CN110561328A - Control system of satellite attitude adjustment trolley - Google Patents
Control system of satellite attitude adjustment trolley Download PDFInfo
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- CN110561328A CN110561328A CN201910807344.6A CN201910807344A CN110561328A CN 110561328 A CN110561328 A CN 110561328A CN 201910807344 A CN201910807344 A CN 201910807344A CN 110561328 A CN110561328 A CN 110561328A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000002955 isolation Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
Abstract
a control system of a satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module (1-1), an external input control and display module (1-2), a product state monitoring and alarm module (1-3), a motor driving module and a power management module (1-4); the external input control and display module (1-2), the product state monitoring and alarm module (1-3), the motor driving module and the power management module (1-4) are respectively connected with the car lifting system main control module (1-1); the invention controls the satellite attitude adjustment trolley, and has the advantages of high use efficiency and safety: the operating personnel only need press operating terminal's the button that corresponds can realize the satellite and adjust at final assembly test in-process gesture to can control the speed that the satellite gesture was adjusted through 3 different speed buttons, operating personnel can put operating terminal in oneself operating position department in addition, when needing to alternate the satellite gesture, nearby operation can.
Description
Technical Field
the invention relates to a control system for a satellite attitude adjustment trolley, which is used for realizing the functions of controlling the satellite attitude adjustment, displaying the satellite position and the attitude adjustment speed, monitoring the satellite safety, alarming and the like of the trolley through a portable operation terminal.
Background
during satellite assembly, testing and testing, the attitude of the satellite often needs to be adjusted and locked according to different tasks. At present, the posture adjustment of the satellite is mainly performed by manually operating the posture adjustment trolley and hoisting, the automation level is low, the labor intensity of workers is high, and the satellite has the risk of colliding with a tool in the hoisting process. Secondly, in the satellite assembly process, the distance between the satellite and the surrounding objects is mainly controlled by naked eyes of operators, and the problem of omnibearing product safety monitoring is difficult to achieve. The existing production conditions are difficult to meet the assembly requirements of the current satellite.
Disclosure of Invention
The invention aims to provide a control system of a satellite attitude adjusting trolley, which is used for controlling and adjusting the satellite attitude.
a control system of a satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module 1-1, an external input control and display module 1-2, a product state monitoring and alarm module 1-3, a motor driving module and a power management module 1-4; the external input control and display module 1-2, the product state monitoring and alarm module 1-3, the motor driving module and the power management module 1-4 are respectively connected with the car lifting system main control module 1-1;
In particular, the method comprises the following steps of,
the car lifting system main control module 1-1 is a core data processing module of a car lifting control system and comprises a system main control board MCU, a digital quantity input and output module DAM0808_1 and a digital quantity input and output module DAM0808_ 2; the digital quantity input and output module DAM0808_1 and the digital quantity input and output module DAM0808_2 are connected with a system main control board MCU through RS 485;
The product state monitoring and alarming module 1-3 comprises 8 infrared sensors, 2 travel switches and a buzzer, wherein the 8 infrared sensors are respectively connected with the digital quantity input and output module DAM0808_2, and the 2 travel switches are respectively positioned at the upper travel limit position and the lower travel limit position of the attitude adjusting platform and used for controlling the maximum position of the lifting of the platform.
The motor driving module and the power management module 1-4 comprise a servo motor, a servo driver and a power management unit, wherein the power management unit is respectively connected with a strong current unit and a weak current unit, the three-phase 220V alternating current of the strong current unit is connected with the servo driver, and the servo driver is connected with the servo motor; the weak current unit is respectively connected with a car lifting system main control module 1-1, an external input control and display module 1-2 and a product state monitoring and alarming module 1-3;
The external input control and display module 1-2 is connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system; the servo drivers of the motor driving module and the power management module 1-4 are connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system through RS 422.
the strong electric unit comprises voltages of 24V, 5V and 3.3V.
the invention controls the satellite attitude adjustment trolley, and has the advantages of high use efficiency and safety: the operating personnel only need press operating terminal's the button that corresponds can realize the satellite and adjust at final assembly test in-process gesture to can control the speed that the satellite gesture was adjusted through 3 different speed buttons, operating personnel can put operating terminal in oneself operating position department in addition, when needing to alternate the satellite gesture, nearby operation can. In addition, the equipment state acquisition and alarm system of the trolley can acquire and feed back the distance information between the outer contour of the satellite and an approaching object in real time, when the distance exceeds a set threshold value, the trolley system alarms and prompts an operator, the problem that the condition of the satellite is controlled mainly by the naked eyes of the operator to difficultly monitor the product in all directions in the prior art is solved, and the safety of the satellite product is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
1-a main control module of a car lifting system, 1-2-an external control input module, 1-3-an equipment state acquisition and alarm module, 1-4-a motor driving module and a power management system;
FIG. 2 is a schematic diagram of the operation of the present invention;
FIG. 3 is a schematic diagram of a key structure of the operation terminal according to the present invention; wherein 3-1 is a power key, 3-2 is a function key, and 3-3 is a speed key;
FIG. 4a is a schematic diagram of the configuration of the travel switch and the terminal of the present invention;
FIG. 4b is a schematic diagram of an infrared distance measuring sensor and terminal configuration according to the present invention;
fig. 5 is a schematic circuit diagram of a motor driving module and a power management system.
Detailed Description
a control system of a satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module 1-1, an external input control and display module 1-2, a product state monitoring and alarm module 1-3, a motor driving module and a power management module 1-4; the external input control and display module 1-2, the product state monitoring and alarm module 1-3, the motor driving module and the power management module 1-4 are respectively connected with the car lifting system main control module 1-1;
in particular, the method comprises the following steps of,
The car lifting system main control module 1-1 is a core data processing module of a car lifting control system and comprises a system main control board MCU, a digital quantity input and output module DAM0808_1 and a digital quantity input and output module DAM0808_ 2; the digital quantity input and output module DAM0808_1 and the digital quantity input and output module DAM0808_2 are connected with a system main control board MCU through RS 485;
The product state monitoring and alarming module 1-3 comprises 8 infrared sensors, 2 travel switches and a buzzer, wherein the 8 infrared sensors are respectively connected with the digital quantity input and output module DAM0808_2, and the 2 travel switches are respectively positioned at the upper travel limit position and the lower travel limit position of the attitude adjusting platform and used for controlling the maximum position of the lifting of the platform.
The motor driving module and the power management module 1-4 comprise a servo motor, a servo driver and a power management unit, wherein the power management unit is respectively connected with a strong current unit and a weak current unit, the three-phase 220V alternating current of the strong current unit is connected with the servo driver, and the servo driver is connected with the servo motor; the weak current unit is respectively connected with a car lifting system main control module 1-1, an external input control and display module 1-2 and a product state monitoring and alarming module 1-3;
the external input control and display module 1-2 is connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system; the servo drivers of the motor driving module and the power management module 1-4 are connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system through RS 422.
The strong electric unit comprises voltages of 24V, 5V and 3.3V.
The portable operation terminal can control the attitude adjustment of the satellite, display the position and the attitude adjustment speed of the satellite, monitor the safety of the satellite, give an alarm and the like during the satellite assembly, test and test processes of the trolley. The time required by satellite attitude adjustment can be effectively reduced, the safety and the reliability of satellite assembly are improved, the labor intensity of workers is reduced, and the satellite production efficiency is improved. The control system of the trolley mainly comprises four modules: the system comprises a 1-1 vehicle lifting system main control module, a 1-2 external input control and display module, a 1-3 product state monitoring and alarming module, a 1-4 motor driving module and a power supply management module.
the car lifting system main control module 1-1 is a core data processing module of a car lifting control system and is connected with a 1-2 external input control and display module, a 1-4 motor driving module and a power management module through a digital quantity input and output module 1; the 1-4 motor driving module and the power management module are additionally connected with a main control module 1-1 of the car lifting system through RS422, and the rotating speed and the pulse number of the motor are transmitted to a main control chip; 1-3 the product state monitoring and alarming module is connected with the car lifting system main control module 1-1 through a digital quantity input and output module 2. The scheme of the whole trolley control system is shown in figure 1.
The car lifting system main control module 1-1 comprises a system main control board MCU and two digital input and output modules, wherein the digital input and output modules are connected with the main control board through RS485, and in addition, the main control board is connected with a servo driver through RS 422. The external input control and display module 1-2 comprises a control chip MCU, an OLED display screen and a key input, the control chip is connected with the OLED display screen through an SPI, the key input is connected with the control chip through an IO port, the module is designed as shown in figure 2, the appearance structure is designed as shown in figure 3, and the module is divided into a 3-1OLED display screen and a 3-2 key input. The product state monitoring and alarming module 1-3 comprises 2 travel switches, 8 infrared sensors and a buzzer, which are respectively connected with the ports of the digital quantity input and output module 2, and the shapes and the terminal configurations of the travel switches and the infrared sensors are shown in fig. 4. The motor driving module and the power management module 1-4 comprise a servo motor, a servo driver and a power management unit, wherein U, V, W of three-phase 220V alternating current output by the power management unit is respectively connected with L1, L2 and L3 of the servo driver, U, V is respectively connected with L11 and L21, U, V, W of the servo driver is respectively connected with U, V, W of the servo motor, and a circuit schematic diagram of the module is shown in FIG. 5.
When the satellite attitude adjustment is carried out on the trolley, an operator only needs to press a function button of the handheld terminal to carry out instruction control on the trolley. When an operator presses down keys on the handheld terminal, such as an original point, ascending, descending and the like, level changes of ports corresponding to the keys pass through the digital quantity input and output module 1, and signals are directly transmitted to the motor controller to control the motor to move; the other keys are speed selection keys of the handheld terminal: the input signals of high speed, medium speed and low speed are transmitted to a control chip of the car lifting main control module 1-1 through a serial port, and then control instructions are sent to a motor driver through the digital quantity input and output module 1, so that gear selection of different speeds of car lifting posture adjustment is realized.
In the operation process of the trolley lifting, relevant operation information of the trolley lifting is real-timely displayed on a display screen of the handheld terminal, and the relevant operation information comprises the speed of satellite attitude adjustment, the lifting height of the trolley lifting and the like. The servo motor encoder transmits the speed information of the motor to the servo controller, the servo controller is communicated with the upper computer through the RS422, the upper computer can inquire the rotating speed and the pulse number of the motor in real time, and then the inquired information is displayed on the OLED display screen in real time.
the functions of satellite safety monitoring, alarming and the like are realized through sensors and a buzzer, 8 infrared sensors are distributed around the trolley to detect the distance between an object and the trolley in real time in an all-around mode, the distance information is transmitted to a main control chip of the trolley main control module 1-1, the main control chip detects the distance in real time, when the distance value is too small (smaller than a given threshold value), the main control chip sends an instruction to the buzzer through the digital quantity input and output module 2, and the buzzer starts to alarm to prompt an operator. Travel switches are arranged at the extreme positions (the highest position and the lowest position) of the lifting platform of the trolley, when the lifting platform reaches the extreme positions, the travel switches act, and after the main control chip of the trolley lifting main control module 1-1 detects the action information of the travel switches, the digital quantity input and output module 1 controls the motor to stop moving, so that accidents are avoided.
When the satellite attitude adjusting and vehicle erecting system is used, firstly, a power line is connected, a transformer switch is turned on, and then a power key of a strong current control box and a power key of a weak current control box are pressed, at the moment, the satellite attitude adjusting and vehicle erecting system is in a power-on state, and an operator only needs to turn on the power key of the operation terminal and control the vehicle erecting system by pressing a corresponding button. The car lifting system is provided with a flexible alarm switch button, and when the alarm function is not needed, the alarm function of the car lifting system can be turned off only by pressing the alarm switch button on the control box. When the use is finished, the power supply buttons are turned off in sequence and the power supply line is disconnected.
The specific embodiment is as follows:
An automatic satellite attitude adjustment trolley comprises a trolley system main control module 1-1, an external control input module 1-2, a device state acquisition and alarm module 1-3, a motor driving module 1-4 and a power management system.
The car lifting system main control module 1-1 adopts an embedded stm32 control chip, and is mainly used for receiving an instruction of an external control input module 1-2, sending a control and query instruction to a servo driver, and returning a queried state to an operation input panel. After the car lifting system is powered on, the stm32 control chip reads the state of the digital input port of the optical coupling isolation module in real time through an RS485 communication protocol and controls the corresponding output port to output low level. And finally, the output port signal of the optical coupling isolation module enters a motor driver to control the motor to operate. The input signal of the optical coupling isolation module is from a 1-2 external control input module and a 1-3 equipment state acquisition and alarm module.
The control module of the external control input module 1-2 also adopts a stm32 control chip, when a key on the operation terminal is pressed, the embedded stm32 control chip of the operation terminal reads the level change of the corresponding input port, the information is processed and then is sent to the control chip of the overhead vehicle system main control module 1-1 through a serial port, the level change of the corresponding output port of the optical coupling isolation module is controlled, and a control instruction is sent to a motor driver, for example, the speed selection of the motor (namely, fast/medium/slow speed on the operation terminal) is realized through the mode. And part of key outputs on the operation terminal are directly transmitted to the optical coupling isolation module for controlling the motor to move (such as origin/ascending/descending). In addition, the stm32 control chip in the operation terminal establishes communication with the motor driver through the TTL conversion 422 module in the car lifting system main control module 1-1, can read the speed and position information of the motor in real time and displays the information on the liquid crystal display screen.
The device state acquisition and alarm module 1-3 comprises 2 travel switches (as shown in fig. 4 a), 8 infrared distance measurement sensors (as shown in fig. 4 b) and 1 buzzer. The device state acquisition module (a travel switch and an infrared distance measuring sensor) transmits acquired signals to the optical coupling isolation module, and a control chip of the car lifting system main control module 1-1 acquires level change of the other end of the optical coupling isolation module and sends an alarm instruction to the buzzer after information processing. The alarm is provided with a switch button which can be turned off when the alarm function is not required.
The motor driving module and the power management system 1-4 comprise an alternating current servo motor, an alternating current servo driver and a power management system. The wiring diagram of the servo driver mainly includes four parts: the main circuit power supply, the CN1 control circuit, the servo output circuit and the CN3-RS-422 circuit. The main circuit power supply three phases 220V U and V, W are respectively connected with L1, L2 and L3 through U, V and are respectively connected with L11 and L21. The CN1 wiring port mainly has the function of controlling the movement of the motor, the input mode of the CN1 wiring port comprises a plurality of control modes, the control system mainly adopts a speed control mode, and the interface type adopts a drain-type input/output interface mode. The CN3-RS-422 interface mainly has the function of communicating with an upper computer through the RS-422, and the upper computer inquires the rotating speed and the pulse number of the motor. The CN3 interface on the servo drive is an RJ-45 terminal. When the transformer works, 380V alternating current is converted into 220V alternating current through the external transformer. A schematic diagram of the motor driving module and the power management system is shown in fig. 5.
Claims (2)
1. A control system for satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module (1-1), an external input control and display module (1-2), a product state monitoring and alarm module (1-3), a motor driving module and a power supply management module (1-4); the external input control and display module (1-2), the product state monitoring and alarm module (1-3), the motor driving module and the power management module (1-4) are respectively connected with the car lifting system main control module (1-1);
in particular, the method comprises the following steps of,
The trolley lifting system main control module (1-1) is a core data processing module of a trolley lifting control system and comprises a system main control board MCU, a digital quantity input and output module DAM0808_1 and a digital quantity input and output module DAM0808_ 2; the digital quantity input and output module DAM0808_1 and the digital quantity input and output module DAM0808_2 are connected with a system main control board MCU through RS 485;
The product state monitoring and alarming module (1-3) comprises 8 infrared sensors, 2 travel switches and a buzzer, wherein the 8 infrared sensors are respectively connected with the digital quantity input and output module DAM0808_2, and the 2 travel switches are respectively positioned at the upper travel limit position and the lower travel limit position of the attitude adjusting platform and used for controlling the maximum position of the platform to lift.
The motor driving module and the power management module (1-4) comprise a servo motor, a servo driver and a power management unit, wherein the power management unit is respectively connected with a strong current unit and a weak current unit, the three-phase 220V alternating current of the strong current unit is connected with the servo driver, and the servo driver is connected with the servo motor; the weak current unit is respectively connected with a car lifting system main control module (1-1), an external input control and display module (1-2) and a product state monitoring and alarming module (1-3);
the external input control and display module (1-2) is connected with a digital quantity input and output module DAM0808_1 of the main control module (1-1) of the car lifting system; the servo drivers of the motor driving module and the power management module (1-4) are connected with a digital quantity input and output module DAM0808_1 of the main control module (1-1) of the car lifting system through RS 422.
2. The control system of claim 1, wherein the high voltage unit comprises 24V, 5V and 3.3V.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910807344.6A CN110561328B (en) | 2019-08-29 | 2019-08-29 | Control system of satellite attitude adjustment trolley |
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| CN201910807344.6A CN110561328B (en) | 2019-08-29 | 2019-08-29 | Control system of satellite attitude adjustment trolley |
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| CN110561328B CN110561328B (en) | 2024-04-19 |
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Cited By (1)
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| CN113746527A (en) * | 2021-08-04 | 2021-12-03 | 上海卫星工程研究所 | Intensive satellite multi-channel complex radio frequency link conditioning control device and method |
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| CN210968671U (en) * | 2019-08-29 | 2020-07-10 | 北京航天新风机械设备有限责任公司 | Control system of satellite attitude adjustment trolley |
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- 2019-08-29 CN CN201910807344.6A patent/CN110561328B/en active Active
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