CN109282902A - A kind of more visual field thermal imaging system servo-control systems and method - Google Patents
A kind of more visual field thermal imaging system servo-control systems and method Download PDFInfo
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- G—PHYSICS
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G01J5/0275—Control or determination of height or distance or angle information for sensors or receivers
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- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention relates to a kind of more visual field thermal imaging system servo-control systems and method, which includes power filtering module, power conversion module, asynchronous communication module, main control module, master control reseting module, motor drive module, high-precision sensor position signal modulation /demodulation module, signal conditioning module, reference voltage generation module, connector and limit switch input module.Motor driver and high precision position signal acquisition module of the master control that the present invention is met the requirements using performance as kernel control chip and ultra-small volume, the position servo for realizing No. four motors accurately control.
Description
Technical field
The present invention relates to a kind of servo-control system, especially a kind of more visual field thermal imaging system servo-control systems are further related to
Its control method.
Background technique
Thermal infrared imager is according to the difference of function, and there are many kinds；For the visual field quantity having, it is divided into monoscopic thermal imagery
Instrument, double-view field thermal imaging system, three visual field thermal imaging systems and continuous zoom thermal imaging system.Relative to monoscopic thermal imaging system and double-view field thermal imagery
Instrument, three visual field thermal imaging systems integrate large, medium and small three visual fields, and observation, tracking and aiming function may be implemented, have observation
The advantages that range is wide, and sighting distance is remote；It compares, design, processing and the adjustment of three visual field thermal imaging systems and watches with continuous zoom thermal imaging system
Clothes control is relatively easy to be realized, and has the advantages that good imaging quality, visual field conversion time is short.Therefore, in recent years, three visual field
Thermal infrared imager has obtained great development and application.
According to the difference of optical system, three visual field thermal infrared imager zoom modes can be divided into the axial zoom along optical axis direction
Formula optical system and throwing into for vertical optical axis direction get formula optical system.
It is general only to need a focusing motor and a change using axial three visual field thermal infrared imager of zoom formula optical system
Times motor can be achieved with the focusing and zooming function of system, and the controller of use only needs two-way servo channel to can be achieved with its function
Energy.Using throwing the three visual field thermal infrared imagers for getting formula optical system into, when optical path is in a visual field in three visual fields,
The optical module by other visual fields is needed to cut out, therefore, the quantity of servo motor will increase 1 to 2, and the controller of use needs
The multipath servo channel on 3 to 4 tunnels is just able to achieve its function, and the controller for only having two-way servo channel is no longer applicable in.
Three visual field thermal infrared imagers carry out seeing when taking aim at conversion in use, optical system need different visual fields it
Between switch, the optical axis of different visual fields will appear a degree of offset, which is described with concentricity, and concentricity numerical value is got over
Small, the accuracy of visual field switching is higher, and position offset of the observed object in visual field is smaller, and the sight of three visual field thermal infrared imagers is taken aim at
Performance is better.Using the thermal infrared imager of axial zoom formula optical system, when visual field switches, focusing and zooming component edge is parallel to
The guide rail of optical axis moves, and since optical axis direction is consistent with the direction of motion, concentricity can be obtained very well by the adjustment of structural member
Control.Using the three visual field thermal infrared imagers for getting formula optical system are thrown into, focusing component is along the guide rail for being parallel to optical axis
Movement, zoom component is moved along the direction perpendicular to optical axis, and since optical axis direction and the direction of motion are vertical, zoom component cuts light
The positioning accuracy of road position directly determines the concentricity of visual field conversion.Therefore, the high-precision in addition to selecting to meet structure envelope
Outside sensor, servo controller also needs the modulation /demodulation of duplex high precision and conversion module to be just able to satisfy high precision position data
The requirement of acquisition.Meanwhile zoom component needs the variation of limit switch level to determine the stopping for cutting out component when cutting out optical path
Position, therefore servo controller needs the limit switch interface of multichannel.
In recent years, using the thermal infrared imager of axial zoom formula optical system, due to mechanical-optical setup and servo controller and
Its algorithm is relatively easy, easy to accomplish, and therefore, most products all use the program at present.With infrared technique development and
Using demander market is higher and higher to the index request of thermal infrared imager, and the everyways such as volume, weight, sighting distance, image quality propose
Higher requirement.Under normal conditions, thermal infrared imager optical system can obtain farthest sighting distance in small field of view.Using
For the thermal infrared imager of axial zoom formula optical system when zoom is to small field of view, all optical mirror slips of optical system are all simultaneously
In optical path, the light penetration of entire optical system can be reduced, to influence to observe image quality and sighting distance.It is got using throwing into
The thermal infrared imager of formula optical system, when zoom is to small field of view, optical mirror slip minimum number in optical path, the light of optical system
Transmitance highest.In the case where identical structure envelope, visual field, weight, F number and focal length, formula optical system is got using throwing into
System can obtain optimal image quality and farthest observation sighting distance, but its servo-controlled complexity hinders its development, high coaxial
In three visual field thermal infrared imagers of index request, it yet there are no to use and throw the three visual field thermal infrared imagers for getting formula optical system into
Relevant report.
Servo controller is the control axis of thermal infrared imager focusing and zooming movement, in occupation of important in thermal infrared imager
Status, be also such in three visual field thermal infrared imagers.Three visual field thermal infrared imager servo controllers are in entire thermal imaging system
Connection schematic diagram it is as shown in Fig. 1, workflow is: host computer 1 wait thermal imaging system product 2 booting refrigeration arrive Wen Bingqi
After dynamic, visual field switching command is sent to thermal imaging system product 2 by RS422 operating and controlling interface 21, imaging plate 22 is connect by RS422
Mouth 23 forwards visual field switching command to servo controller 24, and servo controller 24 responds the instruction and simultaneously returns status information to imaging
Plate 22.When necessary, maintenance computer 3 carries out line debugging and maintenance to servo controller 24 by RS422 maintenance interface 25.
There are many types of current servo controller, but there are problems, such as: volume and weight is larger, is unfavorable for
It is integrated in thermal imaging system；Signals collecting function is single, can not achieve the modulation /demodulation of high precision position signal；Some servo channels
It is less, it can not achieve multichannel motor control etc., existing servo controller, which is all not integrated into thermal imaging system, to be used.From body
Product, weight, function etc. consider that the servo controller for throwing three visual field thermal infrared imager of the formula of getting into should have following functions
And feature:
(1) multichannel motor servo control: the optical module up to 4 that three visual field thermal infrared imager of the formula of getting needs to control is thrown into
Group, it is therefore desirable to which SERVO CONTROL is carried out to No. 4 motors.In order to meet the concentricity requirement of visual field conversion, wherein two-way position is watched
Clothes control precision ± 5um, all the way position servo control precision ± 10um.
(2) multichannel position signal acquisition: multichannel limit switch level acquires port, realizes switch level acquisition；4 road moulds
The analog-to-digital conversion of quasi- signal.
(3) it the modulation /demodulation of duplex high precision position signal: realizes two-way precision ± 5um position servo control, needs two
Road high-precision sensor position signal modulation /demodulation.
(4) low-cost processes device is minimized: the master using small size, inexpensive monolithic processor as servo controller
Handle chip.
(5) ultra-small volume motor driver: using the motor driver of ultra-small volume, reduce servo controller envelope and
Weight.
(6) with operating and controlling interface and servo maintenance interface: operating and controlling interface receives the visual field switching manipulation command and tune of imaging plate
Coke order, servo maintenance interface realize on-line debugging and the maintenance of servo controller.
However, there is no such servo controllers at present.
Summary of the invention
The purpose of the present invention is to provide a kind of more visual field thermal imaging system servo-control systems and method, servo control system tools
There are multiple SERVO CONTROL channels, duplex high precision position signal acquisition interface and multichannel limit switch acquisition port, is able to achieve more
The high precision position servo closed control of road motor.
The present invention is implemented with the following technical solutions:
A kind of more visual field thermal imaging system servo-control systems, including power filtering module, power conversion module, asynchronous communication module,
Main control module, master control reseting module, motor drive module, high-precision sensor position signal modulation /demodulation module, signal condition
Module, reference voltage generation module, connector and limit switch input module；
Wherein, connector connects external power supply, and power filtering module is filtered the three-way direct current power supply of input, reduces input
Power supply noise；
The filtered DC power supply high all the way of power filtering module is converted into low DC power supply by power conversion module, to asynchronous logical
Believe module, main control module, master control reseting module, motor drive module, signal conditioning module, reference voltage generation module, limit
Input module switch provides working power；
Reference voltage generation module generates reference level, and is divided into two-way, is passed all the way by connector to linear potentiometer position
Sensor is connect with main control module all the way, is powered for its analog portion；
High-precision sensor position signal modulation /demodulation module is connect by connector with external position sensor, signal condition mould
The input of block is connected with four road signals, and wherein two-way input signal passes through connector and linear potentiometer position sensor and temperature
Sensor connection is spent, in addition two-way input signal connects high-precision sensor position signal modulation /demodulation module, signal condition mould
The connection on Kuai tetra- roads and main control module；
Limit switch input module is connected by connector with external sensor；Main control module is connected with motor drive module, electricity
Machine drive module exports four road pulse width modulated waves and is connected by connector with external motor；
Master control reseting module is connected with main control module, realizes electrification reset and the operating voltage monitoring of main control module；Asynchronous communication
Module is connected with main control module, and asynchronous communication module includes two-way electrical level transferring chip, is led to by connector and host computer
Letter realizes visual field manipulation and servo maintenance.
Further, main control module includes transceiver communication module, command analysis module, signal acquisition module, SERVO CONTROL
Module and data read-write module；
Main control module is in a manner of round-robin scheduling, by fixed cycle period, the successively operation of other five modules of management and running；
Transceiver communication module polls receive the serial ports control instruction that host computer is sent, and complete the reception of Serial Port Information, verify, deposit
Storage, while the transmission of visual field, focal length and data information is returned into host computer after the completion of instructing response；
The control instruction of command analysis module parsing storage, saves related data and the corresponding flag bit of set；
Position sensor data and limit switch acquisition port data of the signal acquisition module acquisition after signal condition are simultaneously
It saves；
The related data and corresponding flag bit and signal that servo control module saves after being parsed according to command analysis module are adopted
Collect the data that module acquisition saves, judges whether to the servo control of corresponding motor；
Temperature and motor position information, servo parameter information needed for data read-write module completes storage and reads temperature-compensating.
Further, the instruction of command analysis module parsing includes host computer manipulation command or host computer servo maintenance life
It enables.
The invention further relates to more visual field thermal imaging system method of servo-controlling based on above-mentioned control system, by below into
Row:
Servo controller powers on, and master control reseting module provides reset signal to main control module, and main control module completes various on piece collection
At the initialization of peripheral hardware, and data read-write module is called to operate storing data, complete storage and read needed for temperature-compensating
Temperature and motor position information, servo parameter information, and data are stored in specified register；
Main control module is in a manner of round-robin scheduling, and by fixed cycle period, management and running transceiver communication module waits string to be received
Mouth order, main control module stores received instruction, and the instruction of start command parsing module parsing storage, the instruction of parsing include
Host computer manipulation command and host computer servo maintenance command；
When receiving host computer manipulation command, command analysis module saves related data and the corresponding flag bit of set；Master control
Module is according to corresponding flag bit, enabling signal acquisition module and servo control module；
High-precision sensor position signal modulation-demodulation circuit output of the signal acquisition module acquisition after signal conditioning circuit
The port signal of signal and limit switch input module and preservation；
Temperature and motor position information needed for main control module calls data module for reading and writing completes storage and reads temperature-compensating are watched
Take parameter information, the sensor for calculating visual field switching needs the positional value that reaches, then servo control module according to positional value,
The data that the related data saved after the parsing of command analysis module and corresponding flag bit, signal acquisition module acquisition save, control
Peripheral module output PWM, motor drive direction and mode signal processed；Motor-drive circuit receive Pulse width modulate wave PWM, motor drive direction and
Mode signal, according to direction and model selection, processing output two-way is completed by the motor drive signal of amplification opposite in phase
The servo control of corresponding motor；
When receiving host computer servo maintenance command, main control module calls motor position information, the data of servo parameter information
It reads, change, storage operation；After main control module, which controls, completes host computer manipulation command or host computer servo maintenance command, adjust
Status information is returned to host computer by asynchronous communication modular circuit with transceiver communication module, then command analysis module, letter
Number acquisition module, servo control module and data read-write module all exit calling, major cycle module in a manner of round-robin scheduling,
By fixed cycle period, management and running transceiver communication module waits the arrival of next host computer communication instruction.
Compared with prior art, beneficial effects of the present invention are as follows:
(1) motor driver of the master control that the present invention is met the requirements using performance as kernel control chip and ultra-small volume, with
And high precision position signal acquisition module, the position servo for realizing No. four motors accurately control.
(2) integrated level of the present invention is high, circuit structure is simple, small in size, light-weight, and thermal adaptability is strong, stability and anti-
Jamming performance is good, and has easy to use, convenient for safeguarding and the features such as be able to achieve on-line debugging, is that a kind of function and interface are rich
Rich, performance stabilization, multichannel servo controller with strong points.
(3) invention software Programming is convenient, and resource utilization is high, adaptable, is reducing costs, is reducing volume
While, meet the requirement for throwing three visual field thermal infrared imager of the formula of getting into.
(4) present invention also has the characteristics that integrated level and cost performance are high, structure envelope is small, light weight and cost is low.Meanwhile
For the present invention with operating and controlling interface and servo maintenance interface, operating and controlling interface and host computer communications and liaison are convenient, and isolation is high；Servo maintenance interface
Realize on-line debugging and the maintenance of servo controller, it is easy to use.
Detailed description of the invention
Fig. 1 is connection schematic diagram of the servo controller in three visual field thermal infrared imagers；
Fig. 2 is the structural schematic diagram of circuit function module of the invention；
Fig. 3 is the structural schematic diagram of main control module of the invention；
Fig. 4 is main control chip circuit diagram of the invention；
Fig. 5 is motor drive module circuit diagram of the invention；
In figure: 1. host computers；2. thermal imaging system product；21.RS422 operating and controlling interface；22. imaging plate；23. RS422 interface；
24. servo controller；2400. electric source filter circuit；2401. power conversion module circuit；2402. asynchronous communication modular circuit；
2403. main control module circuit；2404. master control reset circuit；2405. motor-drive circuit；2406. high-precision sensor position
Modulating and demodulating signal circuit；2407. signal conditioning circuit；2408. generating circuit from reference voltage；2409. connector；2410. limit
Bit switch input module；24031. transceiver communication module；24032. command analysis module；24033. signal acquisition module；
24034. servo control module；24035. data read-write module；25. RS422 maintenance interface；3. safeguarding computer.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail.
It will be understood to those of skill in the art that the following example is merely to illustrate the present invention, and it should not be regarded as limiting this hair
Bright range.In the examples where no specific technique or condition is specified, described technology or conditions according to the literature in the art
Or it is carried out according to product description.Production firm person is not specified in product used, is that can obtain conventional products by purchase.
Those skilled in the art can understand that correlation module mentioned in the present invention is for executing the application
Described in operation, method, the step in process, measure, one or more hardware devices in scheme.The hardware device can
Think required purpose and specially design and manufacture, or can also using in general purpose computer known device or it is known its
His hardware device.The general purpose computer is activated or is reconstructed with having the procedure selection being stored in it.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
Embodiment 1
The three visual field thermal imaging system multichannel servo-control systems of the present embodiment, the circuit of functional module is as shown in Fig. 2, power filter
Module, power conversion module, asynchronous communication module, main control module, master control reseting module, motor drive module, high-precision sensing
Device position signal modulation /demodulation module, signal conditioning module, reference voltage generation module, connector and limit switch input mould
Block.
Power filtering module can be electric source filter circuit 2400, and power conversion module can be power conversion module circuit
2401, asynchronous communication module can be asynchronous communication modular circuit 2402, and master control reseting module can be master control reset circuit
2404, motor drive module can be motor-drive circuit 2405, and high-precision sensor position signal modulation /demodulation module can be with
It is high-precision sensor position signal modulation-demodulation circuit 2406, reference voltage generation module can be generating circuit from reference voltage
2408。
As shown in Fig. 2, outside 12V, tri- road direct current of ± 15V are accessed by connector 2409 from outside, power supply power filter electricity
Diode has been concatenated on the 12V on road 2400, tri- road input DC power line of ± 15V, has prevented reverse power connection, has then been filtered by LC
Circuit filtering reduces external power supply noise jamming.Power conversion module circuit 2401 uses the LMZ14203 power supply core of TI company
The filtered direct current 12V of electric source filter circuit 2400 is converted into direct current 5V by piece, and direct current 5V is electric with asynchronous communication module respectively
Road 2402, governor circuit 2403, master control reset circuit 2404, motor-drive circuit 2405, signal conditioning circuit 2407, with reference to electricity
It presses generation circuit 2408, limit switch input module 2410 to connect, provides working power to them.
Main control module circuit 2403 can use the 16 position digital signal controller of high-performance of Microchip company
DsPIC30F6014A as main control chip, highest operating rate up to 30 MIPS, have on piece FLASH flash memory, SRAM,
EEPROM memory space, Embedded analog-digital converter is, it can be achieved that the input of 16 Channel 12-Bit ADC converts, Embedded 2
Road UART serial communication interface, communication is with 16 channel comparator modules and motor control peripheral module, it can be achieved that the PWM of motor
Programming Control, has multiple general purpose Is/O pin, and peripheral configuration abundant is able to satisfy that thermal infrared imager multichannel is servo-controlled to be wanted
It asks.Generating circuit from reference voltage 2408 uses TI company REF192, generates 4.096V reference level, and be divided into two-way, a-road-through
It crosses connector 2409 to power to linear potentiometer position sensor, be connect all the way with main control module circuit 2403, be its AD conversion
Reference voltage is provided.
High-precision sensor position signal modulation-demodulation circuit 2406 using AD company AD698 as modem chip,
Modulated signal is provided to LVDT sensor outside two-way by connector 2409, external LVDT sensor is returned by connector 2409
Demodulated signal is returned, the direct current signal of AD698 output and the proportional relationship of LVDT sensor movement position, the direct current signal is through toning
Reason circuit 2407 is connected to 2403 analog-to-digital conversion port of governor circuit after being improved, by analog-to-digital conversion, two-way outside LVDT
The incision movement position of the corresponding big visual field optical module of sensor is quantized into the value in 0 ~ 4095 range, corresponding position point
Resolution is 1um.Motor-drive circuit 2405 drives No. four motors using the full bridge motor driver DRV8800 of four TI companies
Movement, the PWM control port of DRV8800 are connected with the motor control peripheral module of governor circuit 2403, governor circuit 2403
Motor control peripheral module output pwm signal passes through connector 2409, driving electricity after the amplification of motor-drive circuit 2405
Machine movement.
The direct current 5V that power logic circuitry in motor-drive circuit 2405 is exported by power conversion module circuit 2401 is mentioned
For the power supply of the power amplifier in motor-drive circuit 2405 is provided by the filtered direct current 12V of electric source filter circuit 2400.
Signal conditioning circuit 2407 constitutes No. 4 active filters by AD company operational amplifier AD822, and wherein two-way input is separately connected
The DC signal output of high-precision sensor position signal modulation-demodulation circuit 2406, third road connect outer linear potentiometer position
It sets sensor and passes through the external optical focusing component position signal that connector 2409 is sent, the 4th tunnel connects external temperature sensor
By the temperature signal that connector 2409 is sent, the output of signal conditioning circuit 2407 is connected to the mould of main control module circuit 2403
Number conversion port obtains the quantized value of four sensors by AD conversion.Limit switch input module 2410 passes through connector
2409, external HALL sensor, including middle visual field optical module are cut, cut out two HALL sensors, and big 2 groups of visual field
The incision of optical module cuts out four HALL sensors, and 6 HALL sensing switch are signally attached to governor circuit 2403 in total
General purpose I/O pin.Master control reset circuit 2404 uses MAXIM company MAX809, the reset pin and governor circuit of the chip
The connection of 2403 reseting ports is realized and is monitored to the electrification reset and operating voltage of main control module circuit 2403.Asynchronous communication module
Circuit 2402 is connected with 2403 two-way UART communication port of governor circuit respectively using the MAX488 chip of 2 MAXIM companies
It connects, constitutes two-way RS422 communication link, by connector 2409, RS422 communication interface and external host computer operating and controlling interface all the way
Connection, connects with external servo maintenance interface all the way.Connector 2409 uses MOLEX company micro connector.Fig. 4 is the present invention
Main control chip circuit diagram, Fig. 5 is motor drive module circuit diagram of the invention.
Master control embedded software is solidificated in the main control chip in main control module circuit 2403 shown in Fig. 2 as main control module
On, as shown in figure 3, main control module includes transceiver communication module 24031, command analysis module 24032, signal acquisition module
24033, servo control module 24034 and data read-write module 24035.
Main control module is in a manner of round-robin scheduling, by fixed cycle period, successively other five modules of management and running
Operation.The serial ports control instruction that 24031 inquire-receive host computer of transceiver communication module is sent, completes reception, the school of Serial Port Information
It tests, store, while the transmission of the status informations such as visual field, focal length and data is returned into host computer after the completion of instructing response；Order
The control instruction of the parsing storage of parsing module 24032, saves related data and the corresponding flag bit of set；Signal acquisition module
Position sensor data and limit switch level of 24033 acquisitions after signal condition acquire port data and save；It watches
It takes the related data saved after control module 24034 is parsed according to signal acquisition module 24033 and corresponding flag bit, signal is adopted
Collect the data that the acquisition of module 24033 saves, judges whether to the servo control of corresponding motor；Data read-write module
24035 realize the data storage operations to the EEPROM inside main control chip, temperature needed for completing storage and reading temperature-compensating
Degree and motor position information, servo parameter information.
The course of work of the present embodiment is as follows:
Three visual field thermal infrared imager multichannel servo controllers power on, and master control reset circuit 2404 provides reset signal and gives master control electricity
Road 2403, the main control chip electrification reset of main control module circuit 2403 complete various on pieces and integrate the initialization of peripheral hardware, and call
Data read-write module 24035 realizes the data storage operations to the EEPROM inside main control chip, completes storage and reads temperature
Temperature and motor position information, servo parameter information needed for compensation, and data are stored in specified register；
Main control module is in a manner of round-robin scheduling later, by fixed cycle period, management and running transceiver communication module 24031,
Etc. serial port command to be received, main control module stores received instruction, and the finger of the parsing storage of start command parsing module 24032
It enables, there are two types of the instructions of parsing, host computer manipulation command or host computer servo maintenance command.
When receiving host computer manipulation command, related data and the corresponding flag bit of set are saved；Main control module according to
Corresponding flag bit, enabling signal acquisition module 24033 and servo control module 24034.
Signal acquisition module 24033 acquires the high-precision sensor position signal modulation /demodulation after signal conditioning circuit 2407
Port signal and the preservation of 2406 output signal of circuit and limit switch input module 2410；Main control module calls data read-write
Module 24035 realizes the data storage operations to the EEPROM inside main control chip, completes storage and reads needed for temperature-compensating
Temperature and motor position information, servo parameter information, the sensor for calculating visual field switching needs the positional value that reaches, then
Main control module dispatches servo control module 24034, and servo control module 24034 is solved according to positional value, command analysis module 24032
The data that the related data saved after analysis and corresponding flag bit, the acquisition of signal acquisition module 24033 save, control main control module
Motor control peripheral module output PWM, motor drive direction and the mode signal of the main control chip of circuit 2403；Motor-drive circuit
2405 receive Pulse width modulate wave PWM, motor drive direction and mode signal, and according to direction and model selection, processing output two-way passes through
The motor drive signal for amplifying opposite in phase, completes the servo control of corresponding motor.
When receiving host computer servo maintenance command, main control module calls data module for reading and writing 24035 is realized to master control
The motor position information of the EEPROM of chip interior, the reading data of servo parameter information, change, storage operation.
After main control module, which controls, completes host computer manipulation command or host computer servo maintenance command, transceiver communication mould is called
Block 24031 returns to status information to host computer by asynchronous communication modular circuit 2402, then command analysis module 24032,
Signal acquisition module 24033, servo control module 24034 and data read-write module 24035 all exit calling, main control module with
The mode of round-robin scheduling, by fixed cycle period, management and running transceiver communication module 24031 waits next host computer logical
Believe the arrival of instruction.
In the present embodiment, asynchronous communication module receives the control command of host computer, is connect by conversion by master control UART interface
It receives, main control module analysis order, while controlling the analog sensor signals such as acquisition position feedback element and thermometric diode.So
Afterwards, visual field or focus information of the main control module according to the host computer visual field switching command received, and two pole of thermometric of acquisition
The temperature information of pipe and the location information of optical module, in conjunction with the theoretical position information of optical module, to calculate respective optical
The motor movement target position of component.Then, main control module calls servo control algorithm calculates, and finally controls output pwm signal
To motor drive module, which simultaneously controls the motor completion optical system focusing of carrying optical module and becomes
Times.
Hardware circuit realizes reset signal generation, the filtering of power supply and voltage conversion, high-precision sensor position signal tune
Make demodulation, the power supply of external sensor signal, signal transduction and conditioning, serial communication level conversion, motor drive signal are modulated,
The conduction of multichannel limit switch；
Master control embedded software controls adopting for reception and the parsing, external sensor signal for realizing host computer signal as main control module
Collection, the state acquisition of multichannel limit switch, the calculating of motor servo motion control PWM waveform, the EEPROM inside main control chip
Reading and writing data, servo condition feedback, servo parameter on-line debugging and maintenance, realize and throw three visual field infrared thermal imagery of the formula of getting into
The multiple channel SERVO CONTROLs of instrument.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of more visual field thermal imaging system servo-control systems, it is characterised in that: including power filtering module, power conversion module,
Asynchronous communication module, main control module, master control reseting module, motor drive module, high-precision sensor position signal modulation /demodulation
Module, signal conditioning module, reference voltage generation module, connector and limit switch input module；
Wherein, connector connects external power supply, and power filtering module is filtered the three-way direct current power supply of input, reduces input
Power supply noise；
The filtered DC power supply high all the way of power filtering module is converted into low DC power supply by power conversion module, to asynchronous logical
Believe module, main control module, master control reseting module, motor drive module, signal conditioning module, reference voltage generation module, limit
Input module switch provides working power；
Reference voltage generation module generates reference level, and is divided into two-way, is passed all the way by connector to linear potentiometer position
Sensor is connect with main control module all the way, is powered for its analog portion；
High-precision sensor position signal modulation /demodulation module is connect by connector with external position sensor, signal condition mould
The input of block is connected with four road signals, and wherein two-way input signal passes through connector and linear potentiometer position sensor and temperature
Sensor connection is spent, in addition two-way input signal connects high-precision sensor position signal modulation /demodulation module, signal condition mould
The connection on Kuai tetra- roads and main control module；
Limit switch input module is connected by connector with external sensor；Main control module is connected with motor drive module, electricity
Machine drive module exports four road pulse width modulated waves and is connected by connector with external motor；
Master control reseting module is connected with main control module, realizes electrification reset and the operating voltage monitoring of main control module；Asynchronous communication
Module is connected with main control module, and asynchronous communication module includes two-way electrical level transferring chip, is led to by connector and host computer
Letter realizes visual field manipulation and servo maintenance.
2. more visual field thermal imaging system servo-control systems according to claim 1, it is characterised in that: main control module includes communication
Transceiver module, command analysis module, signal acquisition module, servo control module and data read-write module；
Main control module is in a manner of round-robin scheduling, by fixed cycle period, the successively operation of other five modules of management and running；
Transceiver communication module polls receive the serial ports control instruction that host computer is sent, and complete the reception of Serial Port Information, verify, deposit
Storage, while the transmission of visual field, focal length and data information is returned into host computer after the completion of instructing response；
The control instruction of command analysis module parsing storage, saves related data and the corresponding flag bit of set；
Position sensor data and limit switch acquisition port data of the signal acquisition module acquisition after signal condition are simultaneously
It saves；
The related data and corresponding flag bit and signal that servo control module saves after being parsed according to command analysis module are adopted
Collect the data that module acquisition saves, judges whether to the servo control of corresponding motor；
Temperature and motor position information, servo parameter information needed for data read-write module completes storage and reads temperature-compensating.
3. more visual field thermal imaging system servo-control systems according to claim 2, it is characterised in that: the parsing of command analysis module
Instruction include host computer manipulation command or host computer servo maintenance command.
4. more visual field thermal imaging system method of servo-controlling of the control system based on one of claim 1-3, it is characterised in that: by with
Lower progress:
Servo controller powers on, and master control reseting module provides reset signal to main control module, and main control module completes various on piece collection
At the initialization of peripheral hardware, and data read-write module is called to operate storing data, complete storage and read needed for temperature-compensating
Temperature and motor position information, servo parameter information, and data are stored in specified register；
Main control module is in a manner of round-robin scheduling, and by fixed cycle period, management and running transceiver communication module waits string to be received
Mouth order, main control module stores received instruction, and the instruction of start command parsing module parsing storage, the instruction of parsing include
Host computer manipulation command and host computer servo maintenance command；
When receiving host computer manipulation command, command analysis module saves related data and the corresponding flag bit of set；Master control
Module is according to corresponding flag bit, enabling signal acquisition module and servo control module；
High-precision sensor position signal modulation-demodulation circuit output of the signal acquisition module acquisition after signal conditioning circuit
The port signal of signal and limit switch input module and preservation；
Temperature and motor position information needed for main control module calls data module for reading and writing completes storage and reads temperature-compensating are watched
Take parameter information, the sensor for calculating visual field switching needs the positional value that reaches, then servo control module according to positional value,
The data that the related data saved after the parsing of command analysis module and corresponding flag bit, signal acquisition module acquisition save, control
Peripheral module output PWM, motor drive direction and mode signal processed；Motor-drive circuit receive Pulse width modulate wave PWM, motor drive direction and
Mode signal, according to direction and model selection, processing output two-way is completed by the motor drive signal of amplification opposite in phase
The servo control of corresponding motor；
When receiving host computer servo maintenance command, main control module calls motor position information, the data of servo parameter information
It reads, change, storage operation；After main control module, which controls, completes host computer manipulation command or host computer servo maintenance command, adjust
Status information is returned to host computer by asynchronous communication modular circuit with transceiver communication module, then command analysis module, letter
Number acquisition module, servo control module and data read-write module all exit calling, major cycle module in a manner of round-robin scheduling,
By fixed cycle period, management and running transceiver communication module waits the arrival of next host computer communication instruction.
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