CN1110400A - Control electric circuit for geomagnetic navigation of automatic navigational car - Google Patents
Control electric circuit for geomagnetic navigation of automatic navigational car Download PDFInfo
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- CN1110400A CN1110400A CN 94110058 CN94110058A CN1110400A CN 1110400 A CN1110400 A CN 1110400A CN 94110058 CN94110058 CN 94110058 CN 94110058 A CN94110058 A CN 94110058A CN 1110400 A CN1110400 A CN 1110400A
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- circuit
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- navigation vehicle
- navigation
- differential amplifier
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Abstract
The present invention relates to a control circuit for automatic navigation vehicle. Its circuit structure consists of differential amplifier, frequency-selecting filtering circuit, absolute value circuit and differencing and gain control circuits, and their connection is as follows: two coils of the navigation vehicle are connected with the differential amplifier, and then the following circuits are connected in turn, and its control circuit output is connected with an A/D converter. Because the magnetic conduct coils of the navigation vehicle are offset from magnetic field, the produced deviation signal is passed through the differencing circuit, and then is passed through the A/D converter, and is delivered into a computer-controlled servo system. Its frequency-selecting filter uses switching capacitor filter MF10. It has the advantages of small volume, light weight, high accuracy and good stability.
Description
The present invention relates to a kind of control circuit of navigation vehicle.
The self-navigation of navigation vehicle at present has the magnet navigation, electromagnetic navigation and optical guidance, various navigate modes respectively have characteristics, the magnet navigate mode is to utilize the magnet that is attached to ground (or imbedding subsurface) to produce magnetic field, the sensor of navigation vehicle car body detects the position of magnet, being used for controlling navigation vehicle moves along the shape that magnet attaches, electromagnetic navigation is to utilize to be embedded in underground lead and to pass to electric current and produce magnetic field, navigation vehicle car body sensor goes out the position control navigation vehicle motion of lead, now existing to electromagnetic navigation control circuit complex structure, control dumb, deviation is big, because the circuit complexity, so failure rate is big.
For solving above deficiency, purpose of the present invention provides a kind of control circuit that is used for the automatic navigation vehicle earth-magnetic navigation, has adopted new units such as switching capacity filter in the control, has effectively solved the automatic control problem of navigation vehicle.
Automatic navigation vehicle earth-magnetic navigation control circuit of the present invention is filtered circuit, absolute value circuit, is asked difference to form with gain adjusting circuit and clock circuit five parts by differential amplifier, frequency-selecting ripple, its connection is that each inductive coil of navigation vehicle connects with differential amplifier, the differential amplifier output terminal connects with the frequency-selecting amplifier input end, frequency-selecting amplifier output connects with the absolute value circuit input end, connect with clock circuit simultaneously, the absolute value circuit output terminal connects with gain adjusting circuit with asking difference, and its output directly connects A/D converter (as shown in Figure 2).Its operation mechanism is buried leading line underground below the automatic navigation vehicle walking path, leading line feeds low-frequency current, around lead, produce alternating magnetic field like this, DISTRIBUTION OF MAGNETIC FIELD as shown in Figure 1, two inductive coils are housed on the car body, when leading line was positioned on the perpendicular bisector of two inductive coil lines, the voltage V1 that inductive coil produced equated with V2.If depart from leading line, then can determine its departure degree by the difference of V1 and V2, control the operation of navigation vehicle, the path movement that navigation vehicle is provided by control desk along leading line with this deviation.
Because leading line has several frequencies, different frequencies has different purposes, and wherein, navigation signal is 2KHZ, and the bend signal is 4KHZ, and communication signal is 6KHz, and stop sign is 8KHz.For distinguishing frequency separately, need in the testing circuit these signals are taken out respectively, for improving the stability and the reliability of circuit, testing circuit has adopted more advanced switching capacity filter.It is an accurate resistance that switching capacity is actually equivalence, and this equivalent resistance is Reff=1/fcC
As long as the numerical value of accurately controlling clock frequency f c and capacitor C just can obtain accurate equivalent resistance.R, C time constant depend on the ratio of clock frequency and two electric capacity like this.The accurate control of time constant is summed up in the point that the control of capacitance ratio is very favorable.Because capacitance is not easy to do very accurately in the integrated circuit, but the ratio of electric capacity can be done more accurately.
Its testing circuit principle:
The AC signal of two inductive coil outputs is carried out the difference amplification respectively and frequency-selecting is amplified, and asks absolute value again.The absolute value of two-way asks poor, and automatic navigation vehicle departs from the distance of leading line as can be known, and last output stage also has the function of gain-adjusted, to adapt to the requirement of different amplification.Owing to adopt switching capacity filter in the selective frequency amplifier circuit, be centre frequency fo100 clock doubly so need provide, for improving the stability of frequency, clock adopts the crystal oscillator frequency division; Select for use switching capacity filter to also have characteristics, when centre frequency fo changed, the other parts of circuit were constant, only changed clock and got final product, and promptly selected different crystal oscillators for use.
Its component circuitry effect is: difference is amplified: for improving the common-mode rejection ratio of input stage, adopt differential input mode among the design, and operational amplifier adopts the OP07 of low noise, high precision, low imbalance.Frequency-selecting: frequency selection circuit adopts the series connection of secondary switch capacitor filter, and switching capacity filter MF10 chip power needs ± 5V power supply is so provided ± the 5V power supply by three terminal regulator in circuit.Each of switching capacity filter grade Q value is 20, and gain is 10 times.Clock circuit: clock circuit is to provide switching frequency for wave filter, this frequency is 100 times of centre frequency, constitute oscillatory circuit by crystal oscillator and phase inverter, carry out frequency division by decade counter again, at last by 2 system counter frequency division shapings, the dutycycle that makes clock is that 0.5,2 system counter has the driving function concurrently, and different frequencies is selected different crystal oscillators for use.Absolute value circuit: absolute value circuit adopts accurate detecting circuit.The first order is equivalent to ideal diode, and full-wave rectification is finished in the second level, and by integrating capacitor the all-wave signal is become direct current.For improving the slewing rate and the precision of the first order, amplifier is selected broadband for use, low noise, the OP37GP of low imbalance.Ask difference and gain adjusting circuit: subtractor circuit carries out subtraction to direct current, and what circuit adopted is the higher differential input circuit of common-mode rejection ratio.Gain-adjusted mainly is the needs of adaptive system different amplification and being provided with, and the gain-adjusted scope of afterbody is 0.5～5.5 times.
Precision depends on signal processing circuit, and relative accuracy is 1/1000, and effective detection length of sensor is 100mm, is 0.1mm so detect the absolute precision of deviation.
The present invention's advantage:
Because in the circuit design, adopted the integrated wave filter of monolithic, not only volume is little, and is in light weight, more important precision height, the good stability that is, the operations many by half a year prove that the design of circuit is reliably, effectively.
The present invention's circuit embodiments such as Fig. 2, Fig. 3, Fig. 4 provide.
Fig. 1 is an automatic navigation vehicle earth-magnetic navigation control circuit fundamental diagram;
Fig. 2 is an automatic navigation vehicle earth-magnetic navigation control circuit block scheme;
Fig. 3 is an automatic navigation vehicle earth-magnetic navigation control circuit electrical schematic diagram;
Fig. 4 is an automatic navigation vehicle earth-magnetic navigation control circuit clocking scheme.
Its structure is by shown in the accompanying drawing, the corresponding control circuit of each inductive coil, two control circuits are identical, each circuit front is a differential amplifier, adopts low noise, high precision, the OP07 of low imbalance, output connects for frequency-selecting amplifier, adopts up-to-date device MF10, selects for use ± the 5V power supply, frequency selection circuit is the secondary switch capacitor filter, one tunnel filtering output enters subtractor circuit with another road filtering output, and by the input of amplifier balance, subtractor circuit output connects and increases difference control, realize by an amplifier equally, feedback circuit is added with gain control, outputs to A/D converter at last, and A/D converter output goes Control Servo System to realize the automatic deviation correction of navigation vehicle.
Claims (2)
1, a kind of control circuit that is used for the automatic navigation vehicle earth-magnetic navigation, it is characterized in that this control circuit is by differential amplifier, frequency-selecting ripple filter circuit, absolute value circuit with ask difference and gain adjusting circuit, its connection is that each coil of navigation vehicle connects with differential amplifier, the differential amplifier output terminal connects with the frequency-selecting amplifier input end, frequency-selecting amplifier output connects with the absolute value circuit input end, the absolute value output terminal connects with the fader circuit with asking difference, and its output directly connects A/D converter.
2, by the described control circuit of claim 1, it is characterized in that wherein selective frequency filter circuit adopts the MF10 switching capacity filter, 10,11 pin connect with clock circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94110058 CN1059033C (en) | 1994-02-05 | 1994-02-05 | Control electric circuit for geomagnetic navigation of automatic navigational car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94110058 CN1059033C (en) | 1994-02-05 | 1994-02-05 | Control electric circuit for geomagnetic navigation of automatic navigational car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1110400A true CN1110400A (en) | 1995-10-18 |
| CN1059033C CN1059033C (en) | 2000-11-29 |
Family
ID=5034051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 94110058 Expired - Fee Related CN1059033C (en) | 1994-02-05 | 1994-02-05 | Control electric circuit for geomagnetic navigation of automatic navigational car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1059033C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101354252B (en) * | 2008-09-19 | 2011-04-13 | 北京航空航天大学 | Geomagnetic auxiliary navigation algorithm based on multi-dimension estimation |
| CN109278570A (en) * | 2018-10-11 | 2019-01-29 | 湖北师范大学 | A kind of energy-saving electromagnetic navigation intelligent vehicle, control system and control method |
-
1994
- 1994-02-05 CN CN 94110058 patent/CN1059033C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101354252B (en) * | 2008-09-19 | 2011-04-13 | 北京航空航天大学 | Geomagnetic auxiliary navigation algorithm based on multi-dimension estimation |
| CN109278570A (en) * | 2018-10-11 | 2019-01-29 | 湖北师范大学 | A kind of energy-saving electromagnetic navigation intelligent vehicle, control system and control method |
| CN109278570B (en) * | 2018-10-11 | 2019-12-13 | 湖北师范大学 | Energy-saving electromagnetic navigation intelligent vehicle, control system and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1059033C (en) | 2000-11-29 |
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| CF01 | Termination of patent right due to non-payment of annual fee |