CN110048647A - A kind of automatically lock control system and method based on stepper motor - Google Patents
A kind of automatically lock control system and method based on stepper motor Download PDFInfo
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- CN110048647A CN110048647A CN201910229362.0A CN201910229362A CN110048647A CN 110048647 A CN110048647 A CN 110048647A CN 201910229362 A CN201910229362 A CN 201910229362A CN 110048647 A CN110048647 A CN 110048647A
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- stepper motor
- voltage
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- value
- locking
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/24—Arrangements for stopping
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
- Lock And Its Accessories (AREA)
Abstract
The invention discloses a kind of automatically lock control system and method based on stepper motor, which includes control panel and retaining mechanism；The retaining mechanism includes position sensor, stepper motor and the locked component being connected with the stepper motor；The position sensor is used to the location information of the locked component being converted to information of voltage；The control panel is used to receive the locking instruction that external host computer is sent, and is instructed according to the locking and generates the first driving signal；First driving signal is used to drive stepper motor to rotate to drive locked component to run to the direction close to external swing mechanism, until reaching preset locking state threshold value from the real-time voltage value that position sensor acquires；The location information of locking mechanism is converted to information of voltage by position sensor by the present invention, is judged whether retaining mechanism locks the control precision that can be improved in place to locking device by the real-time voltage value of acquisition position inductor, is enhanced the reliability of system.
Description
Technical field
The invention belongs to automatically control with electric drive technology field, more particularly, to a kind of based on stepper motor
Automatically lock control system and method.
Background technique
In the swing mechanisms such as some test automatic turntable, levelling mechanism and automatic rotation measuring instrument used in everyday, because
Test request needs to lock the shaft of instrument, and general multi-pass is manually fixed using the mode of bolt excessively.But sometimes
In order to meet the automation requirement in test and measurement process, need to carry out automatically lock to the rotating shaft in swing mechanism.
Currently used automatically lock mode has axle hung type, bolt-type and electromagnetic clutch etc.；Wherein, bolt-type uses motor
The advantages of substitution is artificial to push bolt into the lockhole of rotating part, this mode is reliable lock, but since motor is being locked
Opened loop control is mostly used in the process, and control precision is low, demand that is reliable low and not being able to satisfy multi-angle locking.Axle hung type is mainly
Shaft is held tightly using the structural principle of brake block, the opening or locking of brake block are controlled by servo motor pulling force；This
The advantages of kind mechanism is that structure is simple, is occupied little space, but since motor uses opened loop control, cannot effectively measure brake lock
Clamp force square keeps mechanism reliable lock poor, and locking precision is very low.Electromagnetic clutch locking is that one is installed between shaft and pedestal
Electromagnetic clutch achievees the purpose that locking or unlock by the power on/off of entire electromagnetic clutch locking mechanism, this mechanism
Advantage is that at low cost, structure is simple, occupies little space, the disadvantage is that the electromagnetic field generated when entire mechanism work is larger, to equipment
There is biggish electromagnetic interference, locking precision is very low.
Summary of the invention
For at least one defect or Improvement requirement of the prior art, the present invention provides a kind of based on stepper motor from
Dynamic locking control system and method, its object is to solve, locking precision existing for existing automatically lock mode is low, reliability
Low problem.
To achieve the above object, according to one aspect of the present invention, a kind of automatically lock based on stepper motor is provided
Control system, including control panel and retaining mechanism；
The retaining mechanism includes position sensor, stepper motor and the locked component being connected with the stepper motor；
The position sensor is used to the location information of the locked component being converted to information of voltage；
The control panel is used to receive the locking instruction that external host computer is sent, and generates first according to locking instruction and drives
Dynamic signal；First driving signal is used to that stepper motor to be driven to rotate to drive locked component to close to external swing mechanism
Direction operation, until reaching preset locking state threshold value from the real-time voltage value that position sensor acquires；
Or；The unlock instruction that external host computer is sent is received, the second driving signal is generated according to the unlock instruction；It is described
Second driving signal is used to drive stepper motor to rotate to drive locked component to run to the direction far from external swing mechanism, directly
Reach preset unlocked state threshold value to the real-time voltage value acquired from position sensor.
Preferably, above-mentioned automatically lock control system, control panel are also used to that machine will be locked after the completion of locking or unlock
The current state of structure feeds back to external host computer.
Preferably, above-mentioned automatically lock control system, control panel include DSP digital processing unit, CPLD signal processor,
Voltage collection circuit and motor-drive circuit；The DSP digital processing unit, voltage collection circuit and motor-drive circuit with
CPLD signal processor is connected；
The voltage collection circuit is used for the voltage value of acquisition position inductor output；
The DSP digital processing unit obtains real-time voltage value by CPLD signal processor, and is sent out according to external host computer
The locking sent or unlock instruction generate control instruction；
The CPLD signal processor generates driving signal according to the control instruction, and the motor-drive circuit is described
The rotation of driving stepper motor is under the control of driving signal to drive locked component mobile.
Preferably, above-mentioned automatically lock control system, position sensor include potentiometer and are connected with the potentiometer
Potentiometer sensing chip；The locked component includes sequentially connected push rod, ram seat and lock tongue；
The potentiometer sensing chip is mounted on lock tongue, and the push rod passes through stepper motor and is fixedly connected with ram seat；Institute
It states and is equipped with elastic component between ram seat and lock tongue, one end of ram seat and push rod are connected, and the other end is embedded in the groove of lock tongue end
Interior, the flank of the ram seat is fixed on lock tongue end by fastener and the ram seat can be slided between fastener and lock tongue；
The other end of lock tongue can be embedded in the revolution shaft gear of external swing mechanism.
Preferably, above-mentioned automatically lock control system, retaining mechanism further include mounting base；Lock tongue, potentiometer and stepping
Motor is each attached in the mounting base.
Preferably, above-mentioned automatically lock control system, control panel further includes serial bus driving circuit, for realizing control
Serial communication between making sheet and external host computer；
The serial bus driving circuit includes digital isolator and serial ports transceiver；
One end of the digital isolator is connected with DSP digital processing unit, the first end phase of the other end and serial ports transceiver
Even；The second end of the serial ports transceiver has the serial ports being connected with external host computer.
Preferably, above-mentioned automatically lock control system, voltage collection circuit include analogue amplifier and ADC collector；
The first end of the analogue amplifier has the port connecting with position sensor, the first end phase of second end and ADC collector
Even；The second end of the ADC collector is connected with CPLD signal processor；The analogue amplifier is used for position sensor is defeated
Analog voltage out amplifies；The ADC collector is for acquiring through the amplified voltage value of analogue amplifier.
Preferably, above-mentioned automatically lock control system, motor-drive circuit include that digital isolator and stepper motor drive
Dynamic device；The first end of the digital isolator is connected with CPLD signal processor, and the first of second end and stepper motor driver
End is connected；The second end of the stepper motor driver is connected with stepper motor, and stepper motor driver passes through digital isolator
The driving signal of CPLD signal processor output is received, and stepper motor rotation is controlled according to the driving signal.
Other side according to the invention additionally provides a kind of automatically lock based on above-mentioned automatically lock control system
Control method, comprising the following steps:
S11: receiving externally input lock instruction, according to lock instruction acquisition position according to the preset time interval
The voltage value of inductor；
S12: judge whether retaining mechanism has been in the lock state according to the voltage value；If so, entering step
S14；If it is not, then issuing driving signal, driving retaining mechanism is run to the direction close to external swing mechanism；
S13: whether the voltage value that judgement currently acquires reaches locking state threshold value；If so, entering step S14；If it is not,
Then return step S11；
S14: the current state of retaining mechanism is fed back into host computer.
Preferably, above-mentioned automatically lock control method includes following sub-step in step S13:
S130: calculate the difference of the voltage value that currently acquires and a preceding collection voltages value and by the absolute value of the difference with
Preset voltage threshold is compared；
When the difference is less than voltage threshold, judge whether the voltage value currently acquired reaches locking state threshold value；If
It is then to enter step S14；If it is not, then entering step S131；
When the difference is more than or equal to voltage threshold, return step S11；
S131: whether the execution time for judging the lock command is more than preset time threshold；If so, generating malfunction
Information enters step S14；If it is not, then return step S11.
Preferably, above-mentioned automatically lock control method, further comprising the steps of:
S21: receiving externally input unlock instruction, according to unlock instruction acquisition position according to the preset time interval
The voltage value of inductor；
S22: judge whether retaining mechanism is in the unlocked state according to the voltage value；If so, entering step
S24；If it is not, then issuing driving signal, driving retaining mechanism is run to the direction far from external swing mechanism；
S23: whether the voltage value that judgement currently acquires reaches unlocked state threshold value；If so, entering step S24；If it is not,
Then return step S21；
S24: the current state of retaining mechanism is fed back into host computer.
Preferably, above-mentioned automatically lock control method includes following sub-step in step S23:
S230: calculate the difference of the voltage value that currently acquires and a preceding collection voltages value and by the absolute value of the difference with
Preset voltage threshold is compared；
When the difference is less than voltage threshold, judge whether the voltage value currently acquired reaches unlocked state threshold value；If
It is then to enter step S24；If it is not, then entering step S231；
When the difference is more than or equal to voltage threshold, return step S21；
S231: whether the execution time for judging unlocking command is more than preset time threshold；If so, generating malfunction letter
Breath, enters step S24；If it is not, then return step S21.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) the automatically lock control system and method provided by the invention based on stepper motor will be locked by potentiometer
The location information of mechanism is converted to information of voltage；Control panel generates corresponding drive according to the instruction that locks or unlocks that host computer is sent
Dynamic signal is to drive locking mechanism mobile；Meanwhile control panel obtains retaining mechanism also according to the potentiometer voltage value acquired in real time
Current location information, judge whether retaining mechanism moves in place, thus realize to swing mechanism it is real-time, reliable, high-precision
Locking unlock closed-loop control；Retaining mechanism state is judged by acquiring potentiometer real-time voltage value, can be improved locking device
Precision, enhance the reliability of system；
(2) the automatically lock control system and method provided by the invention based on stepper motor, retaining mechanism is using axial
Locking mode, construction profile is compact, occupies little space, assembly or disassembly convenience；
(3) the automatically lock control system and method provided by the invention based on stepper motor, control panel use DSP+
Motor driven commutation function is realized by CPLD, reduces the operand of DSP digital processing unit by the control framework of CPLD, can
Improve the real-time and control precision of control algolithm；Control panel uses modularization, General design, between each functional module mutually
Independent, integrated level is high；
(4) the automatically lock control system and method provided by the invention based on stepper motor, by digital control circuit and
Motor-drive circuit is isolated by digital isolator, can be improved the anti-interference ability of whole system.
Detailed description of the invention
Fig. 1 is the logic diagram of the automatically lock control system provided in an embodiment of the present invention based on stepper motor；
Fig. 2 is the side view of retaining mechanism provided in an embodiment of the present invention；
Fig. 3 is the top view of retaining mechanism provided in an embodiment of the present invention；
Wherein, 1- potentiometer；2- potentiometer sensing chip；3- push rod；4- ram seat；5- lock tongue；6- stepper motor；7- butterfly
Spring；8- stepped screw；9- turns round shaft gear；10- mounting base；
Fig. 4 is the control method flow chart of locking process provided in an embodiment of the present invention；
Fig. 5 is the control method flow chart of unlocking process provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is the logic diagram of the automatically lock control system provided in an embodiment of the present invention based on stepper motor；Fig. 2 is
The side view of retaining mechanism provided in an embodiment of the present invention；Fig. 3 is the top view of retaining mechanism provided in an embodiment of the present invention；Such as
Shown in Fig. 1~3, which includes control panel and retaining mechanism；
Retaining mechanism includes stepper motor, the locked component being connected with stepper motor and the position being connected with locked component
Inductor；The position sensor is used to the real-time position information of locked component being converted to information of voltage；
When needing to lock external swing mechanism, control panel receives the locking instruction that external host computer is sent, root
It is instructed according to locking and generates the first driving signal；First driving signal for drive stepper motor to rotate with drive locked component to
It is run close to the direction of external swing mechanism, until reaching preset locking state from the real-time voltage value that position sensor acquires
Threshold value shows that lock operation is completed, and locked component has been caught in the revolution shaft gear of external swing mechanism, external swing mechanism is locked
Tightly；
When needing to be unlocked external swing mechanism, control panel receives the unlock instruction that external host computer is sent, root
The second driving signal is generated according to unlock instruction；Second driving signal for drive stepper motor to rotate with drive locked component to
Direction far from external swing mechanism is run, until reaching preset unlocked state from the real-time voltage value that position sensor acquires
Threshold value shows that unlock operation is completed.
As shown in Figure 1, control panel includes TMS320F28335 DSP digital processing unit, EPM1270T144I5 CPLD signal
Processor, AD7732 voltage collection circuit and DRV8829 motor driver；
Wherein, AD7732 voltage collection circuit is electrically connected with position sensor, for acquiring position sensor output
Voltage value；
AD7732 voltage collection circuit includes analogue amplifier and ADC collector AD7322；The first end of analogue amplifier
With the port connecting with position sensor, second end is connected with the first end of ADC collector AD7322；ADC collector
The second end of AD7322 is connected with EPM1270T144I5 CPLD signal processor；Analogue amplifier is used for position sensor is defeated
Analog voltage out amplifies, and is then sent to ADC collector AD7322；ADC collector AD7322 is acquired through Simulation scale-up
The amplified voltage value of device；
TMS320F28335 DSP digital processing unit passes through spi bus and EPM1270T144I5 CPLD signal processor phase
Even, the voltage value of ADC collector AD7322 acquisition is obtained by EPM1270T144I5 CPLD signal processor, and according to outside
The locking or unlock instruction that host computer is sent generate control instruction；
TMS320F28335 DSP digital processing unit by EV (task manager) module, GPIO interface with
EPM1270T144I5 CPLD signal processor is connected, and the GPIO interface of EPM1270T144I5 CPLD signal processor passes through number
Word isolator is connected with DRV8829 stepper motor driver, provides stepper motor driving signal.EPM1270T144I5 CPLD letter
Number processor generates driving signal, DRV8829 motor according to the control instruction that TMS320F28335 DSP digital processing unit issues
Driver drives stepper motor rotation under the control of the driving signal to drive locked component mobile.
It further include serial bus driving circuit in the present embodiment, on control panel, for realizing control panel and external host computer
Between serial communication；The serial bus driving circuit includes digital isolator and serial ports transceiver SM3490；Digital isolator
One end be connected with the SCIA interface of TMS320F28335 DSP digital processing unit, the of the other end and serial ports transceiver SM3490
One end is connected；The second end of serial ports transceiver SM3490 has the RS422 serial ports being connected with external host computer, to realize control panel
RS422 serial communication between host computer.Host computer be mainly used for sending control, the order such as parameter reading and writing to
TMS320F28335 DSP digital processing unit, while receiving the stepper motor fortune of TMS320F28335 DSP digital processing unit return
Capable status information and displacement data information.
As shown in Fig. 2, position sensor includes potentiometer 1 and the potentiometer sensing chip 2 being connected with potentiometer 1；Locking
Component includes sequentially connected push rod 3, ram seat 4 and lock tongue 5；
Potentiometer sensing chip 2 is mounted on lock tongue 5, and push rod 3 passes through stepper motor 6 and is fixedly connected with ram seat 4；Ram seat
Butterfly spring 7 is equipped between 4 and lock tongue 5, one end of ram seat 4 and push rod 3 are connected, and the other end is embedded in the groove of 5 end of lock tongue, should
The flank of ram seat 4 is fixed on 5 end of lock tongue by stepped screw 8 and the ram seat 4 can be between stepped screw 8 and lock tongue 5
Sliding；The other end of lock tongue 5 can be embedded in the revolution shaft gear 9 of external swing mechanism.Retaining mechanism provided in this embodiment
It further include mounting base 10；Potentiometer 1 is fixedly mounted in mounting base 10, and lock tongue 5 is embedded in mounting base 10, stepper motor 8 and installation
Seat 10 is fixedly connected.
In executing locking or unlock operating process, potentiometer sensing chip 2 is with 5 synchronizing moving of lock tongue, to make potentiometer 1
The output of the port DWJPORT be displaced linear voltage signal.
When work, TMS320F28335 DSP digital processing unit receives what host computer was sent by serial bus driving circuit
The control commands such as unlock, locking；TMS320F28335 DSP digital processing unit reads ADC collector AD7322 with spi bus and adopts
The current voltage value of the potentiometer 1 of collection, the location status of lock tongue 5 in retaining mechanism is judged according to the current voltage value；If upper
What machine was sent is locking instruction, when the current location of lock tongue 5 is unlocked state, DRV8829 stepper motor driver according to
The driving signal that EPM1270T144I5 CPLD signal processor issues executes locking operation, and driving stepper motor 6 rotates, to push away
Dynamic push rod 3 and lock tongue 5 are to the direction movement close to revolution shaft gear 9, until the voltage value of the potentiometer 1 of acquisition reaches preset
When locking state threshold value, locking operation is completed.If host computer sends unlock instruction, when the current location of lock tongue 5 is unlocked state,
Then execute inverse operation；After the completion of order executes, TMS320F28335 DSP digital processing unit passes through serial ports transceiver SM3490
The state of retaining mechanism is sent to host computer.
The present embodiment additionally provides a kind of automatically lock control method based on stepper motor, including locking process and unlock
Process；It is the control method flow chart of locking process provided in this embodiment shown in Fig. 4, as shown in figure 4, locking control method packet
Include following steps:
S110: when dsp processor receives the locking control command of host computer transmission by serial ports transceiver SM3490,
Primary potentiometric voltage value is acquired every 40ms；
S120: the voltage value is compared with preset locking state threshold value, retaining mechanism is judged according to the voltage value
Whether it has been in the lock state；If so, position machine feedback lock completion status directly up；If it is not, then controlling
EPM1270T144I5 CPLD signal processor issues driving signal, drives retaining mechanism to the direction close to external swing mechanism
It is mobile；
S130: calculate the difference of the voltage value that currently acquires and a preceding collection voltages value and by the absolute value of the difference with
Preset voltage threshold is compared；
When the absolute value of the difference is less than voltage threshold, illustrate that stall occurs for retaining mechanism；Then the current acquisition of judgement
Voltage value whether reach locking state threshold value；If so, showing locking operation success, order is completed, and is fed back and is locked to host computer
Determine completion status；If it is not, then entering step S140；
When the absolute value of the difference is more than or equal to voltage threshold, return step S110 continues collection voltages value；
S140: judge to lock whether the execution time of control command is more than preset time threshold；If so, illustrating that order is super
When, it generates fault status information and is fed back to host computer；If it is not, then return step S110, continues collection voltages value.
It is the control method flow chart of unlocking process provided in this embodiment shown in Fig. 5, as shown in figure 5, the solution lock control
Method the following steps are included:
S210: when dsp processor receives the unlock control instruction of host computer transmission by serial ports transceiver SM3490,
Primary potentiometric voltage value is acquired every 40ms；
S220: the voltage value is compared with preset unlocked state threshold value, retaining mechanism is judged according to the voltage value
It is whether in the unlocked state；If so, machine feedback in position unlocks completion status directly up；If it is not, driving signal is then issued,
Retaining mechanism is driven to run to the direction far from external swing mechanism；
S230: calculate the difference of the voltage value that currently acquires and a preceding collection voltages value and by the absolute value of the difference with
Voltage threshold is compared；
When the absolute value of the difference is less than voltage threshold, illustrate that stall occurs for retaining mechanism；Then the current acquisition of judgement
Voltage value whether reach unlocked state threshold value；If so, showing that unlock operates successfully, order is completed, and is fed back and is solved to host computer
Lock completion status；If it is not, then entering step S240；
When the absolute value of the difference is more than or equal to voltage threshold, return step S210 continues collection voltages value；
S240: judge to unlock whether the execution time of control instruction is more than preset time threshold；If so, illustrating that order is super
When, it generates fault status information and is fed back to host computer；If it is not, then return step S210, continues collection voltages value.
Compared to existing automatically lock mode, automatically lock control system provided by the invention based on stepper motor and
The location information of locking mechanism is converted to information of voltage by potentiometer by method；The locking that control panel is sent according to host computer
Or unlock instruction generates corresponding driving signal to drive locking mechanism mobile；Meanwhile control panel is also according to the electricity acquired in real time
Position meter voltage value obtains the current location information of retaining mechanism, judges whether retaining mechanism moves in place, to realize to revolution
Real-time, reliable, the high-precision locking of mechanism unlocks closed-loop control；Retaining mechanism is judged by acquiring potentiometer real-time voltage value
State can be improved the precision of locking device, enhance the reliability of system.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of automatically lock control system based on stepper motor, which is characterized in that including control panel and retaining mechanism；
The retaining mechanism includes position sensor, stepper motor and the locked component being connected with the stepper motor；It is described
Position sensor is used to the location information of the locked component being converted to information of voltage；
The control panel is used to receive the locking instruction that external host computer is sent, and generates the first driving according to locking instruction and believes
Number；First driving signal is used to that stepper motor to be driven to rotate to drive locked component to the direction close to external swing mechanism
Operation, until reaching preset locking state threshold value from the real-time voltage value that position sensor acquires；
Or；The unlock instruction that external host computer is sent is received, the second driving signal is generated according to the unlock instruction；Described second
Driving signal is used to drive stepper motor to rotate to drive locked component to run to the direction far from external swing mechanism, until from
The real-time voltage value of position sensor acquisition reaches preset unlocked state threshold value.
2. automatically lock control system as described in claim 1, which is characterized in that the control panel includes DSP digital processing
Device, CPLD signal processor, voltage collection circuit and motor-drive circuit；The DSP digital processing unit, voltage collection circuit and
Motor-drive circuit is connected with CPLD signal processor；
The voltage collection circuit is used for the voltage value of acquisition position inductor output；
The DSP digital processing unit obtains real-time voltage value by CPLD signal processor, and sent according to external host computer
Locking or unlock instruction generate control instruction；
The CPLD signal processor generates corresponding driving signal according to the control instruction；The motor-drive circuit is in institute
Driving stepper motor under the control of driving signal is stated to rotate to drive locked component mobile.
3. automatically lock control system as claimed in claim 1 or 2, which is characterized in that the position sensor includes current potential
Meter and the potentiometer sensing chip being connected with the potentiometer；The locked component includes sequentially connected push rod, ram seat and lock
Tongue；
The potentiometer sensing chip is mounted on lock tongue, and the push rod passes through stepper motor and is fixedly connected with ram seat；It is described to push away
Elastic component is equipped between pole socket and lock tongue, one end of ram seat and push rod are connected, and the other end is embedded in the groove of lock tongue end, should
The flank of ram seat is fixed on lock tongue end by fastener and the ram seat can be slided between fastener and lock tongue；Lock tongue
The other end can be embedded in the revolution shaft gear of external swing mechanism.
4. automatically lock control system as claimed in claim 3, which is characterized in that the retaining mechanism further includes mounting base；
Lock tongue, potentiometer and stepper motor are each attached in the mounting base.
5. automatically lock control system as claimed in claim 2 or 4, which is characterized in that the control panel further includes that serial ports is total
Line drive circuit, for realizing the serial communication between control panel and external host computer；
The serial bus driving circuit includes digital isolator and serial ports transceiver；One end of the digital isolator and DSP
Digital processing unit is connected, and the other end is connected with the first end of serial ports transceiver；The second end of the serial ports transceiver have with it is outer
The connected serial ports of portion's host computer.
6. automatically lock control system as claimed in claim 2 or 4, which is characterized in that the voltage collection circuit includes mould
Quasi- amplifier and ADC collector；The first end of the analogue amplifier has the port that connect with position sensor, second end and
The first end of ADC collector is connected；The second end of the ADC collector is connected with CPLD signal processor；The Simulation scale-up
Device is for amplifying the analog voltage that position sensor exports；The ADC collector is for acquiring through analogue amplifier
Amplified voltage value；
The motor-drive circuit includes digital isolator and stepper motor driver；The first end of the digital isolator with
CPLD signal processor is connected, and second end is connected with the first end of stepper motor driver；The of the stepper motor driver
Two ends are connected with stepper motor, and stepper motor driver, which receives the driving that CPLD signal processor exports by digital isolator, to be believed
Number, and stepper motor rotation is controlled according to the driving signal.
7. a kind of automatically lock control method based on the described in any item automatically lock control systems of claim 1~6, special
Sign is, comprising the following steps:
S11: receiving externally input lock instruction, and according to the lock instruction, acquisition position incudes according to the preset time interval
The voltage value of device；
S12: the voltage value is compared with preset locking state threshold value to judge whether retaining mechanism has been in lock
Determine state；If so, entering step S14；If it is not, then issuing driving signal, driving retaining mechanism is to close to external swing mechanism
Direction operation；
S13: whether the voltage value that judgement currently acquires reaches locking state threshold value；If so, entering step S14；If it is not, then returning
Return step S11；
S14: the current state of retaining mechanism is fed back into host computer.
8. automatically lock control method as claimed in claim 7, which is characterized in that include following sub-step in step S13:
S130: calculating the difference of the voltage value and a preceding collection voltages value that currently acquire and by the absolute value of the difference and presets
Voltage threshold be compared；
When the absolute value of the difference is less than voltage threshold, judge whether the voltage value currently acquired reaches locking state threshold
Value；If so, entering step S14；If it is not, then entering step S131；
When the absolute value of the difference is more than or equal to voltage threshold, return step S11；
S131: whether the execution time for judging the lock command is more than preset time threshold；If so, generating malfunction letter
Breath, enters step S14；If it is not, then return step S11.
9. automatically lock control method as claimed in claim 7 or 8, which is characterized in that further comprising the steps of:
S21: receiving externally input unlock instruction, and according to the unlock instruction, acquisition position incudes according to the preset time interval
The voltage value of device；
S22: the voltage value is compared with preset unlocked state threshold value to judge retaining mechanism according to the voltage value
It is whether in the unlocked state；If so, entering step S24；If it is not, then issue driving signal, driving retaining mechanism is to remote
Direction operation from external swing mechanism；
S23: whether the voltage value that judgement currently acquires reaches unlocked state threshold value；If so, entering step S24；If it is not, then returning
Return step S21；
S24: the current state of retaining mechanism is fed back into host computer.
10. automatically lock control method as claimed in claim 9, which is characterized in that include following sub-step in step S23:
S230: calculating the difference of the voltage value and a preceding collection voltages value that currently acquire and by the absolute value of the difference and presets
Voltage threshold be compared；
When the absolute value of the difference is less than voltage threshold, judge whether the voltage value currently acquired reaches unlocked state threshold
Value；If so, entering step S24；If it is not, then entering step S231；
When the absolute value of the difference is more than or equal to voltage threshold, return step S21；
S231: whether the execution time for judging unlocking command is more than preset time threshold；If so, fault status information is generated,
Enter step S24；If it is not, then return step S21.
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| CN113479352A (en) * | 2021-05-25 | 2021-10-08 | 北京控制工程研究所 | Drive control method and system of anti-backlash locking mechanism for space spacecraft |
| CN114826046A (en) * | 2022-04-12 | 2022-07-29 | 浙江恒强科技股份有限公司 | Control method and device based on stepping motor and electronic equipment |
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