CN105867437A - Aiming control equivalent apparatus for simulating rocket platform prism photoelectric collimation loop - Google Patents
Aiming control equivalent apparatus for simulating rocket platform prism photoelectric collimation loop Download PDFInfo
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- CN105867437A CN105867437A CN201610208277.2A CN201610208277A CN105867437A CN 105867437 A CN105867437 A CN 105867437A CN 201610208277 A CN201610208277 A CN 201610208277A CN 105867437 A CN105867437 A CN 105867437A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
- G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices
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Abstract
The invention provides an aiming control equivalent apparatus for simulating a rocket platform prism photoelectric collimation loop, for the purpose of satisfying the demands for self-check of a ground aiming system and army operator simulation aiming training. The apparatus comprises a test lunch control equivalent device and a platform equivalent device, the test lunch control equivalent device is electrically connected with the platform equivalent device, the test lunch control equivalent device comprises a power strip, a control board and a display plate, the platform equivalent device comprises a driving board and an amplifier board, and the platform equivalent device is equivalent to a rocket platform prism, realizes scanning of a motor in a limiting scope of +/-15 degrees under the "scanning" signals of the aiming control equivalent apparatus and realizes platform closed-loop autocollimation under the control of collimation currents of an aiming controller.
Description
Technical field
The present invention relates to point technique and closed loop collimation controls technical field, more particularly, to a kind of simulated fire
Arrow platform prism photoelectricity collimation loop take aim at control equivalent device.
Background technology
Azimuth aiming is aimed at loop feature by ground aiming part and rocket and forms.By in ground aiming system
Photoelectronic collimating instrument and rocket aim at the prism collimation in loop, are delivered on arrow by the earth azimuth reference, thus complete
Become to aim at flow process.Such as, needed rocket bearing position is adjusted before the transmitting of carrier rocket so that it is
The direction that accurate alignment is to be launched, this is accomplished by the real-time measurement system of a set of precision, passes through azimuthal
The location having measured orientation in real time of degree adjusts.
In existing aiming measurement system, many employing visual sight methods are carried out.This system includes corner cube prism, mark
Bar instrument, two visual sight unit and two two-dimentional guide rails.Corner cube prism is horizontally arranged on rocket platform, mark
Bar instrument is placed in the pole device fixing point after geodesic survey, and two two dimension guide rails are placed in respectively through too greatly
Two-dimentional guide rail fixing point after measurement, three fixing points are point-blank；Two visual sight unit are respectively
It is arranged on two two-dimentional guide rails.
When using visual sight method to carry out aiming measurement, the repeated multiple times two dimension guide rail that carries out is needed to translate and visual
Aiming at and just can be allowed to run-home, cause the measurement time long, job step is loaded down with trivial details.This makes the rib of rocket platform
The control operation of taking aim in mirror photoelectricity collimation loop requires high, to the operation skill of manipulator, consummate degree and psychology element
Matter is all test greatly.And it practice, take aim at control training occasion and chance be very limited amount of.It addition, take aim at
The links such as Barebone self-inspection before use and joint-trial are the most all necessary, but this detection and test cannot be also
It is not suitable in actual scene application.Therefore, being badly in need of one can simulated rocket platform prism photoelectricity collimation loop
Take aim at control equivalent device, the demand aiminged drill to meet ground sighting system self-inspection and army manipulator to emulate.
Summary of the invention
Emulating, in order to meet ground sighting system self-inspection and army manipulator, the demand aiminged drill, the application provides
A kind of can simulated rocket platform prism photoelectricity collimation loop take aim at control equivalent device, including survey send out control simulator and
Platform simulator, described survey send out control simulator electrically connecting platform simulator, described survey send out control simulator include
Power panel, panel and display panel, described platform simulator includes driving plate and power board, wherein platform equivalence
Device equivalence rocket platform prism, realizes motor ± 15 ° under " scanning " signal taking aim at control equivalent device and limits model
Enclose interior scanning, under the control of aiming controller collimation electric current, realize platform closed loop auto-collimation.
Further, described panel includes CPU and communicating circuit, and wherein communicating circuit is with the side of RS-422
Formula completes the communication of azimuth value, sends " scanning ", " aiming ", " communication " signal, and receives " preparation
Good ", " quick district ", " collimation electric current ", " zero-crossing pulse " signal, described display panel is by 8 seven segment digital tubes
Forming with display driver chip, the data that described CPU will show are sent to display driver chip, and display drives
Chip is by directly driving numeral method, the angle measurement data of display photoelectronic collimating instrument after the form decoding of regulation.
Further, described power panel is made up of the switch power module of 5V and 12V, the switch of described 12V
Power module includes ambipolar ± 12V power supply, should ± 12V power supply includes the first+12V that combination with one another connects
Switch power module and the switch power module of the second+12V, the switch power module of described first+12V
Vout end connects+12V power supply, the GND end of the switch power module of described first+12V and described second+12V
Switch power module Vout end connect and ground connection ,+the Vin of the switch power module of described first+12V
Hold and be connected and be connected+24V power supply with the+Vin end of the switch power module of described second+12V, described first
-Vin the end of the switch power module of+12V is connected with-Vin the end of the switch power module of described second+12V
And connecting the GND end of+24V power supply, the GND end of the switch power module of described second+12V connects-12V electricity
Source.
Further, described driving plate includes operational amplifier, and described operational amplifier is used for the closed loop of motor certainly
Collimation.
Further, power board is made up of one piece of power amplifier chip, enters the control signal driving plate output
Row power amplification is to drive electric machine rotation.
Further, take aim at control equivalent device described in be configured to include single system mode of operation and total system Working mould
Formula, in both mode of operations, described in take aim at control equivalent device and photoelectronic collimating instrument, aiming controller composition is closed
Ring controls loop, and under single system mode of operation, platform simulator is just put, and the light pipe of photoelectronic collimating instrument is
Angle of depression state, for sighting system self-inspection；Under total system mode of operation, platform simulator hangs upside down in emulation arrow
In, the light pipe of photoelectronic collimating instrument is elevation angle state, completes emulation for manipulator and aimings drill and system integration test.
Further, in described close loop control circuit, described survey is sent out control simulator and is taken aim at outside control equivalent device described
Portion is connected with 24V power supply and aiming controller.
Further, described survey send out control simulator also include power-supply filter, on and off switch, panel-switch group and
Panel leds group, wherein power-supply filter is connected with on and off switch, and on and off switch is connected with power panel,
Described power panel includes that power module, described display panel include display driver circuit, and described panel also includes shake
Swing circuit, RS422 drives isolation circuit, reset circuit, clock circuit and controls output circuit, described panel
Switches set and described panel leds group connect the CPU of described panel respectively, and described panel-switch group will outward
Instruction input described CPU, described CPU send condition indicative signal to described panel leds group in portion, described multiple
Position circuit, oscillating circuit are all to the unidirectional output signal of described CPU, and described CPU is to described output control circuit list
To output signal, described RS422 drive isolation circuit via described communicating circuit connect described CPU, described CPU,
Described communicating circuit and described RS422 drive isolation circuit to be bi-directionally connected to each other, to realize the two-way of data signal
Communication, described CPU is to described display panel uniaxially output signal.
Further, described communicating circuit is serial communication change-over circuit, and described close loop control circuit is PID
Close loop control circuit.
Further, described platform simulator also includes that motor, wherein said driving plate, power board and electrode depend on
Secondary connection also the most uniaxially transmits signal, and described motor is also to described driving plate output feedback signal, and passes through
Described close loop control circuit realizes platform closed loop auto-collimation as follows: collimate zero signal and photoelectronic collimating instrument
Output enforcement Angle Position feedback signal subtract each other after as collimation angle of deviation signal be output to aiming controller and
PID close loop control circuit, described aiming controller and PID close loop control circuit output collimation current signal, should
Collimation current signal is imported into survey and sends out control simulator, and control simulator output collimation voltage signal is sent out in described survey, should
Collimation voltage signal is through correcting, by the speed measure feedback of described motor, the real time rate Voltage Feedback that unit obtains
The correction of signal, it is thus achieved that collimation rate variance voltage, this collimation rate variance voltage is imported into described platform etc.
Imitate device and described PID close loop control circuit, described platform simulator and described PID close loop control circuit and institute
The signal of the speed measure feedback correction unit output stating motor is imported into described photoelectronic collimating instrument.
The invention have the benefit that
(1) this device can simulate arrow upper mounting plate, ground launch vehicle measurement, constitutes closed loop with Ground-Aiming-Equipment
Loop, under single system mode of operation, tie surface sighting system can complete self-inspection；In total system mode of operation
Under, it is inverted in emulating simulated rocket platform prism collimation closed-loop path in arrow, helps manipulator to complete emulation and aim at
Training and system integration test, improve the aiming technical ability of manipulator.In order to enable the collimation of true simulated rocket platform prism
Loop state, we use PID closed loop control methods to realize photoelectric auto-collimation.
(2) being applied in combination by analog closed-loop pid control algorithm and switch power module, it is achieved that giving
In the case of fixed different step voltages, close loop negative feedback point deviation voltage is stable in 40mv, and speed is followed the tracks of steady
State error is stable in 0.2V.
(3) be ensure that the stability of closed loop control tracking accuracy by the modular design of switch power module, produce
The volume weight cost of product is also minimized.
(4) present invention is applied as self-checking equipment in ground aiming system, and as emulator
Promoting the use of in multiple armies, the stability of product and practicality are fully examined and are verified.
Accompanying drawing explanation
Fig. 1 shows the outside schematic diagram of platform simulator.
Fig. 2 shows that control simulator outer interface schematic diagram is sent out in survey.
Fig. 3 shows bipolar power supply combinational circuit diagram.
Fig. 4 shows and takes aim at control equivalent device hardware composition schematic diagram.
Fig. 5 shows closed loop control algorithm flow chart.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is described.
A kind of can simulated rocket platform prism photoelectricity collimation loop take aim at control equivalent device, including survey send out control a simulator
With platform simulator, described survey send out control simulator electrically connecting platform simulator, described survey send out control simulator bag
Including power panel, panel and display panel, described platform simulator includes driving plate and power board, wherein platform etc.
Effect device equivalence rocket platform prism, realizes motor ± 15 ° under " scanning " signal taking aim at control equivalent device and limits
In the range of scanning, aiming controller collimation electric current control under realize platform closed loop auto-collimation.Such as Fig. 1
Shown in, in terms of external structure, platform simulator includes prism 1, revolving body 2 and base 3.
Described panel includes CPU and communicating circuit, and wherein communicating circuit completes orientation in the way of RS-422
The communication of angle value, sends " scanning ", " aiming ", " communication " signal, and receive " being ready to ", " quick district ",
" collimation electric current ", " zero-crossing pulse " signal, described display panel is to be driven core by 8 seven segment digital tubes and display
Sheet forms, and the data that described CPU will show are sent to display driver chip, and display driver chip is by regulation
Numeral method, the angle measurement data of display photoelectronic collimating instrument are directly driven after form decoding.Survey and send out outside control simulator
Interface, portion is as shown in Figure 2.
Described power panel is made up of the switch power module of 5V and 12V, the switch power module bag of described 12V
Include ambipolar ± 12V power supply.
In order to realize motor closed loop control, it is necessary to use have enough power ± bipolar power supply of 12V.
Owing to linear power supply price is high, and taking up space as volume for embedded system is the most thick and heavy, we use same
The switch power module of equal-specification, the most both can reduce cost, can meet again the requirement in space.But city
On field ± switch power module of 12V is all with+12V for design main road ,-12V is design bypass, the most main
If road unloaded or load little in the case of, bypass just cannot obtain enough power drive motor reversals, and this is also
Close loop negative feedback point deviation and speed steady-state error when making motor reversal do not reach design requirement, taking aim on arrow
Quasi-closed-loop path state cannot truly be simulated.So Con trolling index during in order to ensure motor positive and inverse is all
Can meet design requirement, we use the switch power module modular design of two pieces of+12V, thus ensure positive and negative
When turning, the power supply of motor is all independent of one another, does not interacts.
As shown in Figure 3, should ± 12V power supply includes the switch power module of the first+12V that combination with one another connects
With the switch power module of the second+12V, the Vout end connection+12V of the switch power module of described first+12V
The switch power module of power supply, the GND end of the switch power module of described first+12V and described second+12V
Vout end connect and ground connection ,+Vin the end of the switch power module of described first+12V and described second+12V
+ Vin the end of switch power module be connected and connect+24V power supply, the switch power module of described first+12V
-Vin end be connected with-Vin the end of the switch power module of described second+12V and connect+24V power supply
GND end, the GND end of the switch power module of described second+12V connects-12V power supply.
Described driving plate includes operational amplifier, and described operational amplifier is for the closed loop auto-collimation of motor.
Power board is made up of one piece of power amplifier chip, and the control signal driving plate output is carried out power amplification
To drive electric machine rotation.
Described take aim at control equivalent device be configured to include single system mode of operation and total system mode of operation, this two
In kind of mode of operation, described in take aim at control equivalent device and constitute close loop control circuit with photoelectronic collimating instrument, aiming controller,
And under single system mode of operation, platform simulator is just put, the light pipe of photoelectronic collimating instrument is angle of depression state, uses
In sighting system self-inspection；Under total system mode of operation, platform simulator hangs upside down in emulation arrow, photoelectronic collimating
The light pipe of instrument is elevation angle state, completes emulation for manipulator and aimings drill and system integration test.
In described close loop control circuit, described survey is sent out control simulator and is taken aim at control equivalent device outside and 24V described
Power supply is connected with aiming controller.
Take aim at control equivalent device hardware detailed construction as shown in Figure 4.Described survey is sent out control simulator and is also included power filter
Device, on and off switch, panel-switch group and panel leds group, wherein power-supply filter is connected with on and off switch,
On and off switch is connected with power panel, and described power panel includes that power module, described display panel include that display drives
Circuit, described panel also includes that oscillating circuit, RS422 drive isolation circuit, reset circuit, clock circuit
And control output circuit, described panel-switch group and described panel leds group connect described panel respectively
CPU, and external command inputs described CPU by described panel-switch group, described CPU is to described panel leds
Group sends condition indicative signal, and described reset circuit, oscillating circuit are all to the unidirectional output signal of described CPU, institute
State CPU to lead to via described to the unidirectional output signal of described output control circuit, described RS422 driving isolation circuit
News circuit connects described CPU, described CPU, described communicating circuit and described RS422 and drives isolation circuit each other
Being bi-directionally connected, to realize the two-way communication of data signal, described CPU is to described display panel uniaxially output signal.
Described communicating circuit is serial communication change-over circuit, and described close loop control circuit is that PID closed loop control is returned
Road.
Described platform simulator also includes that motor, wherein said driving plate, power board and electrode are sequentially connected with and depend on
Sequence uniaxially transmits signal, and described motor is also to described driving plate output feedback signal, and by described closed loop control
Loop processed realizes platform closed loop auto-collimation as follows: collimate the enforcement of zero signal and the output of photoelectronic collimating instrument
Angle Position feedback signal is output to aiming controller and PID closed loop control as collimation angle of deviation signal after subtracting each other
Loop processed, described aiming controller and PID close loop control circuit output collimation current signal, this collimation electric current is believed
Number being imported into survey and send out a control simulator, control simulator output collimation voltage signal is sent out in described survey, and this collimation voltage is believed
Number process corrects the correction of the real time rate voltage feedback signal that unit obtains by the speed measure feedback of described motor,
Obtaining collimation rate variance voltage, this collimation rate variance voltage is imported into described platform simulator and described
PID close loop control circuit, described platform simulator and described PID close loop control circuit and the survey of described motor
The signal of speed feedback compensation unit output is imported into described photoelectronic collimating instrument.The flow process of above-mentioned feedback signal such as figure
Shown in 5.
Although describing the present invention with reference to specific embodiment, it will be understood by those skilled in the art that can be not
Carry out various change on the basis of departing from the scope of the invention or carry out equivalence replacement.It addition, can be without departing from this
On the basis of bright scope, the content that present invention teach that is carried out various adjustment thus adapt to specific environment or material.
Therefore, the present invention should not necessarily be limited by disclosed specific embodiment, but should include belonging to scope
All embodiments.
Claims (10)
1. one kind can simulated rocket platform prism photoelectricity collimation loop take aim at control equivalent device, it is characterised in that
Sending out control simulator and platform simulator including surveying, control simulator electrically connecting platform simulator, institute are sent out in described survey
State survey control simulator and include that power panel, panel and display panel, described platform simulator include driving plate and merit
Put plate, wherein platform simulator equivalence rocket platform prism, real under " scanning " signal taking aim at control equivalent device
Scanning in the range of the restriction of existing motor ± 15 °, realizes platform closed loop under the control of aiming controller collimation electric current
Auto-collimation.
The most according to claim 1 take aim at control equivalent device, it is characterised in that described panel includes CPU
And communicating circuit, wherein communicating circuit completes the communication of azimuth value in the way of RS-422, send " scanning ",
" aim at ", " communication " signal, and receive " being ready to ", " quick district ", " collimation electric current ", " zero-crossing pulse "
Signal, described display panel is made up of 8 seven segment digital tubes and display driver chip, and described CPU will show
Data be sent to display driver chip, display driver chip by regulation form decoding after directly drive charactron
Display, the angle measurement data of display photoelectronic collimating instrument.
The most according to claim 2 take aim at control equivalent device, it is characterised in that described power panel is by 5V
Forming with the switch power module of 12V, the switch power module of described 12V includes ambipolar ± 12V power supply,
Should ± 12V power supply includes switch power module and the switch of the second+12V of the first+12V that combination with one another connects
Power module, the Vout end of the switch power module of described first+12V connects+12V power supply, described first+12V
The GND end of switch power module be connected with the Vout end of the switch power module of described second+12V and connect
The switch power module of the ground ,+Vin end of the switch power module of described first+12V and described second+12V
+ Vin end is connected and connects+24V power supply ,-Vin the end of the switch power module of described first+12V and described
-Vin the end of the switch power module of two+12V is connected and connects the GND end of+24V power supply, and described second
The GND end of the switch power module of+12V connects-12V power supply.
The most according to claim 3 take aim at control equivalent device, it is characterised in that described driving plate includes fortune
Calculating amplifier, described operational amplifier is for the closed loop auto-collimation of motor.
The most according to claim 4 take aim at control equivalent device, it is characterised in that power board is by one piece of merit
Rate amplification chip forms, and the control signal driving plate output is carried out power amplification to drive electric machine rotation.
The most according to claim 5 take aim at control equivalent device, it is characterised in that described in take aim at control equivalent device
Be configured to include single system mode of operation and total system mode of operation, in both mode of operations, described in take aim at
Control equivalent device constitutes close loop control circuit with photoelectronic collimating instrument, aiming controller, and at single system Working mould
Under formula, platform simulator is just put, and the light pipe of photoelectronic collimating instrument is angle of depression state, for sighting system self-inspection；?
Under total system mode of operation, platform simulator hangs upside down in emulation arrow, and the light pipe of photoelectronic collimating instrument is elevation angle state,
Complete emulation for manipulator to aiming drill and system integration test.
The most according to claim 6 take aim at control equivalent device, it is characterised in that described close loop control circuit
In, described survey is sent out control simulator and is taken aim at control equivalent device outside and 24V power supply and aiming controller phase described
Connect.
The most according to claim 7 take aim at control equivalent device, it is characterised in that control simulator is sent out in described survey
Also include power-supply filter, on and off switch, panel-switch group and panel leds group, wherein power-supply filter with
On and off switch is connected, and on and off switch is connected with power panel, and described power panel includes power module, described aobvious
Show that plate includes that display driver circuit, described panel also include that oscillating circuit, RS422 drive isolation circuit, answer
Position circuit, clock circuit and control output circuit, described panel-switch group and described panel leds group connect respectively
Meet the CPU of described panel, and described panel-switch group external command is inputted described CPU, described CPU to
Described panel leds group sends condition indicative signal, and described reset circuit, oscillating circuit are all to described CPU
Unidirectional output signal, described CPU to the unidirectional output signal of described output control circuit, described RS422 drive every
Described CPU, described CPU, described communicating circuit and described RS422 is connected via described communicating circuit from circuit
Driving isolation circuit to be bi-directionally connected to each other, to realize the two-way communication of data signal, described CPU is to described display
Plate uniaxially output signal.
The most according to claim 8 take aim at control equivalent device, it is characterised in that described communicating circuit is string
Row communication switching circuit, and described close loop control circuit is PID close loop control circuit.
The most according to claim 9 take aim at control equivalent device, it is characterised in that described platform simulator is also
Including motor, wherein said driving plate, power board and electrode is sequentially connected with and the most uniaxially transmits signal, institute
State motor also to described driving plate output feedback signal, and realized as follows by described close loop control circuit
Platform closed loop auto-collimation: after the enforcement Angle Position feedback signal that collimation zero signal and photoelectronic collimating instrument export is subtracted each other
It is output to aiming controller and PID close loop control circuit, described aiming controller as collimation angle of deviation signal
With PID close loop control circuit output collimation current signal, this collimation current signal is imported into survey and sends out control equivalence
Device, described survey sends out control simulator output collimation voltage signal, and this collimation voltage signal is through by described motor
The correction of the real time rate voltage feedback signal that speed measure feedback correction unit obtains, it is thus achieved that collimation rate variance electricity
Pressure, this collimation rate variance voltage is imported into described platform simulator and described PID close loop control circuit, institute
State the speed measure feedback correction unit of platform simulator and described PID close loop control circuit and described motor
The signal of output is imported into described photoelectronic collimating instrument.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610208277.2A CN105867437B (en) | 2016-04-06 | 2016-04-06 | Take aim at control equivalent device in a kind of simulated rocket platform prism photoelectricity collimation circuit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610208277.2A CN105867437B (en) | 2016-04-06 | 2016-04-06 | Take aim at control equivalent device in a kind of simulated rocket platform prism photoelectricity collimation circuit |
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| CN201610208277.2A Active CN105867437B (en) | 2016-04-06 | 2016-04-06 | Take aim at control equivalent device in a kind of simulated rocket platform prism photoelectricity collimation circuit |
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| CN109379583A (en) * | 2018-11-26 | 2019-02-22 | 中国人民解放军陆军工程大学 | A kind of portable television angular instrument device for fast detecting |
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