.
Claims (5)
1. one kind has self-adaptation many gears unmanned aerial vehicle onboard current measurer of programmable interface, it is characterized in that, comprise command reception module, Instruction decoding signal acquisition module, power switch driver module, power switching module, I-V signal conversion module and data transmission blocks; External control devices sends program control or manual steering order to command reception module, after command reception module converts level, import Instruction decoding signal acquisition module into; The current signal that extraneous load power source sends is after I-V signal modular converter is converted to voltage signal, and import Instruction decoding signal acquisition module into, after the collection of Instruction decoding signal acquisition module is scaled current value, and initial threshold compares; When the current value through converting exceeds initial threshold, Instruction decoding signal acquisition module exports pass control signal automatically, to power switch driver module, after power switch driver module amplifying signal, imports power switching module into, power switching module performs and closes operation, protects outside equipment to be detected; When the current value converted does not exceed initial threshold, Instruction decoding signal acquisition module exports to open and controls signal to power switch driver module, power switching module is imported into after power switch driver module amplifying signal, power switching module performs and opens operation, current signal is finally imported into outside equipment to be detected; Instruction decoding current value that signal acquisition module is surveyed and operating state data return to data transmission blocks simultaneously, after data transmission blocks switching levels, send to external unit.
2. a kind of self-adaptation many gears unmanned aerial vehicle onboard current measurer with programmable interface as claimed in claim 1, it is characterized in that, under manual mode, when needing the current value obtaining different accuracy, external control devices sends the command signal switching different gear, command reception module, after command reception module converts level, import Instruction decoding signal acquisition module into carry out gear switching, the different accuracy current value of acquisition is returned to data transmission blocks, after data transmission blocks switching levels, sends to external unit.
3. a kind of self-adaptation many gears unmanned aerial vehicle onboard current measurer with programmable interface as claimed in claim 1, it is characterized in that, described command reception module is the RS232 signal receiver (2) in MAX3232 chip, data transmission blocks is the RS232 sender unit (8) in MAX3232 chip, Instruction decoding signal acquisition module is single-chip microcomputer (3), power switch driver module is relay drive circuit (9), and power switching module is relay (10); I-V modular converter comprises three gear I-V change-over circuits, and three gear I-V signal conversion module form by current sense amplifier (N1), resistance, electric capacity (C1) and electric capacity (C2); Resistance in I gear I-V change-over circuit is R1, and the resistance in II gear I-V change-over circuit is R2, and the resistance in III gear I-V change-over circuit is R3, and resistance R1, resistance R2, resistance R3 three connect mutually; The resistor coupled in parallel of current sense amplifier (N1) and this gear circuit, current sense amplifier (N1) is parallel with electric capacity (C1), electric capacity (C2) over the ground, and the data acquisition port of the output terminal of current sense amplifier (N1) in some gear I-V change-over circuits AD0 ~ AD3 upper with single-chip microcomputer (3) is respectively connected; The output pin of the RS232 signal receiver (2) in MAX3232 chip is connected with the URXD0 port on single-chip microcomputer (3); The input pin of the RS232 sender unit (8) in MAX3232 chip is connected with the UTXD0 port on single-chip microcomputer (3); Relay drive circuit is made up of operational amplifier (N2), resistance (R4), resistance (R5), resistance (R6), resistance (R7), electric capacity (C3), triode (D1), diode (D2); Resistance (R4) one section is connected with the P1.0 on single-chip microcomputer (3), the in-phase input end of the other end and operational amplifier (N2)+be connected, and between connect parallel resistance (R5) and electric capacity (C1), the equal ground connection of the other end of resistance (R5) and electric capacity (C1); Resistance (R6) one end ground connection, the inverting input-connection of another termination operational amplifier (N2); Resistance (R7) one this equipment of termination is powered port Vcc, the other end is the same with resistance (R6) connect operational amplifier (N2) inverting input; The positive source input Vs+ of operational amplifier (N2) connects this equipment and to power port Vcc, power cathode input Vs-ground connection; The base stage b of the output termination triode (D1) of operational amplifier (N2); The collector c of triode connects equipment and to power port Vcc; Triode penetrate the control input end that grade e connects power switching module, connect the negative pole of diode (D2) simultaneously; The plus earth of diode; The control output end ground connection of relay (10), the equipment connection of normally opened contact and outside electric current to be detected, moving contact is connected with the output terminal of resistance R3 in III gear I-V change-over circuit.
4. a kind of self-adaptation many gears unmanned aerial vehicle onboard current measurer with programmable interface as claimed in claim 1, it is characterized in that, self duty related data that Instruction decoding acquisition module exports is working method, the gear gathered, the current value of collection and power switch driver module is performed to the operating control signal of "ON" or "Off".
5. a kind of self-adaptation many gears unmanned aerial vehicle onboard current measurer with programmable interface as claimed in claim 1, it is characterized in that, described single-chip microcomputer is 430 series monolithics.
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