CN106828964A - Without drawbar aircraft tractor motion control method and device - Google Patents
Without drawbar aircraft tractor motion control method and device Download PDFInfo
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- CN106828964A CN106828964A CN201710114443.7A CN201710114443A CN106828964A CN 106828964 A CN106828964 A CN 106828964A CN 201710114443 A CN201710114443 A CN 201710114443A CN 106828964 A CN106828964 A CN 106828964A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 4
- 241000256844 Apis mellifera Species 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000009790 rate-determining step (RDS) Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
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- 230000000694 effects Effects 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000006173 Good's buffer Substances 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/227—Vehicles specially adapted therefor, e.g. aircraft tow tractors for direct connection to aircraft, e.g. tow tractors without towing bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/228—Vehicles specially adapted therefor, e.g. aircraft tow tractors remotely controlled; operating autonomously
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention provides one kind without drawbar aircraft tractor motion control method, specific rate-determining steps are：S1, the communications protocol for determining between wireless controller and single-chip microcomputer, control command is sent to single-chip microcomputer using wireless controller by antenna；S2, single-chip microcomputer receive the information of wireless controller by its own antenna, store in data register；S3, single-chip microcomputer are by the speed of travel and distance of tractor road wheel, the turning velocity and angle parameter of tractor deflecting roller send corresponding driver with pwm signal and direction signal, driver controls respective motor to be moved again, the motion of motor belt motor motor car wheel, completes motion control.Control method of the present invention is greatly improved the security of operation, is reduced potential safety hazard using wireless controller control, the observation visual angle of expansion；The half-closed loop control of running gear and the full closed loop control of steering ensure that the kinematic accuracy of tractor, docked with aircraft so as to safety and control aircraft to be accurately positioned.
Description
Technical field
The invention belongs to special vehicle motion control field, more particularly, to a kind of special purpose vehicle that aircraft is moved for airport
Without drawbar aircraft tractor motion control method and device.
Background technology
Aircraft tractor be it is a kind of for ground by draw or pushing tow in the way of move the special vehicle of aircraft, it not only will
Sufficiently large tractive force is produced, and starting, acceleration, deceleration, braking must be steadily soft, are not allow for excessive impulsive force
It is applied on the trailed aircraft that value is expensive, structure is but quite fragile, aircraft tractor should also have alap car
Body, aircraft essence is docked with aircraft and controlled to low-speed stability and radius of turn as small as possible as well as possible so as to safety
It is determined that position.
Foreign countries have occurred without rod-type airplane tractor from the seventies, and aircraft is dispatched for short distance low speed, especially fit
For the occasion that the spaces such as hangar, workshop, aircraft carrier are limited.Occur in that large-scale global function without rod-type tractor after the eighties.
400 tons of skymasters of weight can be drawn with the high-speed secure of 30km/h, obtained in terms of operating efficiency, security it is good into
Achievement, remarkable in economical benefits causes the extensive attention of International Civil Aviation office, increasingly universal in the use of American-European countries.It is known production and
Develop without states such as the virtuous of rod-type tractor, method, American and Britain, meaning, Sweden, Finland, Israel.The main of civil aviaton's operation is put into
It is the product of German AES companies, MAN-GHH companies, English/Dauglas-Kalmer companies of Sweden and Powerpush companies of Finland.
Domestic tractor aspect is started late, and the QFY30 for formally putting into production at present is the production of Qingdao special purpose vehicle factory
Product, tractive force is 3 tons, and traction object is military fighter aircraft.Tractive force is 16 tons of QFY160 also development and production, but it
Using Hydrostatic drive dynamical system, there will be some defects in terms of reliability, and without the potentiality of further raising tractive force.
The 10T tractors that Northern Industrial Company is developing carry out commerical test.More satisfactory medium-sized tractor is at present in state
It is still inside blank.
The type of drive of tractor is typically all four-wheel drive both at home and abroad at present：Two-wheel running and two-wheeled are turned to.Its motion
Control is typically all to operate driving to complete by driver, so the movement effects of tractor are largely dependent upon driver's
Technology.If driver drives back to tractor, road conditions above are just can only see, it is impossible to observe aircraft traction
Situation, it is possible to cannot implementing monitoring aircraft traction working condition；If driver drives in face of tractor, can only just observe winged
The situation of machine travel, it is impossible to see road conditions above, it is possible to cannot effectively avoid motion preceding object thing.Both
Situation can all produce potential safety hazard, and because aircraft is worth expensive, structure is quite fragile, so once occurring unexpected, it is possible to
Produce huge loss.Other driver operates tractor it is difficult to ensure that kinematic accuracy, the misoperation of very little may result in leads
Draw the larger deviation of car, it is impossible to ensure being docked with aircraft and controlling aircraft to be accurately positioned for safety.
The content of the invention
In view of this, the present invention is directed to propose a kind of utilization wireless control technology without drawbar aircraft tractor motion control
Method and motion control device, so that the avoidance for solving existing tractor is poor, poor reliability, operability difference and movement accuracy
Poor problem, has filled up the blank of the control method technology without drawbar tractor.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
Without drawbar aircraft tractor motion control method, specific rate-determining steps are one kind：
Communications protocol between S1, definition wireless controller and single-chip microcomputer, control life is sent using wireless controller by antenna
Make to single-chip microcomputer；
S2, single-chip microcomputer receive the information of wireless controller by its own antenna, parse handle order, judge frame head, postamble, school
Test and wait, if correctly, the useful information in command string extracted, store in data register；
S3, single-chip microcomputer calculate the kinematic parameter of traction wheel, i.e. tractor walking by actual Ackermam motion algorithm
The speed of travel and distance of wheel, the turning velocity and angle of tractor deflecting roller；Single-chip microcomputer by draw wheel kinematic parameter with
Pwm signal and direction signal send corresponding driver, and driver controls respective motor to be moved again, motor belt motor motor car wheel
Motion, completes motion control.
Further, wheel includes two road wheels and two deflecting rollers, is each correspondingly provided with driver and motor；Two
The encoder that individual movable motor is carried accesses respective driver, constitutes half-closed loop control；Rotation is installed in steering mechanism to compile
Code device and limit spacing switch, for detecting the anglec of rotation and position limitation protection, single-chip microcomputer are accessed by rotary encoder, are constituted fully closed
Ring is controlled；
Further, alarm module is also associated with the single-chip microcomputer, single-chip microcomputer passes through control area net(CAN) with alarm module
(CAN) interface connection, can real-time Transmission warning message to alarm module, carry out warning reminding；Control to replace using wireless controller
Driver's Driving control, the observation visual angle of expansion greatly improves the security of operation, reduces potential safety hazard；Running System
The half-closed loop control of system and the full closed loop control of steering ensure that the kinematic accuracy of tractor, so as to safety and aircraft pair
Connect and control aircraft to be accurately positioned；
Using the control device without drawbar aircraft tractor of the method for the invention, including：Wireless controller, single-chip microcomputer,
Rotary encoder, wireless module, data memory module, movable motor, road wheel, steering motor, deflecting roller, walking driver,
The wireless module that directional drive and alarm module, wherein single-chip microcomputer are provided with is corresponding with the wireless module on wireless controller,
Realize the Real-time Collection to wireless controller order；The single-chip microcomputer is connected by RS485 interfaces with two rotary encoders, is realized
The real-time reading of the wheel turning angle degree to being arranged in steering motor；It is collectively stored in data memory module, judges to lead
Draw car motion state, four kinematic parameters of wheel are calculated by actual Ackermam motion algorithm；Driven by I/O and two walking
Dynamic device and two control interface connections of directional drive, single-chip microcomputer send PWM to drive of walking by being provided at its inner portion timer
Move device and directional drive to control the rotating speed of respective movable motor and steering motor, and export digital quantity point to hoofing part
Device and directional drive control the steering of respective movable motor and steering motor；The single-chip microcomputer is with alarm module by control
LAN (CAN) interface is connected；
Further, the power supply circuit of input and the output of the single-chip microcomputer employs Phototube Coupling, it is to avoid outside dry
Disturb, prevent the appearance of misoperation, there is good buffer action to input and output signal；
Further, the communication protocol between the wireless module on the wireless module and single-chip microcomputer in wireless controller is used
SimpleLink wireless protocols, using point-to-point communication pattern；On the single-chip microcomputer of wireless controller and tractor all with RF without
Wire module, SimpleLink agreements can significantly facilitating internet connection implementation process；SimpleLink can be to greatest extent
Reduce the requirement to host microcontroller (MCU) software, it is adaptable to which being integrated with the embedded of any low cost/low-power consumption MCU should
With；
Further, the rotary encoder is the roll angle inspection component of deflecting roller, on rotary encoder and tractor
Single-chip microcomputer connected by RS485 interfaces, single-chip microcomputer gathers two data of rotary encoder by the RS485 agreements of standard,
Obtain two corner values of deflecting roller；
Further, data memory module control by the way of analogue I2C bus, its pass through two holding wire SDA,
SCL realizes the data transmission and between device；The pin connection of described SDA, SCL and single-chip microcomputer, realizes data memory module to data
Storage；
Further, the control interface of walking driver and directional drive respectively with four digital outputs of single-chip microcomputer
Pin PF1, PF3, PG1, PK5 are connected, and that realizes motor rotates and reverse control；Simultaneously respectively with four speed-regulating signals of PWM
Pin PF0, PF2, PG0, PK4 are connected, and realize the regulation of motor speed；Single-chip microcomputer sends commands to driver, realizes to motor
Turn to the control with rotating speed.
Further, also including alarm lamp, buzzer and magnetic valve, the alarm module is also a small-sized single-chip microcomputer,
Carry control area net(CAN) interface and alarm drive circuit；The alarm module is connected by CAN with single-chip microcomputer, and single-chip microcomputer carries two
Individual CAN interface, pin is PA0 (CAN0Rx), PA1 (CAN0Tx) and PB0 (CAN1Rx), PB1 (CAN1Tx), and alarm module passes through
CAN is connected with CAN0 mouthfuls of single-chip microcomputer, can real-time Transmission warning message to alarm module, if tractor occur it is unexpected and dangerous
State, alarm module can start, and warning message can be passed to alarm module by single-chip microcomputer in real time, and alarm module is by driving electricity
Road drives the action such as alarm lamp, buzzer, magnetic valve, realizes warning function.
Relative to prior art, it is of the present invention have without drawbar aircraft tractor motion control method and device it is following
Advantage：
The good effect of motion control method of the present invention and device is：By actual Ackermam motion algorithm
Calculate four kinematic parameters of wheel, i.e., two speeds of travel and distance of road wheel, the turning velocity and angle of two deflecting rollers,
Realize the motor pattern of four-wheel active.The encoder respective driver of access that two movable motors are carried, constitutes semiclosed loop
Control；Rotary encoder and limit spacing switch are installed in steering mechanism, for detecting the anglec of rotation and position limitation protection, will be revolved
Turn encoder and access single-chip microcomputer, constitute full closed loop control.Single-chip microcomputer is connected with alarm module by control area net(CAN) (CAN) interface
Connect, can real-time Transmission warning message to alarm module, carry out warning reminding.Driver is replaced to drive control using wireless controller control
System, the observation visual angle of expansion greatly improves the security of operation, reduces potential safety hazard；The semiclosed loop control of running gear
The full closed loop control of system and steering ensure that the kinematic accuracy of tractor, and aircraft is docked with aircraft and controlled so as to safety
It is accurately positioned.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structured flowchart described in the embodiment of the present invention；
Fig. 2 is single-chip microcomputer input and the output circuit Phototube Coupling described in the embodiment of the present invention；
Fig. 3 is the single-chip microcomputer RS485 interface circuits described in the embodiment of the present invention；
Fig. 4 is the interface circuit of the Single-chip Controlling LAN (CAN) described in the embodiment of the present invention；
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of and describes the present invention and simplify to describe, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
Limitation of the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Without drawbar aircraft tractor motion control method, specific rate-determining steps are one kind：
Communications protocol between S1, definition wireless controller and single-chip microcomputer, control life is sent using wireless controller by antenna
Make to single-chip microcomputer；
S2, single-chip microcomputer receive the information of wireless controller by its own antenna, parse handle order, judge frame head, postamble, school
Test and wait, if correctly, the useful information in command string extracted, store in data register；
S3, single-chip microcomputer calculate four kinematic parameters of wheel by actual Ackermam motion algorithm, i.e., two road wheels
The speed of travel and distance, the turning velocity and angle of two deflecting rollers；Single-chip microcomputer by four kinematic parameters of wheel with pwm signal and
Direction signal is sent to four corresponding drivers, and driver controls respective motor to be moved again, motor belt motor motor car wheel fortune
It is dynamic, complete motion control.
Wherein, four wheels include two road wheels and two deflecting rollers, are each correspondingly provided with driver and motor；Two
The encoder that movable motor is carried accesses respective driver, constitutes half-closed loop control；Rotary coding is installed in steering mechanism
Device and limit spacing are switched, and for detecting the anglec of rotation and position limitation protection, rotary encoder are accessed into single-chip microcomputer, constitute closed-loop
Control；
Wherein, alarm module is also associated with the single-chip microcomputer, single-chip microcomputer passes through control area net(CAN) (CAN) with alarm module
Interface connect, can real-time Transmission warning message to alarm module, carry out warning reminding；Driver is replaced using wireless controller control
Driving control, the observation visual angle of expansion greatly improves the security of operation, reduces potential safety hazard；The half of running gear
The full closed loop control of closed-loop control and steering ensure that the kinematic accuracy of tractor, docks and controls with aircraft so as to safety
Aircraft processed is accurately positioned；
As shown in figure 1, a kind of control device without drawbar aircraft tractor of application the method for the invention, including：Nothing
Line handle, single-chip microcomputer, rotary encoder, wireless module, data memory module, movable motor, road wheel, steering motor, steering
The nothing on wireless module and wireless controller that wheel, walking driver, directional drive and alarm module, wherein single-chip microcomputer are provided with
Wire module is corresponding, realizes the Real-time Collection to wireless controller order；The single-chip microcomputer is compiled by RS485 interfaces and two rotations
Code device connection, the RS485 interfaces wherein on single-chip microcomputer are as shown in figure 3, realize turning to the deflecting roller being arranged in steering motor
The real-time reading of angle；It is collectively stored in data memory module, judges tractor motion state, is transported by actual Ackermam
Dynamic algorithm calculates four kinematic parameters of wheel；By I/O and two walking driver and the control interface of two directional drives
Connection, single-chip microcomputer sends PWM to walking driver and directional drive to control each walking by being provided at its inner portion timer
The rotating speed of motor and steering motor, and export digital quantity point to walking driver and directional drive and control each walking electricity
The steering of machine and steering motor；The single-chip microcomputer is connected with alarm module by control area net(CAN) (CAN) interface；
Specifically, the power supply circuit of input and the output of single-chip microcomputer employs Phototube Coupling, specific photoelectric-isolated is supplied
Circuit prevents the appearance of misoperation as shown in Fig. 2 avoid external disturbance, there is good isolation to input and output signal
Effect；
Specifically, the communication protocol between wireless module on wireless module and single-chip microcomputer in wireless controller is used
SimpleLink wireless protocols, using point-to-point communication pattern；On the single-chip microcomputer of wireless controller and tractor all with RF without
Wire module, SimpleLink agreements can significantly facilitating internet connection implementation process；SimpleLink can be to greatest extent
Reduce the requirement to host microcontroller (MCU) software, it is adaptable to which being integrated with the embedded of any low cost/low-power consumption MCU should
With；
Specifically, roll angle inspection component of the rotary encoder for deflecting roller, two rotary encoders and tractor
On single-chip microcomputer connected by RS485 interfaces, single-chip microcomputer gathers two numbers of rotary encoder by the RS485 agreements of standard
According to obtaining two corner values of deflecting roller；
Specifically, data memory module control by the way of analogue I2C bus, its pass through two holding wire SDA,
SCL realizes the data transmission and between device；The pin connection of described SDA, SCL and single-chip microcomputer, realizes data memory module to data
Storage；
Specifically, the control interface of walking driver and directional drive draws with four digital outputs of single-chip microcomputer respectively
Pin PF1, PF3, PG1, PK5 are connected, and that realizes motor rotates and reverse control；Four speed-regulating signals respectively with PWM draw simultaneously
Pin PF0, PF2, PG0, PK4 are connected, and realize the regulation of motor speed；Single-chip microcomputer sends commands to driver, realizes turning motor
To the control with rotating speed.
Specifically, the alarm module is also a small-sized single-chip microcomputer, carries control area net(CAN) interface and alarm drives electricity
Road；The alarm module is connected by CAN with single-chip microcomputer, and single-chip microcomputer carries two CAN interfaces, pin be PA0 (CAN0Rx),
PA1 (CAN0Tx) and PB0 (CAN1Rx), PB1 (CAN1Tx), alarm module are connected by CAN with CAN0 mouthfuls of single-chip microcomputer, monolithic
Machine control area net(CAN) (CAN) interface circuit as shown in figure 4, according to circuit shown in Fig. 4 design can real-time Transmission warning message to report
Alert module, if accident and precarious position occurs in tractor, alarm module can start, and single-chip microcomputer in real time can pass warning message
Alarm module is passed, alarm module drives the action such as alarm lamp, buzzer, magnetic valve, realizes warning function by drive circuit.
The positive effect of the present invention is：Four kinematic parameters of wheel are calculated by actual Ackermam motion algorithm, i.e.,
Two speeds of travel and distance of road wheel, the turning velocity and angle of two deflecting rollers, realize the motion mould of four-wheel active
Formula.The encoder respective driver of access that two movable motors are carried, constitutes half-closed loop control；Rotation is installed in steering mechanism
Turn encoder and limit spacing switch, for detecting the anglec of rotation and position limitation protection, rotary encoder is accessed into single-chip microcomputer, constitute
Full closed loop control.Single-chip microcomputer is connected with alarm module by control area net(CAN) (CAN) interface, can real-time Transmission warning message to report
Alert module, carries out warning reminding.Using wireless controller control replace driver's Driving control, the observation visual angle of expansion, greatly
The security of operation is improved, potential safety hazard is reduced；The half-closed loop control of running gear and the full closed loop control of steering
The kinematic accuracy of tractor is ensure that, is docked with aircraft so as to safety and is controlled aircraft to be accurately positioned.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. one kind is without drawbar aircraft tractor motion control method, it is characterised in that step is：
S1, define communications protocol between wireless controller and single-chip microcomputer, using wireless controller by antenna transmission control command to
Single-chip microcomputer；
S2, single-chip microcomputer receive the information of wireless controller by its own antenna, store in data register；
S3, single-chip microcomputer join the turning velocity and angle of the speed of travel of tractor road wheel and distance and tractor deflecting roller
Number sends corresponding driver with pwm signal and direction signal, and driver controls respective motor to be moved again, and motor drives
Wheel movement, completes motion control.
2. one kind as claimed in claim 1 is without drawbar aircraft tractor motion control method, it is characterised in that wheel includes
Two road wheels and two deflecting rollers, are each correspondingly provided with driver and motor；The encoder access that two movable motors are carried
Respective driver, constitutes half-closed loop control；Rotary encoder and limit spacing switch are installed in steering mechanism, rotation is compiled
Code device accesses single-chip microcomputer, constitutes full closed loop control.
3. one kind as claimed in claim 1 is without drawbar aircraft tractor motion control method, it is characterised in that the single-chip microcomputer
On be also associated with alarm module, single-chip microcomputer is connected with alarm module by control area net(CAN) (CAN) interface, can real-time Transmission alarm
Information carries out warning reminding to alarm module.
4. using the control device without drawbar aircraft tractor of claim 3 methods described, it is characterised in that including：Wirelessly
Handle, single-chip microcomputer, rotary encoder, wireless module, data memory module, movable motor, road wheel, steering motor, deflecting roller,
Walking driver, directional drive and alarm module,
The wireless module that the single-chip microcomputer is provided with is corresponding with the wireless module on wireless controller, realizes to wireless controller order
Real-time Collection；The single-chip microcomputer is connected by RS485 interfaces with two rotary encoders, is realized to being arranged in steering motor
Wheel turning angle degree real-time reading；It is collectively stored in data memory module；Single-chip microcomputer is driven by I/O and two walking
Dynamic device and two control interface connections of directional drive, single-chip microcomputer send PWM to drive of walking by being provided at its inner portion timer
Move device and directional drive to control the rotating speed of respective movable motor and steering motor, and export digital quantity point to hoofing part
Device and directional drive control the steering of respective movable motor and steering motor；The single-chip microcomputer is with alarm module by control
LAN (CAN) interface is connected.
5. the control device without drawbar aircraft tractor as claimed in claim 4, it is characterised in that the input of the single-chip microcomputer
Power supply circuit with output employs Phototube Coupling.
6. the control device without drawbar aircraft tractor as claimed in claim 4, it is characterised in that wireless in wireless controller
The communication protocol between wireless module in module and single-chip microcomputer uses SimpleLink wireless protocols, using point-to-point communication
Pattern；RF wireless modules are designed with wireless controller and the single-chip microcomputer of tractor.
7. the control device without drawbar aircraft tractor as claimed in claim 4, it is characterised in that the rotary encoder with
Single-chip microcomputer on tractor is connected by RS485 interfaces, and single-chip microcomputer gathers two rotary encoders by the RS485 agreements of standard
Data, obtain two corner values of deflecting roller.
8. the control device without drawbar aircraft tractor as claimed in claim 4, it is characterised in that the control of data memory module
By the way of analogue I2C bus, it passes through two holding wires SDA, SCL and realizes the data transmission and between device system；The SDA,
SCL is connected with the pin of single-chip microcomputer.
9. the control device without drawbar aircraft tractor as claimed in claim 4, it is characterised in that walking driver and steering
The control interface of driver is connected with four digital quantity output pins PF1, PF3, PG1, PK5 of single-chip microcomputer respectively, realizes motor
Rotate and reverse control；It is connected with four speed-regulating signal pins PF0, PF2, PG0, PK4 of PWM respectively simultaneously, realizes motor
The regulation of speed；Single-chip microcomputer sends commands to driver, realizes the control to motor steering and rotating speed.
10. the control device without drawbar aircraft tractor as claimed in claim 4, it is characterised in that also including alarm lamp, honeybee
Ring device and magnetic valve, the alarm module is small single sheet machine, carries control area net(CAN) interface and alarm drive circuit；The alarm
Module is connected by CAN with single-chip microcomputer, and single-chip microcomputer carries two CAN interfaces, pin be PA0 (CAN0Rx), PA1 (CAN0Tx) and
PB0 (CAN1Rx), PB1 (CAN1Tx), alarm module are connected by CAN with CAN0 mouthfuls of single-chip microcomputer, can real-time Transmission alarm signal
Cease to alarm module, alarm module drives alarm lamp, buzzer, electromagnetism valve events, realizes warning function by drive circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114443.7A CN106828964B (en) | 2017-02-28 | 2017-02-28 | Without drawbar aircraft tractor motion control method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114443.7A CN106828964B (en) | 2017-02-28 | 2017-02-28 | Without drawbar aircraft tractor motion control method and device |
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| CN106828964A true CN106828964A (en) | 2017-06-13 |
| CN106828964B CN106828964B (en) | 2019-04-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN106828964B (en) | 2019-04-16 |
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