CN110647099A - Launch vehicle control equipment based on PLVC controller and CAN communication - Google Patents
Launch vehicle control equipment based on PLVC controller and CAN communication Download PDFInfo
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- CN110647099A CN110647099A CN201910975771.5A CN201910975771A CN110647099A CN 110647099 A CN110647099 A CN 110647099A CN 201910975771 A CN201910975771 A CN 201910975771A CN 110647099 A CN110647099 A CN 110647099A
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/14—Plc safety
- G05B2219/14006—Safety, monitoring in general
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Abstract
The invention discloses launch vehicle control equipment based on a PLVC (programmable logic controller) and CAN (controller area network) communication, which comprises control equipment and a hydraulic system, wherein the control equipment comprises a driving module arranged in an inserting box and an induction module electrically communicated with the driving module through CAN communication, a plurality of groups of electrical interfaces are connected and arranged on the inserting box, the driving module comprises a PLVC controller, a control panel and a display screen which are electrically connected, the PLVC controller acquires a signal of a control button of the control panel and outputs a driving signal to drive the hydraulic system to complete corresponding actions, and meanwhile, a feedback signal of the induction module is acquired. The driving module is formed by integrating the control panel and the display screen of the PLVC controller, a hydraulic system CAN be directly driven, CAN communication is adopted for data communication, and the whole structure is suitable for a 19-inch standard cabinet for a vehicle; the system integration degree and the reliability are improved; on the premise of ensuring the functional performance of the control equipment, the cost is reduced; the low-cost and integrated development requirements of the launching vehicle system are met.
Description
Technical Field
The invention relates to the technical field of launch vehicle control, in particular to launch vehicle control equipment based on a PLVC (programmable logic controller) and CAN (controller area network) communication.
Background
With the increase of functions and complexity of an unmanned aerial vehicle system (hereinafter referred to as an unmanned aerial vehicle), the launching vehicle is required to provide adaptive levelness, azimuth angle and pitch angle for ground launching when arriving at a launching position. Whether the launching vehicle can complete the rapid and high-precision adjustment of the posture under various severe conditions is the basis for realizing the rapid response and the precise striking of the unmanned aerial vehicle. In order to meet the higher requirements of the attitude adjusting speed and precision of the launching vehicle, a controller can be used for driving a hydraulic system or an electromechanical system, so that the leveling, the rotation and the pitching of the launching vehicle can be reliably and quickly completed, and meanwhile, the control precision is ensured.
At present, most of traditional launch vehicle control systems adopt a hydraulic actuating mechanism, namely, a main controller drives the hydraulic system through a driving module to complete the adjustment of the posture of the launch vehicle. The common communication modes are RS232, RS422 and RS485, and CAN bus communication has higher reliability and real-time performance compared with the communication modes, and is suitable for occasions with high requirements on reliability and real-time performance on the basis of ensuring functions.
Disclosure of Invention
The invention aims to provide a launch vehicle control device based on a PLVC controller and CAN communication, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a transmission car controlgear based on PLVC controller and CAN communication, includes controlgear and hydraulic system, controlgear is including setting up the drive module in the subrack and the response module through CAN communication and drive module electric intercommunication, it is provided with multiunit electrical interface to connect on the subrack, drive module includes electric connection's PLVC controller, control panel and display screen, and the PLVC controller gathers control panel control button's signal and output drive signal drive hydraulic system and accomplishes corresponding action, acquires the feedback signal of response module simultaneously.
Furthermore, the subrack adopts 4U standard subrack, be equipped with three groups of electrical interface on the subrack, electrical interface includes the power source that communicates with fixed power, the hydraulic control interface that communicates with hydraulic system electrical property and the sensor signal feedback interface that communicates with response module electrical property, electrical interface all adopts standard aviation connector.
Furthermore, the induction module and the hydraulic system are electrically communicated with the driving module through an electrical interface, and the driving module is also connected with a peripheral fixed power supply through the electrical interface.
Further, the control panel comprises a group of power switches; a set of launch vehicle preparation switches; one group of leveling control buttons; rotating a group of pitching control buttons; the unfolding, folding and stopping buttons are respectively in one group; the up/add, down/subtract and confirm buttons are respectively in one group; and one group of flashing buzzers.
Furthermore, the sensing module comprises a pressure sensor, a horizontal tilt angle sensor, an angle sensor and a limit switch; four groups of pressure sensors are arranged; the horizontal tilt angle sensor adopts a double-shaft horizontal sensor.
Furthermore, the limit switch comprises four leveling support legs which return to zero to reach the target position, one pitching zero position, one pitching station to reach the target position, one rotation zero position limit and two rotation station limit groups.
Compared with the prior art, the invention has the beneficial effects that: a driving module is formed by integrating a control panel and a display screen by adopting a PLVC controller, a hydraulic system CAN be directly driven, data communication is carried out by adopting CAN communication, and the whole structure is suitable for a 19-inch standard cabinet for a vehicle; the PLVC controller integrates a driving module, so that the system integration degree is improved, and the reliability is improved; the reliability and the real-time performance of data communication are ensured by adopting CAN communication; on the premise of ensuring the functional performance of the control equipment, the cost is reduced; the low-cost and integrated development requirements of the launching vehicle system are met.
Drawings
Fig. 1 is a schematic diagram of a launch vehicle control device based on a PLVC controller and CAN communication.
Fig. 2 is a schematic diagram showing the components of a control device in a launch vehicle control device based on a PLVC controller and CAN communication.
In the figure: the method comprises the following steps of 1-control equipment, 2-plug box, 3-PLVC controller, 4-control panel, 5-display screen, 6-electrical interface, 7-pressure sensor, 8-horizontal tilt angle sensor, 9-angle sensor and 10-limit switch.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, in the embodiment of the present invention, a launch vehicle control device based on a PLVC controller and CAN communication includes a control device 1 and a hydraulic system, where the control device 1 includes a driving module disposed in an insertion box 2 and an induction module electrically connected to the driving module through CAN communication, the insertion box 2 is connected to a plurality of sets of electrical interfaces 6, the induction module and the hydraulic system are both electrically connected to the driving module through the electrical interfaces 6, and the driving module is further connected to a peripheral fixed power supply through the electrical interfaces 6; the driving module comprises a PLVC controller 3, a control panel 4 and a display screen 5 which are electrically connected.
The plug-in box 2 adopts a 4U standard plug-in box and is suitable for a 19-inch standard cabinet; panel size 482.6 mm; the height of the panel is 177.8 mm; the depth is 440 mm; the width (without hanging scroll) is less than or equal to 420 mm; the plug-in box 2 is provided with three groups of electrical interfaces 6, each electrical interface 6 comprises a power supply interface communicated with a fixed power supply, a hydraulic control interface communicated with a hydraulic system in an electrical mode and a sensor signal feedback interface communicated with an induction module in an electrical mode, and the electrical interfaces 6 all adopt standard aviation connectors.
The control panel 4 comprises a group of power switches; a set of launch vehicle preparation switches; one group of leveling control buttons; rotating a group of pitching control buttons; the unfolding, folding and stopping buttons are respectively in one group; the up/add, down/subtract and confirm buttons are respectively in one group; and one group of flashing buzzers.
The display screen 5 is a conventional touch control type in the prior art, a 7-inch liquid crystal screen is adopted on the display screen 5, the resolution is not less than 800 multiplied by 480, the memory is not less than 128M, and the flash memory is 4G.
The analog quantity of the PLVC controller 3 is input into 12 paths; 36 digital quantity input paths; 16 digital quantity output paths; 16 paths of analog quantity output; the proportional valve or the switch valve outputs 8 paths; 1 path of CAN communication channel, Baud rate 500 Kbps; the PLVC controller 3 acquires signals of control buttons of the control panel 4 through an input/output channel, outputs driving signals according to control commands to drive the hydraulic system to complete corresponding actions, acquires feedback signals of the induction module in real time through CAN communication, and adjusts the output driving signals in real time to realize the control of leveling, rotating and pitching precision; and the display screen 5 and the PLVC controller 3 also adopt a CAN channel to carry out real-time data communication to finish the work state display of the launching vehicle.
Example 2
Referring to fig. 2, in an embodiment of the present invention, a launch vehicle control device based on a PLVC controller and CAN communication includes, on the basis of embodiment 1, an induction module including four pressure sensors 7, a horizontal tilt angle sensor 8, an angle sensor 9, and a limit switch 10, where the pressure sensors 7 are provided with four groups, and a measurement range is 0 to 25 MPa; the precision is +/-0.25 MPa; pressure resistance: 100 MPa; the output signal is 4-20 mA. The horizontal tilt angle sensor 8 adopts a double-shaft horizontal sensor, and the measurement range of the horizontal tilt angle sensor 8 is +/-5 degrees; measurement accuracy (25 °) ± 20 "; resolution 0.033 °; output mode CAN 2.0. The resolution of the angle sensor (9) is 12bit (0.044 degree), and the output mode CAN 2.0. The limit switch 10 comprises four groups of leveling support legs returning to zero to reach the target position, one group of pitching zero position, one group of pitching station reaching the target position, one group of rotation zero position limit and two groups of rotation station limit. The pressure sensor, the limit switch are matched with a hydraulic system, the inclination angle sensor and the angle sensor are arranged on the launching vehicle, the limit switch is also called a travel switch and is arranged in the hydraulic system, namely on a rotating and pitching mechanism of the launching vehicle, when the rotating and pitching mechanism acts to a certain position, a connecting rod of the switch drives a contact of the switch to be closed, a in-place feedback signal is output to the PLVC controller 3, and at the moment, the controller stops driving the rotating and pitching mechanism according to feedback, namely, the limit switch serves as a feedback component for the closed-loop control system to execute rotating and pitching control.
The working principle of the invention is as follows: the whole structure of the device adopts an integrated design, the PLVC controller 3 is used as a control center of control equipment of the launching vehicle, and when the device works, control button enabling signals of the control panel 4 are collected through an input and output channel; outputting a driving signal according to the control command to drive the hydraulic system to complete corresponding actions; feedback signals of the pressure sensor 7, the horizontal tilt angle sensor 8, the angle sensor 9 and the limit switch 10 are obtained in real time through CAN communication, and output driving signals are adjusted in real time to realize control of leveling, rotating and pitching precision; the display screen 5 and the PLVC controller 3 also adopt a CAN channel to carry out real-time data communication to finish the display of the working state of the launching vehicle; the electric interface 6 is used as a transmission channel for signals such as power supply input, hydraulic system drive, sensor feedback and the like; the PLVC controller 3 is adopted to integrate the control panel 4 and the display screen 5 to form a driving module which CAN directly drive a hydraulic system, the data communication is carried out by CAN communication, and the whole structure is suitable for a vehicle-carrying 19-inch standard cabinet; the PLVC controller 3 integrates a driving module, so that the system integration degree is improved, and the reliability is improved; the reliability and the real-time performance of data communication are ensured by adopting CAN communication; on the premise of ensuring the functional performance of the control equipment, the cost is reduced; the low-cost and integrated development requirements of the launching vehicle system are met.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a transmission car controlgear based on PLVC controller and CAN communication, includes controlgear (1) and hydraulic system, its characterized in that, controlgear (1) is including setting up drive module in subrack (2) and the response module through CAN communication and drive module electric intercommunication, it is provided with multiunit electrical interface (6) to connect on subrack (2), drive module includes electric connection's PLVC controller (3), control panel (4) and display screen (5), and PLVC controller (3) gather control panel (4) control button's signal and output drive signal drive hydraulic system and accomplish corresponding action, acquire the feedback signal of response module simultaneously.
2. The launch vehicle control equipment based on PLVC controller and CAN communication of claim 1, characterized in that said plug-in box (2) adopts 4U standard plug-in box, and said plug-in box (2) is equipped with three groups of electrical interfaces (6).
3. The launch vehicle control device based on PLVC controller and CAN communication of claim 2, characterized in that said electrical interfaces (6) comprise a power interface in communication with a fixed power supply, a hydraulic control interface in electrical communication with a hydraulic system and a sensor signal feedback interface in electrical communication with a sensing module, said electrical interfaces (6) all being standard aeronautical connectors.
4. The launch vehicle control device based on the PLVC controller and CAN communication of claim 3, wherein the induction module and the hydraulic system are both electrically communicated with the driving module through an electrical interface (6), and the driving module is further connected with an external fixed power supply through the electrical interface (6).
5. The transmitting vehicle control device based on PLVC controller and CAN communication as claimed in claim 1, wherein said control panel (4) comprises a set of power switches; a set of launch vehicle preparation switches; one group of leveling control buttons; rotating a group of pitching control buttons; the unfolding, folding and stopping buttons are respectively in one group; the up/add, down/subtract and confirm buttons are respectively in one group; and one group of flashing buzzers.
6. The launch vehicle control equipment based on PLVC controller and CAN communication of claim 3 or 4, characterized in that said sensing module comprises a pressure sensor (7), a horizontal tilt sensor (8), an angle sensor (9) and a limit switch (10); four groups of pressure sensors (7) are arranged; the horizontal tilt angle sensor (8) adopts a double-shaft horizontal sensor.
7. The launch vehicle control apparatus based on PLVC controller and CAN communication of claim 1, wherein said limit switch (10) comprises leveling leg zeroing to four sets, pitching to zero set, pitching to position set, rotating to zero limit set and rotating to position limit set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975771.5A CN110647099A (en) | 2019-10-15 | 2019-10-15 | Launch vehicle control equipment based on PLVC controller and CAN communication |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910975771.5A CN110647099A (en) | 2019-10-15 | 2019-10-15 | Launch vehicle control equipment based on PLVC controller and CAN communication |
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| CN110647099A true CN110647099A (en) | 2020-01-03 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105223805A (en) * | 2015-09-29 | 2016-01-06 | 北京航天发射技术研究所 | The low load car launcher control system of high-precision high-reliability and control method |
| CN106444863A (en) * | 2016-11-24 | 2017-02-22 | 江西洪都航空工业集团有限责任公司 | Weak leg eliminating method of automatic leveling system based on PLVC controller |
| CN107272668A (en) * | 2017-08-14 | 2017-10-20 | 北京航天发射技术研究所 | A kind of emulation test method of car launcher car control system |
| CN109143931A (en) * | 2018-08-24 | 2019-01-04 | 江西洪都航空工业集团有限责任公司 | A kind of integration apparatus having emission control and test function |
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2019
- 2019-10-15 CN CN201910975771.5A patent/CN110647099A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105223805A (en) * | 2015-09-29 | 2016-01-06 | 北京航天发射技术研究所 | The low load car launcher control system of high-precision high-reliability and control method |
| CN106444863A (en) * | 2016-11-24 | 2017-02-22 | 江西洪都航空工业集团有限责任公司 | Weak leg eliminating method of automatic leveling system based on PLVC controller |
| CN107272668A (en) * | 2017-08-14 | 2017-10-20 | 北京航天发射技术研究所 | A kind of emulation test method of car launcher car control system |
| CN109143931A (en) * | 2018-08-24 | 2019-01-04 | 江西洪都航空工业集团有限责任公司 | A kind of integration apparatus having emission control and test function |
Non-Patent Citations (1)
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| 夏鑫等: "某军用雷达车高精度自动调平控制系统研究", 《机械设计与制造》 * |
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Application publication date: 20200103 |