CN105867437B - Take aim at control equivalent device in a kind of simulated rocket platform prism photoelectricity collimation circuit - Google Patents
Take aim at control equivalent device in a kind of simulated rocket platform prism photoelectricity collimation circuit Download PDFInfo
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- CN105867437B CN105867437B CN201610208277.2A CN201610208277A CN105867437B CN 105867437 B CN105867437 B CN 105867437B CN 201610208277 A CN201610208277 A CN 201610208277A CN 105867437 B CN105867437 B CN 105867437B
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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 needs of aiminging drill is emulated in order to meet ground sighting system self-test and army manipulator, control equivalent device is taken aim at the present invention provides a kind of energy simulated rocket platform prism photoelectricity collimation circuit, control simulator and platform simulator are sent out including surveying, the survey hair controls simulator electrically connecting platform simulator, the survey hair control simulator includes power panel, control panel and display board, the platform simulator includes driving plate and power board, the wherein equivalent rocket platform prism of platform simulator, realize that motor ± 15 ° limit the scanning in range under " scanning " signal for taking aim at control equivalent device, platform closed loop auto-collimation is realized under the control of aiming controller collimation electric current.
Description
Technical field
The present invention relates to point techniques and closed loop to collimate control technology field, flat more particularly, to a kind of simulated rocket
Take aim at control equivalent device in platform prism photoelectricity collimation circuit.
Background technique
Azimuth aiming aims at loop feature by ground aiming part and rocket and forms.Pass through the photoelectricity in ground aiming system
Pointing instrumentation and rocket aim at the prism in circuit and collimate, and the earth azimuth reference is transmitted on arrow, to complete to aim at process.Example
Such as, it needs that rocket bearing position is adjusted before the transmitting of carrier rocket, it is made accurately to be directed at the direction to be emitted,
This just needs the real-time measurement system of a set of precision, and the positioning adjustment in orientation is completed by the real-time measurement of azimuthal degree.
In existing aiming measuring system, visual sight method is mostly used to carry out.The system include right-angle prism, pole device,
Two visual sight units and two two-dimentional guide rails.Right-angle prism is horizontally arranged on rocket platform, pole device be placed in by
Pole device fixed point after geodesic survey, two two-dimentional guide rails are placed in the two-dimentional guide rail fixed point after geodesic survey respectively,
Three fixed points are point-blank；Two visual sight units are separately positioned on two two-dimentional guide rails.
When carrying out aiming at measurement using visual sight method, the two-dimentional guide rail translation of repeated multiple times progress and visual sight are needed
It can be allowed to run-home, cause time of measuring long, work step is cumbersome.This makes the prism photoelectricity of rocket platform collimate circuit
It takes aim at control operation and requires high, be all greatly to test to the operation skill of manipulator, consummate degree and psychological quality.And it is practical
On, the occasion and chance for taking aim at control training are very limited.In addition, the links such as the self-test and joint-trial of sighting system before use
It also is all necessary, but this detection and test can not also be not suitable for applying in actual scene.Therefore, being badly in need of one kind being capable of mould
Control equivalent device is taken aim in quasi- rocket platform prism photoelectricity collimation circuit, imitative to meet ground sighting system self-test and army manipulator
The demand really aiminged drill.
Summary of the invention
The needs of aiminging drill is emulated in order to meet ground sighting system self-test and army manipulator, this application provides one
Control equivalent device is taken aim in kind energy simulated rocket platform prism photoelectricity collimation circuit, including surveys hair and control simulator and platform simulator,
The survey hair controls simulator electrically connecting platform simulator, and the survey hair control simulator includes power panel, control panel and display
Plate, the platform simulator include driving plate and power board, wherein the equivalent rocket platform prism of platform simulator, and taking aim at, control is equivalent
Realize that motor ± 15 ° limit the scanning in range under " scanning " signal of device, under the control of aiming controller collimation electric current
Realize platform closed loop auto-collimation.
Further, the control panel includes CPU and communicating circuit, wherein communicating circuit side of completion in a manner of RS-422
The communication of parallactic angle value issues " scanning ", " aiming ", " communication " signal, and receive " being ready to ", " quick area ", " collimate electric current ",
" zero-crossing pulse " signal, the display board are made of 8 seven segment digital tubes and display driver chip, and the CPU will be shown
Data be sent to display driver chip, display driver chip directly drives numeral method after decoding by defined format, shows
Show the angle measurement data of photoelectronic collimating instrument.
Further, the power panel is made of the switch power module of 5V and 12V, the switch power module of the 12V
Including ambipolar ± 12V power supply, should ± 12V power supply include the switch power module and for being combined with each other the first+12V of connection
The switch power module of two+12V, the end the Vout connection+12V power supply of the switch power module of the first+12V, described first+
The end the Vout connect and ground of the switch power module of the end GND of the switch power module of 12V and the second+12V, described the
The end+Vin of the switch power module of one+12V be connected with the end+Vin of the switch power module of the second+12V and connect+
- the Vin of the switch power module of 24V power supply, the end-Vin of the switch power module of the first+12V and the second+12V
End is connected and connects the end GND of+24V power supply, the end the GND connection -12V power supply of the switch power module of the second+12V.
Further, the driving plate includes operational amplifier, and the operational amplifier is used for the closed loop auto-collimation of motor.
Further, power board is made of one piece of power amplifier chip, carries out function to the control signal of driving plate output
Rate amplification is rotated with driving motor.
Further, the control equivalent device of taking aim at is configured to include single system operating mode and total system operating mode,
In both operating modes, described take aim at controls equivalent device and photoelectronic collimating instrument, aiming controller composition close loop control circuit, and
And under single system operating mode, platform simulator is just set, and the light pipe of photoelectronic collimating instrument is angle of depression state, certainly for sighting system
Inspection；Under total system operating mode, platform simulator is hung upside down in emulation arrow, and the light pipe of photoelectronic collimating instrument is elevation angle state, is used
Emulation is completed in manipulator to aiming drill and system integration test.
Further, in the close loop control circuit, survey hair control simulator it is described take aim at outside control equivalent device with
24V power supply is connected with aiming controller.
Further, the survey hair control simulator further includes that power-supply filter, power switch, panel-switch group and panel refer to
Show lamp group, wherein power-supply filter is connected with power switch, and power switch is connected with power panel, and the power panel includes electricity
Source module, the display board include display driver circuit, the control panel further include oscillating circuit, RS422 driving isolation circuit,
Reset circuit, clock circuit and control output circuit, the panel-switch group and the panel leds group are separately connected described
The CPU of control panel, and external command is inputted the CPU by the panel-switch group, the CPU is sent out to the panel leds group
Send condition indicative signal, the reset circuit, oscillating circuit are to the unidirectional output signal of the CPU, and the CPU is to the output
The unidirectional output signal of control circuit, the RS422 driving isolation circuit connects the CPU via the communicating circuit, described
CPU, the communicating circuit and RS422 driving isolation circuit are bi-directionally connected to each other, to realize the two-way communication of data-signal,
The CPU is to the display board uniaxially output signal.
Further, the communicating circuit is serial communication conversion circuit, and the close loop control circuit is the control of PID closed loop
Circuit processed.
Further, the platform simulator further includes motor, wherein the driving plate, power board and electrode are sequentially connected
And signal is sequentially uniaxially transmitted, the motor also exports feedback signal to the driving plate, and is returned by the closed-loop control
Platform closed loop auto-collimation is realized as follows in road: the implementation Angle Position feedback letter of collimation zero signal and the output of photoelectronic collimating instrument
Aiming controller and PID close loop control circuit, the aiming controller are output to as collimation deviation angle signal after number subtracting each other
Collimation current signal is exported with PID close loop control circuit, which is input into survey hair control simulator, the survey hair
Simulator output collimation voltage signal is controlled, which corrects unit by the speed measure feedback by the motor and obtain
Real time rate voltage feedback signal correction, obtain collimation rate variance voltage, which is input into
The platform simulator and the PID close loop control circuit, the platform simulator and the PID close loop control circuit and institute
The signal for stating the speed measure feedback correction unit output of motor is input into the photoelectronic collimating instrument.
The invention has the benefit that
(1) device can simulate arrow upper mounting plate, ground launch vehicle measurement, constitute closed loop with Ground-Aiming-Equipment,
Under single system operating mode, it is able to cooperate ground aiming system and completes self-test；Under total system operating mode, it is inverted in emulation arrow
Simulated rocket platform prism collimates closed circuit, and help manipulator's completion emulation is aiminged drill and system integration test, improves manipulator
Aiming technical ability.In order to the collimation loop state of real simulation rocket platform prism, we use PID closed loop control methods
Realize photoelectric auto-collimation.
(2) being applied in combination by analog closed-loop pid control algorithm and switch power module realizes in given difference
In the case of step voltage, close loop negative feedback point deviation voltage is stablized in 40mv, and rate tracks steady-state error and stablizes in 0.2V.
(3) stability of closed-loop control tracking accuracy, the body of product be ensure that by the Combination Design of switch power module
Product weight cost is also minimized.
(4) present invention is applied in ground aiming system as self-checking equipment, and as emulator multiple
Army promotes the use of, and the stability and practicability of product are sufficiently examined and verified.
Detailed description of the invention
Fig. 1 shows platform simulator outside schematic diagram.
Fig. 2 shows survey hair control simulator outer interface schematic diagram.
Fig. 3 shows bipolar power supply combinational circuit diagram.
Fig. 4, which is shown, takes aim at control equivalent device hardware composition schematic diagram.
Fig. 5 shows closed loop control algorithm flow chart.
Specific embodiment
Below in conjunction with Detailed description of the invention technical solution of the present invention.
It is a kind of can simulated rocket platform prism photoelectricity collimation circuit take aim at control equivalent device, including survey hair control simulator peace
Platform simulator, electrically connecting platform simulator, the survey hair control simulator include power panel, control the survey hair control simulator
Plate and display board, the platform simulator include driving plate and power board, wherein the equivalent rocket platform prism of platform simulator,
It takes aim at and realizes that motor ± 15 ° limit the scanning in range under " scanning " signal of control equivalent device, collimate electric current in aiming controller
Control under realization platform closed loop auto-collimation.As shown in Figure 1, platform simulator includes prism 1, revolving body 2 in terms of external structure
With pedestal 3.
The control panel includes CPU and communicating circuit, and wherein communicating circuit completes azimuth value in a manner of RS-422
Communication issues " scanning ", " aiming ", " communication " signal, and receives " being ready to ", " quick area ", " collimation electric current ", " zero passage arteries and veins
Punching " signal, the display board are made of 8 seven segment digital tubes and display driver chip, and the CPU sends out data to be shown
Display driver chip is given, display driver chip directly drives numeral method after decoding by defined format, show photoelectric aiming
The angle measurement data of quasi- instrument.It is as shown in Figure 2 to survey hair control simulator outer interface.
The power panel is made of the switch power module of 5V and 12V, and the switch power module of the 12V includes bipolarity
± 12V power supply.
In order to realize motor closed-loop control, it is necessary to use the bipolar power supply of ± 12V with enough power.Due to line
Property power supply price it is high, and as volume for embedded system it is big it is thick and heavy take up space, we using equivalent specifications switch electricity
Source module can not only reduce cost in this way, but also can satisfy the requirement in space.But the Switching Power Supply mould of ± 12V in the market
Block is all with+12V for design main road, and -12V is design bypass, if that is, main road is unloaded or in the case that load is small, bypass is with regard to nothing
Method obtains enough power drive motor reversals, this is but also close loop negative feedback point deviation and rate stable state when motor reversal are missed
Design requirement is not achieved in difference, and the aiming closed circuit state on arrow cannot obtain real simulation.So in order to guarantee motor just
Con trolling index when reversion can meet design requirement, we use the switch power module Combination Design of two pieces of+12V, thus
Guarantee that the power supply of motor when positive and negative rotation is all independent of one another, does not interact.
As shown in Fig. 3, being somebody's turn to do ± 12V power supply includes the switch power module and second for being combined with each other the first+12V of connection
The switch power module of+12V, the end the Vout connection+12V power supply of the switch power module of the first+12V, described first+
The end the Vout connect and ground of the switch power module of the end GND of the switch power module of 12V and the second+12V, described the
The end+Vin of the switch power module of one+12V be connected with the end+Vin of the switch power module of the second+12V and connect+
- the Vin of the switch power module of 24V power supply, the end-Vin of the switch power module of the first+12V and the second+12V
End is connected and connects the end GND of+24V power supply, the end the GND connection -12V power supply of the switch power module of the second+12V.
The driving plate includes operational amplifier, and the operational amplifier is used for the closed loop auto-collimation of motor.
Power board is made of one piece of power amplifier chip, carries out power amplification to the control signal of driving plate output to drive
Dynamic motor rotation.
The control equivalent device of taking aim at is configured to include single system operating mode and total system operating mode, in both works
It is described to take aim at control equivalent device and photoelectronic collimating instrument, aiming controller composition close loop control circuit in operation mode, and in single system
Under operating mode, platform simulator is just set, and the light pipe of photoelectronic collimating instrument is angle of depression state, is used for sighting system self-test；In complete set
It unites under operating mode, platform simulator is hung upside down in emulation arrow, and the light pipe of photoelectronic collimating instrument is elevation angle state, complete for manipulator
It is aiminged drill at emulation and system integration test.
In the close loop control circuit, the survey generates control simulator and takes aim at electricity of powering outside control equivalent device with 24V described
Source is connected with aiming controller.
It is as shown in Figure 4 to take aim at control equivalent device hardware detailed construction.It further includes power-supply filter, electricity that control simulator is generated in the survey
Source switch, panel-switch group and panel leds group, wherein power-supply filter is connected with power switch, power switch and power supply
Plate is connected, and the power panel includes power module, and the display board includes display driver circuit, and the control panel further includes shake
Swing circuit, RS422 driving isolation circuit, reset circuit, clock circuit and control output circuit, the panel-switch group and described
Panel leds group is separately connected the CPU of the control panel, and external command is inputted the CPU, institute by the panel-switch group
It states CPU and sends condition indicative signal to the panel leds group, the reset circuit, oscillating circuit are unidirectional to the CPU
Output signal, the CPU is to the unidirectional output signal of the output control circuit, and the RS422 driving isolation circuit is via described
Communicating circuit connects the CPU, and the CPU, the communicating circuit and RS422 driving isolation circuit are bi-directionally connected to each other,
To realize the two-way communication of data-signal, the CPU is to the display board uniaxially output signal.
The communicating circuit is serial communication conversion circuit, and the close loop control circuit is PID close loop control circuit.
The platform simulator further includes motor, wherein the driving plate, power board and electrode are sequentially connected and sequentially single
Signal is transmitted to ground, the motor also exports feedback signal to the driving plate, and by the close loop control circuit with as follows
Mode realizes platform closed loop auto-collimation: after the implementation Angle Position feedback signal that collimation zero signal and photoelectronic collimating instrument export is subtracted each other
Aiming controller and PID close loop control circuit, the aiming controller and PID closed loop are output to as collimation deviation angle signal
Control loop output collimation current signal, the collimation current signal are input into survey hair control simulator, the survey hair control simulator
Output collimation voltage signal, which, which passes through, corrects the real-time speed that unit obtains by the speed measure feedback of the motor
The correction of rate voltage feedback signal, obtains collimation rate variance voltage, which is input into the platform
Simulator and the PID close loop control circuit, the platform simulator and the PID close loop control circuit and the motor
The signal of speed measure feedback correction unit output is input into the photoelectronic collimating instrument.The process of above-mentioned feedback signal is as shown in Figure 5.
Although describing the present invention referring to specific embodiment, it will be understood by those skilled in the art that can not depart from
Various changes or progress equivalence replacement are carried out on the basis of the scope of the invention.In addition, can be on the basis for not departing from the scope of the invention
Shang pair present invention teach that content carry out various adjustment to adapting to specific environment or material.Therefore, the present invention should not necessarily be limited by
Disclosed specific embodiment, but should include all embodiments for belonging to attached claim scope.
Claims (5)
1. control equivalent device is taken aim in a kind of energy simulated rocket platform prism photoelectricity collimation circuit, which is characterized in that including surveying hair control
Simulator and platform simulator, electrically connecting platform simulator, the survey hair control simulator include the survey hair control simulator
Power panel, control panel and display board, the platform simulator include driving plate and power board, wherein the equivalent rocket of platform simulator
Platform prism is realized that motor ± 15 ° limit the scanning in range under " scanning " signal for taking aim at control equivalent device, is controlled aiming at
Realization platform closed loop auto-collimation under the control of device collimation electric current；The control panel includes CPU and communicating circuit, wherein communicating circuit
The communication of azimuth value is completed in a manner of RS-422, issues " scanning ", " aiming ", " communication " signal, and is received and " prepared
Well ", " quick area ", " collimation electric current ", " zero-crossing pulse " signal, the display board are by 8 seven segment digital tubes and display driving core
Piece composition, data to be shown are sent to display driver chip by the CPU, after display driver chip is by the decoding of defined format
Numeral method is directly driven, shows power panel described in the angle measurement data of photoelectronic collimating instrument by the switch power module of 5V and 12V
Composition, the switch power module of the 12V includes ambipolar ± 12V power supply, and being somebody's turn to do ± 12V power supply includes being combined with each other connection
The switch power module of the switch power module of first+12V and the second+12V, the switch power module of the first+12V
The end Vout connection+12V power supply, the Switching Power Supply at the end GND of the switch power module of the first+12V and the second+12V
The end the Vout connect and ground of module, the switch at the end+Vin of the switch power module of the first+12V and the second+12V
The end+Vin of power module is connected and connects+24V power supply, the end-Vin of the switch power module of the first+12V and described
The end-Vin of the switch power module of two+12V is connected and connects the end GND of+24V power supply, the switch electricity of the second+12V
The end the GND connection -12V power supply of source module；The driving plate includes operational amplifier, and the operational amplifier is closed for motor
Ring auto-collimation；Power board is made of one piece of power amplifier chip, to driving plate output control signal carry out power amplification with
Driving motor rotation；The control equivalent device of taking aim at is configured to include single system operating mode and total system operating mode, at this
In two kinds of operating modes, described take aim at controls equivalent device and photoelectronic collimating instrument, aiming controller composition close loop control circuit, and
Under single system operating mode, platform simulator is just set, and the light pipe of photoelectronic collimating instrument is angle of depression state, is used for sighting system self-test；
Under total system operating mode, platform simulator is hung upside down in emulation arrow, and the light pipe of photoelectronic collimating instrument is elevation angle state, for grasping
Make hand and complete emulation to aiming drill and system integration test.
2. according to claim 1 take aim at control equivalent device, which is characterized in that in the close loop control circuit, the survey hair
Control simulator is connected outside control equivalent device with 24V power supply and aiming controller in described take aim at.
3. according to claim 2 take aim at control equivalent device, which is characterized in that the survey hair control simulator further includes power supply filter
Wave device, power switch, panel-switch group and panel leds group, wherein power-supply filter is connected with power switch, and power supply is opened
Pass is connected with power panel, and the power panel includes power module, and the display board includes display driver circuit, the control panel
It further include oscillating circuit, RS422 driving isolation circuit, reset circuit, clock circuit and control output circuit, the panel-switch
Group and the panel leds group are separately connected the CPU of the control panel, and external command is inputted institute by the panel-switch group
CPU is stated, the CPU sends condition indicative signal, the equal Xiang Suoshu of the reset circuit, oscillating circuit to the panel leds group
The unidirectional output signal of CPU, the CPU are passed through to the unidirectional output signal of the output control circuit, the RS422 driving isolation circuit
The CPU is connected by the communicating circuit, the CPU, the communicating circuit and RS422 driving isolation circuit are two-way each other
Connection, to realize the two-way communication of data-signal, the CPU is to the display board uniaxially output signal.
4. according to claim 3 take aim at control equivalent device, which is characterized in that the communicating circuit is serial communication conversion electricity
Road, and the close loop control circuit is PID close loop control circuit.
5. according to claim 4 take aim at control equivalent device, which is characterized in that the platform simulator further includes motor,
Described in driving plate, power board and electrode be sequentially connected and sequentially uniaxially transmit signal, the motor is also to the driving plate
Feedback signal is exported, and platform closed loop auto-collimation is realized by the close loop control circuit as follows: collimation zero signal
And the implementation Angle Position feedback signal of photoelectronic collimating instrument output is used as collimation deviation angle signal to be output to aiming control after subtracting each other
Device and PID close loop control circuit, the aiming controller and PID close loop control circuit output collimation current signal, collimation electricity
Stream signal is input into survey hair control simulator, the survey hair control simulator output collimation voltage signal, collimation voltage signal warp
The correction for correcting the real time rate voltage feedback signal that unit obtains by the speed measure feedback of the motor is crossed, collimation rate is obtained
Deviation voltage, which is input into the platform simulator and the PID close loop control circuit, described flat
The signal that the speed measure feedback of platform simulator and the PID close loop control circuit and the motor corrects unit output is defeated
Enter to the photoelectronic collimating instrument.
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