CN108663973B - Multi-path target position distance control device - Google Patents
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- CN108663973B CN108663973B CN201810590291.2A CN201810590291A CN108663973B CN 108663973 B CN108663973 B CN 108663973B CN 201810590291 A CN201810590291 A CN 201810590291A CN 108663973 B CN108663973 B CN 108663973B
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Abstract
The invention discloses a multichannel target position distance control device, and aims to provide a multichannel target approaching motion distance control device which is quick in response and capable of controlling target distance with high precision in a given distance. The invention is realized by the following technical scheme: the target motion units are arranged into a matrix through multi-channel independent single-chip microcomputer control circuits, each single-chip microcomputer control circuit is connected with an upper computer, and each single-chip microcomputer control circuit is provided with a different address code and is used as an upper computer to address a certain determined target motion control unit through an RS485 bus; the singlechip receives a position distance control instruction of the upper computer, controls the stepping motor to control linear extension or contraction movement through the controller and the driving chip, and the upper channel addressing target movement unit gates the target movement unit along an axial sensing surface of the proximity sensor, so that distance control of setting of multiple target given positions is realized.
Description
Technical Field
The invention relates to a motion control device mainly used for realizing different approaching distances between a proximity sensor and a target, in particular to a control device for setting the relative motion mode and the travel of the proximity sensor and the target, which are arranged on a landing gear.
Background
A proximity sensor is a device capable of detecting a distance between two objects and controlling or driving an actuator according to a preset distance value. Therefore, in many fields has wide application: (1) the position monitoring of cabin doors and landing gears is used in aviation and aerospace technology; (2) in daily life, such as automatic doors for hotels, restaurants, garages; (3) in terms of security and theft prevention, such as data files, financial accounting, finance, museums, vaults and the like, theft prevention devices composed of various proximity sensors are usually installed; (4) in measurement techniques, such as measurement of length, position; in control technology, such as measurement and control of displacement, velocity, acceleration, a large number of proximity sensors are also used. The inductance type proximity sensor has the outstanding advantages of strong anti-interference capability, high repeated positioning precision, high switching frequency, good reliability, long service life and the like, and is most widely applied to aviation fields in civil fields. The inductive proximity sensor is an important component of an aircraft landing gear system and a cabin door switch monitoring system, and as aircraft performance requirements are continuously increased, stricter requirements are put on the proximity sensor in terms of safety, reliability, economy, environmental adaptability and the like. At present, a cabin door and landing gear system of a domestic military civil aircraft mainly adopts a contact travel switch, and the contact travel switch has the problems of short service life, poor reliability and the like. The inductive displacement sensor is formed from iron core and coil, and is a sensor capable of converting the change of linear or angular displacement into change of inductance of coil, and the interior of the inductive proximity sensor is mainly a group of coils wound on the magnetizer, when the metal body as tested object (also called target) is close to the coil, according to electromagnetic induction principle an eddy current can be produced in the metal body, and a demagnetizing field IV can be produced, so that a portion of the eddy current can be counteracted. The change of the measured parameter can cause the change of the impedance Z of the coil and the change of the inductance and the Q value of the coil. Under the action of a low-frequency alternating current excitation signal source, the change of the distance between the target and the sensing end surface of the proximity sensor causes the change of the internal magnetic field of the sensor, and further causes the change of the output characterization parameter-inductance of the sensor, and the change of the inductance represents the change of the distance between the target and the proximity sensor. The measured parameter can be converted into three parameters of Q value, equivalent impedance z and equivalent inductance of the coil by the sensor, which parameter is utilized and finally converted into voltage or current output is determined by a measuring circuit, and for the change of the 3 parameters, 3 typical measuring circuits are provided: q value test circuit, bridge circuit and resonance circuit. Wherein the Q test circuit is more complex and less adopted. The bridge circuit is relatively simple and is mainly used for a differential sensor consisting of two inductive proximity sensors. Inductive proximity sensors mainly employ resonant circuits. The resonant circuit converts the equivalent inductance change of the sensor coil into voltage or current change, and the sensor coil and the capacitor form an LC parallel resonant circuit. The resonant circuits currently used are of 3 types, namely amplitude modulation circuits, frequency modulation circuits and frequency modulation and amplitude modulation circuits. Generally, the sensitivity is required to be high, the linear range is large, and a frequency modulation and amplitude modulation type circuit can be selected: the stability is good, and an amplitude modulation circuit can be selected; if telemetry and digital display are to be considered, frequency modulation circuitry is convenient. When in sealing, the sealing metal of the sensing surface of the induction head is equivalent to a target, and the change of the Q value, the equivalent impedance z and the equivalent inductance +.. According to the working requirement of the aircraft environment, the working temperature of the aircraft equipment is-55-75 ℃, and the key technology of the all-metal sealed inductive proximity sensor is to solve the problem that the inductive head adopts all-metal sealing and the T-temperature is-55-75 ℃ so as to work normally. Experiments show that after the induction heads of the civil inductive proximity sensor are respectively sealed by adopting metal materials such as structural steel, stainless steel, copper alloy, aluminum alloy and the like, the proximity sensor cannot work normally. Small changes in target resistivity, sense coil resistance and inductance, and detection circuit parameters, etc., all result in large detection distance changes. The product is easily affected by factors such as temperature, and the like, so that the performance is greatly changed. In the process that the detected metal target approaches to and is far from the proximity switch probe, the inductance of a coil arranged in the proximity switch changes, the inductance change of the coil is processed into a measurable electric signal by setting up an analog or digital circuit, and a switching signal approaching to and far from is correspondingly output according to the change. The inductance value output by the inductance type proximity sensor is processed by the position detection and retraction control unit to calculate the distance between the target and the sensing end surface of the proximity sensor, and the distance state to be controlled is judged according to the preset value. The target is a target block of the proximity sensor, and the size of the distance between the target and the proximity sensor and the superposition surface determine the inductance value of the proximity sensor. For proximity sensor use, the approach and distancing of the target from the final fixed proximity sensor position are mainly studied and used. There are a variety of ways in which the target may move relatively close to the proximity sensor, with the approach or separation of the target along the axis of the proximity sensor being an important class. In practical engineering applications, it is necessary to simulate the approach or separation of a multichannel number target from a proximity sensor. The operation distance of the proximity switch is a spatial distance from a reference position (sensing surface of the proximity switch) to the detection surface measured when the proximity switch is operated when the object to be detected is moved in a certain manner. The nominal actuation distance refers to a nominal value of the proximity switch actuation distance. The detection distance of the proximity switch should be determined by considering the installation position of the proximity switch, the size and the material of the detected object. The same proximity switch has different action distances when detecting objects of different materials. For example, in the case of a hall proximity switch, the operation distance is greatly affected by the magnetic field intensity of the object to be measured, and the hall switch is more easily operated as the magnetic field intensity of the object to be measured is greater. For capacitive proximity switches, the greater the dielectric constant the easier it is for an object to reach its nominal actuation distance. The distance at which the proximity switch is actually operated is usually set to 0.7 to 0.8 times the rated operating distance. However, at present, when the test distance (i.e., working gap) of a sensor used for a miniaturized circular inductive proximity switch for measuring the distance between a movable object and a target in China is 2.15mm, the inductance is only about 19mH, and the volume is about 13.2x13mm2. The response frequencies of different proximity switches are very different, and even the same proximity switch, the types of the working voltages used are different, and the response frequencies are different. If the response frequency of the proximity switch used is too small, the presence of an object may not be detected. Currently, landing gear position signals, air-to-ground status signals, and door closing signals of certain aircraft are all implemented by mechanical microswitches. The micro switch is a mechanical product which realizes switch state conversion by mechanical collision, has the defects of complex installation and debugging, short service life, easy damage, mutually independent signals, difficult realization of signal logic combination and the like, and is widely applied to foreign airplanes of the same type. Modern manufacturing technology and equipment 422017, stage 4 and general stage 245 disclose that the reliability of landing gear and cabin door signal systems can be improved, maintenance workload is reduced, the distance of a target is measured through a sensor, the distance is compared with a set distance, a corresponding signal is sent out, and a proximity sensor is used for replacing the original mechanical micro switch. However, if the internal capacitance of the sensor is large, the vibration canceling capacitor Cf is required to oscillate easily, and the sensor is not suitable for high frequency. Secondly, the contact type sensor is not influenced by ambient temperature, ambient objects and similar sensors, including induction type and electrostatic capacity type, and the sensors are mutually influenced. Therefore, mutual interference needs to be considered. In addition, in the induction type, the influence of surrounding metal needs to be considered, whereas in the capacitance type, the influence of surrounding objects needs to be considered. The invention aims at overcoming the defects of the prior art, and provides a multichannel target approaching motion distance control device which has the advantages of quick response, accurate distance control, high precision and high precision for controlling the target distance.
The invention is achieved by the following measures, a multipath target position distance control device, comprising: the linear stepper motor 1 is coaxially connected with the target movement unit 2, and is connected with a controller of the stepper motor 1 and a multichannel target distance position control circuit of the proximity sensor through a singlechip control line, and is characterized in that: the multi-channel independent target motion units 2 are arranged into a matrix through multi-channel independent single-chip microcomputer control circuits, each single-chip microcomputer control circuit is connected with an upper computer, and each single-chip microcomputer control circuit is provided with a different address code, and is used as an upper computer to address a certain determined target motion control unit through an RS485 bus; the singlechip receives a position distance control instruction of the upper computer, controls the stepping motor 1 to control linear extension or contraction movement through the controller and the driving chip, synchronously controls the movement direction and position of the target movement unit 2 to enable the target movement unit to move to the relative distance position of the sensing surface of the proximity sensor 3, and the upper computer directs all or designated channels to address the target movement unit 2 by adopting a broadcast or address gating mode, controls the gating target movement unit 2 to form a linear approaching or separating movement track along the axial sensing surface of the proximity sensor 3, and realizes the distance control of the setting of a multi-path target given position.
Compared with the prior art, the invention has the following beneficial effects.
The given implementation distance reacts quickly. The invention adopts a multi-channel independent target motion unit 2 to be arranged into a matrix through a multi-channel independent singlechip control circuit, each path of singlechip control circuit is connected with an upper computer, and each path of singlechip control circuit is provided with a different address code, and is used as an upper computer to address a certain path of determined target motion control unit through an RS485 bus; accurate and reliable positioning, quick response and easy realization of a given distance.
The position distance is accurately controlled and the precision is high. The invention adopts the singlechip to receive the position distance control instruction of the upper computer, controls the linear extension or contraction movement of the stepping motor, controls the position of the target movement unit 2 through the stepping motor and moves to the relative distance with the sensing surface of the proximity sensor, and controls the position distance of the target movement unit 2 through the singlechip with high precision by the stepping motor 1, and the position distance is accurate and precise. The upper computer directs all or designated channels to address the target motion units 2 in a broadcast or address gating mode, controls the gating target motion units 2 to form a linear approaching or separating motion track along the axial sensing surface of the proximity sensor, and has high distance control precision, flexible and effective control scheme and stable performance. The step length of the stepping motor 1 is 0.0508mm, and the single chip microcomputer achieves the control precision of 0.0254mm by adjusting the stepping motor controller to a half-step mode. The targets with the multi-channel number can realize simultaneous giving of the position distances of the multi-channel targets, realize simultaneous movement of the multi-channel, and realize the complete target distance and short time of the multi-channel system.
The circuit device is few, the circuit is simple to realize, and the cost is low. The invention adopts a target motion unit 2 coaxially connected with a stepping motor 1, a controller of the stepping motor 1 and a multichannel target distance position control circuit of a proximity sensor are connected through a control line of a singlechip, a control enabling driving chip and the stepping motor 1 are connected, one path of asynchronous and full-duplex serial port of the singlechip is electrically connected with an RS485 bus of an upper computer, and the upper computer addresses the target motion unit 2 through the RS485 bus. The positioning and the installation of the motor axis, the structure of the target motion unit 2 and the integral frame are clear in structure, few in parts and simple in structure.
The assembly and adjustment are simple and convenient. The invention adopts the linear motion of the target motion unit 2 along with the stepping motor, and forms a motion track along the axial approach or the separation of the proximity sensor, and the assembly and the adjustment are simple and convenient.
The anti-interference capability is strong. The invention carries out data transmission in a question-answer mode of the RS485 interface and has strong anti-interference capability.
Drawings
FIG. 1 is a schematic diagram of a multi-way target position distance control device of the present invention.
Fig. 2 is a schematic diagram of the positions of the target movement unit 2 and the proximity sensor of fig. 1.
Fig. 3 is a circuit diagram of a multi-channel target distance position control of the proximity sensor of fig. 1.
In the figure: 1 stepper motor, 2 target motion unit, 3 proximity sensor, 4 position control unit, 5 installation aluminum plate, 6 multichannel position give case.
The invention is further described below with reference to the drawings and examples, which are not therefore intended to limit the invention to the examples.
Detailed Description
See fig. 1-2. In the embodiments described below, a multi-path target position distance control device includes: the system comprises a stepping motor 1, a target motion unit 2, a controller of the stepping motor 1 and a multichannel target distance position control circuit of a proximity sensor, wherein the stepping motor 1 is coaxially connected with the target motion unit 2, the multichannel independent target motion unit 2 is arranged into a matrix through a multichannel independent singlechip control circuit, each singlechip control circuit is connected with an upper computer, and each singlechip control circuit is provided with a different address code and is used as the target motion control unit determined by addressing a certain path through an RS485 bus by the upper computer; the singlechip receives a position distance control instruction of the upper computer, controls the stepping motor 1 to control linear extension or contraction movement through the controller and the driving chip, synchronously controls the movement direction and the position of the target movement unit 2 to enable the target movement unit to move to the relative distance position of the sensing surface of the proximity sensor 3, and the upper computer directs all or designated channels to address the target movement unit 2 in a broadcast or address gating mode, controls the gating target movement unit 2 to form a linear approaching or separating movement track along the axial sensing surface of the proximity sensor 3, and realizes the distance control of the setting of a multi-path target given position.
The main shaft of the stepping motor 1 is connected with the target motion units 2, a single singlechip control circuit controls the single target motion units 2, and each target motion unit 2 is provided with an independent address code. Each path of stepping motor 1 drives a target movement unit 2. The multichannel independent singlechip control circuit is connected with multichannel independent target motion units 2, and the multichannel independent target motion units are arranged in a multichannel position given box 6 according to a linear array or a matrix for matrix type stepping motors 1, and a main shaft of each stepping motor 1 extends out of an upper panel of the box body to correspond to one target motion unit 2 and a position control unit 4 thereof. The distance between the target moving units 2 on the horizontal plane of the box body is 50mm. The upper panel of the multi-channel position given box 6 is fixedly connected with a metal plate 5 which is fixedly connected with four corner upright posts, and the proximity sensors 3 which are arranged in a linear array or matrix approach or depart from the position control unit 4 are fixedly connected with the upper panel of the metal plate 5 through the horizontal plane fixing holes of the metal plate 5. And the RS485_A of the RS485 buses of the multi-channel independent single chip microcomputer control circuits are connected together and are connected with the RS485_A of the upper computer, and the RS485_B of the RS485 buses of the multi-channel independent single chip microcomputer control circuits are connected together and are connected with the RS485_B of the upper computer and are arranged in the multi-channel position given box 6.
See fig. 3. The proximity sensor multichannel target distance position control circuit includes: the device comprises a dial switch S2, a grounding switch S1, a grounding resistor R1, a low-power-consumption transceiver D2 and a stepping motor controller N1, wherein the dial switch S2, the grounding resistor R1, the low-power-consumption transceiver D2 and the stepping motor controller N1 are connected with each other through a protective diode group, the stepping motor controller N1 is correspondingly connected with a driving chip N2 in series, the driving chip N2 is connected with a stepping motor N3 through a protective diode group, the dial switch S is connected with the resistor R2, and the low-power-consumption transceiver D2 is connected with an upper computer through an output end parallel resistor R3. The singlechip may be a singlechip D1 with model number C8051F310, and control lines P1.0, P1.1, P1.2, P1.3, P1.4 and P1.5 of the singlechip are respectively connected with CW/CWW, CLOCK, HALF/FULL, RESET, ENABLE, CONTROL signal pins of the stepper motor controller N1 with model number L297D; the VS, GND, A, B, C, D, INH, INH2, SENS1, SENS2 signal pins of the stepping motor controller N1 are respectively connected with VSS, GND, input, input2, input3, input4, enableA, enableB, senseA, senseB of a driving chip N2 with the model of L298P; the output ends Out1, out2, out3 and Out4 of the driving chip N2 are respectively connected with two groups of coils A+, A-, B+ and B-of the stepping motor N3 with the model number of 526442-05-020 ENG, the output ends Out1, out2, out3 and Out4 are respectively connected with a first group of diodes V1 and V5, a second group of diodes V2 and V6, a third group of diodes V3 and V7 and a fourth group of diodes V4 and V8, and the driving chip N2 is protected by four groups of diodes. The control line of the singlechip respectively transmits direction control, motor step pulse number, half-step mode, operation mode, enabling effectiveness and control signals to enable the stepper motor controller N1 to work, corresponding stepper motor working beat pulses are generated, the working beat pulses enable the stepper motor N3 to work through the driving chip N2, movement in a specified direction is completed, and the movement distance is related to the motor step pulse number sent by the singlechip.
One path of asynchronous and full duplex serial port UART0 of the singlechip outputs an RS485 signal, the RS485 signal is output through a low-power-consumption transceiver D2 with the model of MAX485ESA by a control line P0.4 and a control line P0.5 of the singlechip D1 and a signal direction control end P1.6, the low-power-consumption transceiver D2 is connected with an upper computer by an output end parallel resistor R3, and the RS485 signal is sent into the upper computer. The singlechip D1 receives a position distance control instruction of the upper computer through the low-power-consumption transceiver D2, and feeds back a position distance signal of the stepping motor to the upper computer in a question-answering mode through the low-power-consumption transceiver D2.
The P2 port of the singlechip D1 is respectively connected with 8-bit dial switches S2 from P2.0 to P2.7, each line from P2.0 to P2.7 is sequentially connected with one pin of a resistor R3, the resistor R3 is pulled up to a +3.3V power supply, the other ends of the 8-bit dial switches S2 are grounded, and the S2 is used for setting the unit address.
When the power is turned on, the singlechip control unit firstly resets the target motion unit 2, the target motion unit 2 contacts with the surface of the proximity sensor 3, a low-level space_0 reset signal is generated, and the position distance is 0mm. When the target movement unit 2 is at any position distance, the singlechip control unit can receive a target position distance signal transmitted by the upper computer through RS485, and the target position distance signal is converted into a corresponding movement direction and movement distance pulse number through calculation, and the pulse number transmits a corresponding number of pulses through P1.1 to finally enable the motor to move to reach the target position distance. If 1000 pulses are sent, the stepping motor 1 moves 100×0.0254=2.54 mm, the moving direction is already determined, and the new target position distance can be obtained by combining the starting position distance. The motion precision of the system reaches 0.0254mm, and the maximum stroke moves by 10mm from top to bottom from the target reset position.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. The scope of the invention should therefore be determined by the scope of the claims.
Claims (2)
1. A multi-path target position distance control device, comprising: the target motion unit (2) coaxially connected with the stepping motor (1) is connected with the controller of the stepping motor (1) and the multichannel target distance position control circuit of the proximity sensor through a singlechip control line, and is characterized in that: the multi-channel independent target motion units (2) are arranged into a matrix through multi-channel independent single-chip microcomputer control circuits, each single-chip microcomputer control circuit is connected with an upper computer, and each single-chip microcomputer control circuit is provided with a different address code and used as an upper computer to address a certain determined target motion control unit through an RS485 bus; the singlechip receives a position distance control instruction of the upper computer, controls the stepping motor (1) to control linear extension or contraction movement through the controller and the driving chip, synchronously controls the movement direction and the position of the target movement unit (2) to enable the target movement unit to move to the relative distance position of the sensing surface of the proximity sensor (3), and controls all or a designated channel addressing target movement unit (2) by adopting a broadcast or address gating mode to control the gating target movement unit (2) to form a linear approaching or separating movement track along the axial sensing surface of the proximity sensor (3) so as to realize the distance control of the setting of a multi-path target given position;
the main shaft of the stepping motor (1) is connected with the target movement units (2), a single singlechip control circuit controls the single target movement units (2), and each target movement unit (2) is provided with an independent address code;
each path of stepping motor (1) drives a target movement unit (2), the multichannel independent singlechip control circuit is connected with the multichannel independent target movement unit (2), the stepping motors (1) are arranged in a multichannel position given box (6) according to a linear array or a matrix, and a main shaft of each stepping motor (1) extends out of the upper panel of the box body to correspond to one target movement unit (2) and a position control unit (4) thereof.
2. The multi-way target position distance control device of claim 1, wherein: the upper panel of the multichannel position giving box (6) is fixedly connected with a metal plate (5) which is fixedly connected with four corner upright posts, and the proximity sensors (3) which are arranged in a linear array or matrix approach or keep away from the position control unit (4) are fixedly connected with the upper panel of the metal plate (5) through horizontal plane fixing holes of the metal plate (5).
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| CN109596155B (en) * | 2018-11-07 | 2021-02-09 | 中国航空工业集团公司西安飞机设计研究所 | Device for synchronously detecting multiple sensors |
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