CN107992093B - Instruction simulator applied to testing helicopter antenna - Google Patents
Instruction simulator applied to testing helicopter antenna Download PDFInfo
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- CN107992093B CN107992093B CN201810033864.1A CN201810033864A CN107992093B CN 107992093 B CN107992093 B CN 107992093B CN 201810033864 A CN201810033864 A CN 201810033864A CN 107992093 B CN107992093 B CN 107992093B
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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
- G05D3/10—Control of position or direction without using feedback
Abstract
The invention relates to an instruction simulator applied to testing a helicopter antenna, which comprises: the device comprises a chassis, a main control module fixed on the chassis, a stepping motor fixed on the chassis, a first angle turntable for detecting the rotation angle of the stepping motor, a circumference potentiometer fixed on the chassis, a second angle turntable for detecting the circumference potentiometer and a power supply module for supplying power to the main control module, the stepping motor and the circumference potentiometer; the main control module is provided with a position servo mode and a speed servo mode; the main control module is provided with a mode switching device, and the mode switching device is used for switching the main control module between a position servo mode and a speed servo mode. The instruction simulator applied to testing the helicopter antenna has a small volume and is convenient to carry; switching between the velocity servo mode and the position servo mode can be simply achieved by a key.
Description
Technical Field
The invention relates to the technical field of helicopters, in particular to an instruction simulator applied to testing a helicopter antenna.
Background
At present, most helicopters adopt satellite communication, and in order to obtain good communication signals, the communication antenna is required to be capable of accurately pointing to a geostationary satellite when the helicopter rapidly navigates and rotates. However, after the airborne communication antenna is installed, it is difficult to ensure the accuracy of the alignment satellite, and the method of directly using the airborne antenna for test flight is expensive. Therefore, how to perform efficient antenna calibration is a current problem.
Disclosure of Invention
To overcome the problems associated with the antenna calibration process and to reduce the cost associated with antenna calibration. The invention provides an instruction servo simulation device of an airborne satellite communication antenna, which can realize the simulation of the rotation position of a helicopter and the simulation of the rotation speed of the helicopter. Therefore, the accuracy of debugging the airborne satellite by directly using the helicopter is avoided.
An instruction simulator for testing a helicopter antenna, comprising:
the device comprises a chassis, a main control module fixed on the chassis, a stepping motor fixed on the chassis, a first angle turntable for detecting the rotation angle of the stepping motor, a circumference potentiometer fixed on the chassis, a second angle turntable for detecting the circumference potentiometer and a power supply module for supplying power to the main control module, the stepping motor and the circumference potentiometer;
the main control module is provided with a position servo mode and a speed servo mode;
in a position servo mode, the main control module collects an A/D sampling value of a sliding end of the circumferential potentiometer, calculates a first rotation angle of the circumferential potentiometer according to the A/D sampling value, and drives the stepping motor to rotate by an angle which is the same as the first rotation angle;
in a speed servo mode, the main control module collects an A/D sampling value of a sliding end of the circumferential potentiometer, calculates a second rotation angle of the circumferential potentiometer according to the A/D sampling value, drives the circumferential potentiometer to calculate a target rotation speed corresponding to the stepping motor according to the second rotation angle of the circumferential potentiometer, and drives the stepping motor to rotate at the same speed as the calculated target rotation speed;
the main control module is provided with a mode switching device, and the mode switching device is used for switching the main control module between a position servo mode and a speed servo mode.
The instruction simulator applied to testing the helicopter antenna has a small volume and is convenient to carry; switching between the velocity servo mode and the position servo mode can be simply achieved by a key.
In another embodiment, the stepper motor is coupled to the first angle turntable through a speed reducer.
In another embodiment, the circumferential potentiometer is an electrodeless conductive plastic circumferential potentiometer.
In another embodiment, the master control module is an STM32F407ZGT6 microcontroller.
In another embodiment, the power module provides 5V dc voltage to the main control module, the power module provides 12V dc voltage to the stepping motor, and the power module provides 3.3V dc voltage to the circular potentiometer.
In another embodiment, the mode switching device is a button.
In another embodiment, a display is arranged on the main control module.
In another embodiment, the main control module is provided with a wireless module connected with an upper computer.
In another embodiment, the wireless module is a bluetooth module.
In another embodiment, the wireless module is a wifi module.
Drawings
Fig. 1 is a schematic structural diagram of an instruction simulator applied to testing a helicopter antenna according to an embodiment of the present application.
Fig. 2 is a flowchart of an instruction simulator applied to test a helicopter antenna according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, an instruction simulator for testing a helicopter antenna includes:
a chassis 100, a main control module 200 fixed on the chassis, a stepping motor 300 fixed on the chassis, a first angle turntable 400 for detecting a rotation angle of the stepping motor, a circumferential potentiometer 600 fixed on the chassis, a second angle turntable 700 for detecting the circumferential potentiometer, and a power module (not shown in the figure) for supplying power to the main control module, the stepping motor and the circumferential potentiometer;
the main control module is provided with a position servo mode and a speed servo mode;
in a position servo mode, the main control module collects an A/D sampling value of a sliding end of the circumferential potentiometer, calculates a first rotation angle of the circumferential potentiometer according to the A/D sampling value, and drives the stepping motor to rotate by an angle which is the same as the first rotation angle;
in a speed servo mode, the main control module collects an A/D sampling value of a sliding end of the circumferential potentiometer, calculates a second rotation angle of the circumferential potentiometer according to the A/D sampling value, drives the circumferential potentiometer to calculate a target rotation speed corresponding to the stepping motor according to the second rotation angle of the circumferential potentiometer, and drives the stepping motor to rotate at the same speed as the calculated target rotation speed;
the main control module is provided with a mode switching device 1000, and the mode switching device is used for switching the main control module between a position servo mode and a speed servo mode.
The instruction simulator applied to testing the helicopter antenna has a small volume and is convenient to carry; switching between the velocity servo mode and the position servo mode can be simply achieved by a key.
In another embodiment, the stepper motor is coupled to the first angle turntable through a speed reducer 800.
In another embodiment, an encoder 500 is included that is coupled to the rotating shaft of the stepper motor.
In another embodiment, the circumferential potentiometer is an electrodeless conductive plastic circumferential potentiometer.
In another embodiment, the master control module is an STM32F407ZGT6 microcontroller.
In another embodiment, the power module provides 5V dc voltage to the main control module, the power module provides 12V dc voltage to the stepping motor, and the power module provides 3.3V dc voltage to the circular potentiometer.
In another embodiment, the mode switching device is a button.
In another embodiment, a display 900 is provided on the main control module.
In another embodiment, the main control module is provided with a wireless module 1100 connected with an upper computer.
In another embodiment, the wireless module is a bluetooth module.
In another embodiment, the wireless module is a wifi module.
A specific application scenario of the present invention is described below:
in order to effectively simulate the flight mode of a helicopter, the invention adopts two modes of position servo and speed servo. The two modes are switched by keys packaged on the main control module. The key switching function is realized by a key scanning mode: the single chip microcomputer continuously scans the state of the keys and observes whether the keys are pressed down or not. And if the key is detected to be pressed down, switching the operation mode.
Referring to fig. 2, a flowchart of an instruction simulator applied to test a helicopter antenna according to an embodiment of the present application is shown.
In order to enable the simulator to have a position servo function, an electrodeless conductive plastic circumferential potentiometer is fixed on the chassis, 5V direct current is added to two ends of the electrodeless conductive plastic circumferential potentiometer, and a DuPont wire is used for connecting a sliding end of the electrodeless conductive plastic circumferential potentiometer with an AD sampling port of the main control module. And a 12-bit analog/digital converter arranged in the main control module carries out AD sampling on the sliding end of the electrodeless conductive plastic circumferential potentiometer, carries out algorithm analysis on a digital signal obtained by sampling, and calculates the rotation angle information of the electrodeless conductive plastic circumferential potentiometer knob. And the main control module outputs a PWM wave with fixed frequency according to the obtained information to control the stepping motor to rotate by the same angle.
In order to enable the simulator to have a speed servo function, the rotation angle information of the electrodeless conductive plastic circumferential potentiometer knob is resolved through the main control module, and then the main control module outputs PWM waves with different frequencies according to the obtained information so as to control the stepping motor to rotate at different speeds.
In order to enable the simulator to have a wireless communication function, the main control module is fixedly provided with a wireless communication device which can be matched with an upper computer such as a notebook computer and a mobile phone, the wireless communication device adopts an HC05 Bluetooth module, the style design is simple, the volume and the size are compact, an indicator lamp is clear and bright, and wireless data transmission within 10M can be realized.
In order to enable the simulator to have a real-time display function, a display capable of realizing character display is fixed on the main control module, the display adopts a 1602 liquid crystal display, is convenient to display, clear in handwriting and relatively low in price, and can simultaneously display 16 x 2 characters, namely 32 characters.
The whole simulator is powered by a 28V direct-current power adapter, and because different circuit modules in the circuit need different working voltages and current capacities, the power module should comprise a plurality of voltage stabilizing circuits for converting the voltage into various needed voltages. The method mainly comprises the following steps: the voltage of 5V mainly provides power for the main control module and the stepping motor encoder, and the voltage requirement is stable and the noise is low; 12V voltage, which is mainly used for providing a driving power supply for the stepping motor; the voltage of 3.3V is mainly used for providing a power supply for the electrodeless conductive plastic circumferential potentiometer, and the voltage requirement is stable.
The invention has small volume and is convenient to carry; the switching between the speed servo mode and the position servo mode can be simply realized through the keys; the Bluetooth wireless communication module of the system can easily realize data transmission with an upper computer such as a mobile phone or a computer; the 1602 liquid crystal display arranged on the main control module can display information such as the position, the speed and the like of the stepping motor in real time; the helicopter is directly used for calibrating the antenna, the price of the invention is low, the testing cost is almost zero, and the benefit is larger.
Finally, the device types of the components of the present invention will be described.
The reduction ratio of the MS36 two-phase four-wire planetary reduction stepping motor is 1:14, a TB6560AFG stepping motor driving chip is used for driving the stepping motor, 1 is selected as a subdivision number, namely 200 pulses, and the stepping motor rotates for one circle.
The ADC uses a 12-bit analog-to-digital converter (ADC) of an STM32F407ZGT6 chip (the main control module acquires the A/D sampling value of the sliding end of the circular potentiometer through the 12-bit analog-to-digital converter), and the resolution is 12 bits and 2 bits 124096, the reference voltage is 3.3V. I.e. 4096 subdivisions of the reference voltage. If the potentiometer voltage is 3.3V, the corresponding AD sample value is 4096, and if the potentiometer voltage is 0, the corresponding AD sample value is 0. The circumferential potentiometer used was WDD35D4 type. The resistance value is 5K and changes linearly, so that pins No. 1 and No. 2 are connected with pin 3. The voltage of 3V, pin 3 varies linearly (according to the rotation angle) at 0-3.3V. The AD sample value varies linearly from 0 to 4096. Angle mode: the output pulse number (AD sample value) 14 × 200/4096 is calculated. Wherein 14 is the reduction ratio of the stepping motor, and 200 is the number of pulses required by one rotation of the stepping motor. Because of the stepping motor reducer, 200 pulses are needed for one rotation originally, and 2800 pulses are needed for one rotation. The angle of rotation is proportional to the number of pulses, the proportional relationship being 360/2800. I.e., a pulse stepper motor rotates about 0.1286. Speed mode: the target speed pulse number is AD sample value maximum target pulse number/4096. The maximum number of target pulses is proportional (can be modified) to the required maximum speed (frequency). Here, the maximum target pulse number is set to 1000.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An instruction simulator for testing a helicopter antenna, comprising:
the device comprises a chassis, a main control module fixed on the chassis, a stepping motor fixed on the chassis, a first angle turntable for detecting the rotation angle of the stepping motor, a circumference potentiometer fixed on the chassis, a second angle turntable for detecting the circumference potentiometer and a power supply module for supplying power to the main control module, the stepping motor and the circumference potentiometer;
the main control module is provided with a position servo mode and a speed servo mode;
in a position servo mode, the main control module collects an A/D sampling value of a sliding end of the circumferential potentiometer, calculates a first rotation angle of the circumferential potentiometer according to the A/D sampling value, and drives the stepping motor to rotate by an angle which is the same as the first rotation angle;
in a speed servo mode, the main control module collects an A/D sampling value of a sliding end of the circumferential potentiometer, calculates a second rotation angle of the circumferential potentiometer according to the A/D sampling value, calculates a target rotation speed corresponding to the stepping motor according to the second rotation angle of the circumferential potentiometer, and drives the stepping motor to rotate at the same speed as the calculated target rotation speed;
the main control module is provided with a mode switching device, and the mode switching device is used for switching the main control module between a position servo mode and a speed servo mode.
2. The command simulator for testing a helicopter antenna of claim 1 wherein said stepper motor is connected to said first angle turret through a speed reducer.
3. The command simulator applied to test helicopter antennas of claim 1 wherein said circumferential potentiometer is an electrodeless conductive plastic circumferential potentiometer.
4. Instruction simulator applied to test helicopter antennas according to claim 1, characterized in that said master control module is the STM32F407ZGT6 microcontroller.
5. The command simulator for testing a helicopter antenna of claim 1 wherein said power module provides 5 volts dc to said main control module, said power module provides 12 volts dc to said stepper motor, and said power module provides 3.3 volts dc to said circumferential potentiometer.
6. The command simulator for testing a helicopter antenna of claim 1 wherein said mode switching means is a pushbutton.
7. The command simulator for testing helicopter antennas of claim 1 wherein a display is provided on said master control module.
8. The instruction simulator applied to testing the helicopter antenna of claim 1 wherein the master control module is provided with a wireless module connected to an upper computer.
9. The command simulator for testing a helicopter antenna of claim 8 wherein said wireless module is a bluetooth module.
10. Instruction simulator for testing helicopter antennas according to claim 8, characterized in that said wireless module is a wifi module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810033864.1A CN107992093B (en) | 2018-01-15 | 2018-01-15 | Instruction simulator applied to testing helicopter antenna |
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| CN201810033864.1A CN107992093B (en) | 2018-01-15 | 2018-01-15 | Instruction simulator applied to testing helicopter antenna |
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| CN107992093B true CN107992093B (en) | 2020-09-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2630800Y (en) * | 2003-06-18 | 2004-08-04 | 哈尔滨飞机工业(集团)有限责任公司 | Helicopter dynamic balance simulation test apparatus |
| FR2916546A1 (en) * | 2007-05-24 | 2008-11-28 | Airbus France Sa | METHOD FOR SIMULATING AN ON-BOARD AIRCRAFT ON-BOARD SYSTEM FOR TESTING AN OPERATING SOFTWARE AND DEVICE FOR IMPLEMENTING SAID METHOD |
| US8077098B2 (en) * | 2008-05-15 | 2011-12-13 | The United States Of America As Represented By The Secretary Of The Navy | Antenna test system |
| KR101220299B1 (en) * | 2011-10-19 | 2013-01-09 | 한국항공우주연구원 | Tracking speed tester of gps/monopulse tracker |
| CN103234534A (en) * | 2013-03-29 | 2013-08-07 | 陕西飞机工业（集团）有限公司 | Method for testing sensitivity of airplane radio compass receiver |
| CN204405745U (en) * | 2015-01-29 | 2015-06-17 | 四川安迪科技实业有限公司 | A kind of satellite antenna pattern subtest equipment |
| CN106610455B (en) * | 2015-10-23 | 2019-08-02 | 中国飞行试验研究院 | A kind of helicopter ultrashort wave antenna directional diagram test flight method |
| CN206192196U (en) * | 2016-09-29 | 2017-05-24 | 苏州大学 | Height explodes testing arrangement who designs based on conformal antenna under high voltage ring border |
| CN106505318B (en) * | 2016-11-17 | 2019-10-29 | 中国航空无线电电子研究所 | A kind of Double directional aerial is adaptively directed at communication means |
| CN106814850B (en) * | 2016-12-03 | 2020-08-07 | 中信海洋直升机股份有限公司 | Simulated flight operation test system and test method based on sight line track |
| CN106938707B (en) * | 2017-04-07 | 2019-05-21 | 南昌华梦达航空科技发展有限公司 | A kind of unmanned helicopter subtest and assisting in flying facility for study |
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