CN112684741B - Three-axis turntable overspeed protection system and method - Google Patents
Three-axis turntable overspeed protection system and method Download PDFInfo
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- CN112684741B CN112684741B CN202011521169.3A CN202011521169A CN112684741B CN 112684741 B CN112684741 B CN 112684741B CN 202011521169 A CN202011521169 A CN 202011521169A CN 112684741 B CN112684741 B CN 112684741B
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Abstract
The invention relates to a three-axis turntable overspeed protection system and a three-axis turntable overspeed protection method, wherein the protection system comprises a first rate gyroscope, a second rate gyroscope, a direct current speed measuring machine, a first signal converter, a second signal converter, an FPGA decoder and a driver, the first rate gyroscope is arranged at the shaft end of a middle frame rotating shaft, the second rate gyroscope is arranged at the shaft end of an outer frame rotating shaft, the first rate gyroscope and the second rate gyroscope respectively acquire the speed information of the middle frame rotating shaft and the outer frame rotating shaft, the direct current speed measuring machine is arranged at the shaft end of an inner frame rotating shaft, the direct current speed measuring machine is used for acquiring the speed information of the inner frame rotating shaft, the first signal converter is connected with the first rate gyroscope and the second rate gyroscope, the second signal converter is connected with the direct current speed measuring machine, the FPGA decoder is respectively connected with the first signal converter, the second signal converter and an upper computer, and the driver is connected with the FPGA decoder. The invention can improve the real-time performance and accuracy of the turntable overspeed protection, and increase the adaptive range of the overspeed protection and the reliability of the system.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a three-axis turntable overspeed protection system and a three-axis turntable overspeed protection method.
Background
The turntable is used as main equipment for inertial navigation testing, and needs to have an accurate rotating speed control function in the movement process, but once the rotating speed is out of control, the condition of equipment overspeed and even 'runaway' can occur, and unpredictable risks are brought to experiments and testing products.
The most important thing in the overspeed protection technology is to perform overspeed judgment and treatment after overspeed in real time. In the related technology, the overspeed protection of the rotary table mainly depends on the angular position feedback value of a sensor to carry out differential operation, the instantaneous speed is calculated and compared with the instruction speed to carry out error judgment, the processing measure is to disconnect the servo closed-loop control, and the rotary table is freely decelerated to stop.
Although the overspeed protection method can meet the test requirements of most products, the following problems still exist for certain inertial navigation products with strict requirements on the rotating speed: the redundancy protection is lacked, all data sources are all based on the angular position encoder, once the encoder fails and the reading is abnormal, the speed judgment is invalid and the protection effect cannot be achieved; the real-time performance of the actual speed is low, the accuracy is low, the noise is large, interference is brought to speed judgment, the actual speed is obtained by carrying out differential calculation on a position value, the differential calculation has certain hysteresis, the differential calculation can introduce large noise, the calculated value is large in fluctuation and low in accuracy, if the judgment condition is strictly set, misjudgment is easy to occur, and if the condition is wide, the protection effect cannot be achieved; the speed out-of-tolerance threshold is fixed, and the same control effect cannot be achieved in different speed ranges; all judgments are software processing, and the safety is not enough.
Disclosure of Invention
The embodiment of the invention provides a three-axis turntable overspeed protection system which can improve the real-time performance and accuracy of turntable overspeed protection, and increase the application range of overspeed protection and the reliability of the system.
The embodiment of the invention also provides a three-axis turntable overspeed protection method.
In a first aspect, an embodiment of the present invention provides an overspeed protection system for a three-axis turntable, where the turntable includes an inner frame rotating shaft, an outer frame rotating shaft, and a middle frame rotating shaft, and the protection system includes: the device comprises a middle frame rotating shaft, a first speed gyroscope, a second speed gyroscope and a controller, wherein the middle frame rotating shaft is arranged on the outer frame rotating shaft; the direct current speed measuring machine is connected with the inner frame rotating shaft and arranged at the shaft end of the inner frame rotating shaft, and the direct current speed measuring machine is used for acquiring speed information of the inner frame rotating shaft and generating a voltage analog signal; the first signal converter is connected with the first rate gyroscope and the second rate gyroscope and is used for converting differential digital signals generated by the first rate gyroscope and the second rate gyroscope into a first single-ended digital signal; the second signal converter is connected with the direct current tachometer and is used for converting a voltage analog signal generated by the direct current tachometer into a second single-ended digital signal; the FPGA decoder is respectively connected with the first signal converter and the second signal converter and is suitable for being connected with an upper computer; and the driver is connected with the FPGA decoder and used for driving the inner frame rotating shaft, the outer frame rotating shaft and the middle frame rotating shaft to rotate.
Preferably, the first signal converter is a differential single-ended converter, and the second signal converter is a high-precision AD converter
Preferably, the three-axis rotary table overspeed protection system further comprises a controller, wherein the controller is connected with the FPGA decoder and is used for closed-loop control of the rotary table.
Preferably, the three-axis rotary table overspeed protection system further comprises a relay, the relay is respectively connected with the driver and the FPGA decoder, and the relay is used for controlling the driver to be turned on or turned off.
In a second aspect, an embodiment of the present invention provides a three-axis rotating table overspeed protection method, including the three-axis overspeed protection system described in any one of the first aspects, where the overspeed protection method includes the following steps:
s1: the first signal converter converts differential digital signals generated by the first rate gyroscope and the second rate gyroscope into a first single-ended digital signal and transmits the first single-ended digital signal to the FPGA decoder, and the second signal converter converts a voltage analog signal generated by the direct current tachometer into a second single-ended digital signal and transmits the second single-ended digital signal to the FPGA decoder;
s2: the FPGA decoder decodes the first single-ended digital signal and the second single-ended digital signal to obtain a real-time rotating speed value V1 of the rotating shaft of the rotary table;
s3: reading a preset rotating speed value V0 of a rotating shaft of the rotary table sent by an upper computer by the FPGA decoder;
s4: comparing a difference value Err between the real-time rotating speed value V1 and a preset rotating speed value V0 with a preset threshold value M by the FPGA decoder;
s5: if Err is larger than or equal to M, entering an overspeed protection step, and if Err is smaller than M, repeating the steps S1-S4.
Preferably, the preset threshold value M = Km × V0, where Km is an overspeed coefficient, and M =1,2,3 \8230, and N is a speed segment number.
Preferably, the step of overspeed protection is that the FPGA decoder outputs two paths of signals, one path of signal is transmitted to the controller to close the turntable closed-loop control, the other path of signal is transmitted to the relay to close the relay, and then the driver is closed.
In summary, the invention has the following beneficial effects:
1. the rate gyroscopes are arranged on the middle frame rotating shaft and the outer frame rotating shaft, and the direct current speed measuring machine is arranged on the inner frame rotating shaft, so that speed coupling among three-axis motions is avoided, the complexity of a protection mechanism is reduced, the accuracy is improved, the real-time performance and the accuracy of actual speed reading are improved, and out-of-control system caused by controller jitter, external interference, feedback angle position sensor faults and the like can be avoided.
2. Different overspeed coefficients are set according to different speed ranges, so that the size of an overspeed judgment threshold value is changed, and the adaptive range of overspeed protection is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a three-axis turntable overspeed protection method according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment of the invention provides an overspeed protection system of a three-axis rotary table, wherein the rotary table comprises an inner frame rotating shaft, an outer frame rotating shaft and a middle frame rotating shaft, and the overspeed protection system of the three-axis rotary table comprises a first rate gyroscope, a second rate gyroscope, a direct current tachometer, a first signal converter, a second signal converter, an FPGA decoder and a driver.
The first rate gyroscope is connected with the middle frame rotating shaft and arranged at the shaft end of the middle frame rotating shaft, the second rate gyroscope is connected with the outer frame rotating shaft and arranged at the shaft end of the outer frame rotating shaft, the first rate gyroscope is used for collecting speed information of the middle frame rotating shaft and generating a differential digital signal, and the second rate gyroscope is used for collecting speed information of the outer frame rotating shaft and generating a differential digital signal. Specifically, the differential digital signals generated by the first rate gyroscope and the second rate gyroscope in the present application are RS422 differential digital signals. It can be understood that, the present application does not specifically limit the model and type of the rate gyroscope, and the rate gyroscope in the present application is an existing device, and the specific model selection may be adaptively adjusted according to actual needs.
The direct current tachometer links to each other with the inside casing pivot and the direct current tachometer is established at the axle head of inside casing pivot, and the direct current tachometer is used for gathering the speed information of inside casing pivot and producing voltage analog signal. It can be understood that the present application does not specifically limit the type of the dc tachometer, and the dc tachometer in the present application is an existing device, and the specific type selection can be adaptively adjusted according to actual needs.
The first signal converter is connected with the first rate gyroscope and the second rate gyroscope and used for converting differential digital signals generated by the first rate gyroscope and the second rate gyroscope into a first single-ended digital signal. It should be understood that the type of the first signal converter is not specifically limited in this application, and since the first signal converter in this application is an existing device, the specific type can be adaptively adjusted according to actual needs.
The second signal converter is connected with the direct current tachometer and used for converting a voltage analog signal generated by the direct current tachometer into a second single-ended digital signal. It should be understood that the second signal converter is not specifically limited in the present application, and since the second signal converter in the present application is an existing device, the specific type may be adaptively adjusted according to actual needs.
The FPGA decoder is connected with the first signal converter and the second signal converter respectively and is suitable for being connected with an upper computer. It can be understood that the present application does not specifically limit the type of the FPGA decoder, and the specific type of the FPGA decoder in the present application is an existing device, and can be adaptively adjusted according to actual needs.
The driver is connected with the FPGA decoder and used for driving the inner frame rotating shaft, the outer frame rotating shaft and the middle frame rotating shaft to rotate. It should be understood that the present application does not specifically limit the type of the driver, and for example, the driver may be a dc servo driver, and since the driver in the present application is an existing device, the specific type may be adaptively adjusted according to actual needs.
According to the overspeed protection system of the three-axis turntable, the rate gyroscopes are arranged on the middle frame rotating shaft and the outer frame rotating shaft, the direct-current tachometer is arranged on the inner frame rotating shaft, so that the speed coupling among three-axis motions is avoided, the complexity of a protection mechanism is reduced, the accuracy is improved, the real-time performance and the accuracy of actual speed reading are improved, and the system out of control caused by controller shaking, external interference, feedback angular position sensor faults and the like can be avoided.
In some embodiments, the first signal converter is a differential-to-single-ended converter, the differential-to-single-ended converter includes a differential-to-single-ended conversion circuit, the second signal converter is a high-precision AD converter, and the high-precision AD converter includes a high-precision AD conversion circuit. It should be understood that the types of the first signal converter and the second signal converter in the present application are not limited thereto, and the differential single-ended conversion circuit and the high-precision AD conversion circuit in the present application are all prior art in the field, and are not described herein in detail.
In some embodiments, the three-axis turntable overspeed protection system further comprises a controller, the controller is connected with the FPGA decoder, and the controller is used for closed-loop control of the turntable.
In some embodiments, the three-axis turntable overspeed protection system further comprises a relay, the relay is respectively connected with the driver and the FPGA decoder, and the relay is used for controlling the driver to be turned on or off.
The three-axis turntable overspeed protection method according to the embodiment of the present invention is described below with reference to fig. 1, and includes the three-axis overspeed protection system according to the embodiment of the present invention, and the overspeed protection method includes the following steps:
s1: the first signal converter converts differential digital signals generated by the first rate gyroscope and the second rate gyroscope into first single-ended digital signals and transmits the first single-ended digital signals to the FPGA decoder, and the second signal converter converts voltage analog signals generated by the direct current tachometer into second single-ended digital signals and transmits the second single-ended digital signals to the FPGA decoder.
S2: and the FPGA decoder decodes the first single-ended digital signal and the second single-ended digital signal to obtain a real-time rotating speed value V1 of the rotary table rotating shaft.
S3: and the FPGA decoder reads a preset rotating speed value V0 of the rotary table rotating shaft sent by the upper computer.
S4: and comparing the difference value Err of the real-time rotating speed value V1 and the preset rotating speed value V0 with a preset threshold value M by the FPGA decoder. Specifically, err = V1-VO.
S5: if Err is larger than or equal to M, entering an overspeed protection step, and if Err is smaller than M, repeating the steps S1-S4.
In some embodiments, the predetermined threshold M = Km V0, where Km is the overspeed factor, and M =1,2,3 \ 8230, where N is the number of velocity segments.
According to the three-axis turntable overspeed protection method provided by the embodiment of the invention, different overspeed coefficients can be set according to different speed ranges, so that the size of an overspeed judgment threshold value is changed, and the application range of overspeed protection is improved.
In some embodiments, the overspeed protection step is that the FPGA decoder outputs two signals, one signal is transmitted to the controller to turn off the turntable closed-loop control, and the other signal is transmitted to the relay to turn off the relay, and then turn off the driver.
It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For the embodiments of the method, reference is made to the partial description of the embodiments of the apparatus for the relevant points. The present invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.
The above description is only an example of the present application and is not intended to limit the present application. Numerous modifications and variations could be made to the present disclosure by those skilled in the art without departing from the scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (5)
1. The utility model provides a triaxial revolving stage overspeed protection system, the revolving stage includes inside casing pivot, frame pivot and center frame pivot, its characterized in that, protection system includes:
the device comprises a first rate gyroscope and a second rate gyroscope, wherein the first rate gyroscope is connected with a middle frame rotating shaft and is arranged at the shaft end of the middle frame rotating shaft, the second rate gyroscope is connected with an outer frame rotating shaft and is arranged at the shaft end of the outer frame rotating shaft, the first rate gyroscope is used for collecting speed information of the middle frame rotating shaft and generating a differential digital signal, and the second rate gyroscope is used for collecting speed information of the outer frame rotating shaft and generating a differential digital signal;
the direct current speed measuring machine is connected with the inner frame rotating shaft and arranged at the shaft end of the inner frame rotating shaft, and the direct current speed measuring machine is used for acquiring the speed information of the inner frame rotating shaft and generating a voltage analog signal;
the first signal converter is connected with the first rate gyroscope and the second rate gyroscope and is used for converting differential digital signals generated by the first rate gyroscope and the second rate gyroscope into a first single-ended digital signal;
the second signal converter is connected with the direct current tachometer and used for converting a voltage analog signal generated by the direct current tachometer into a second single-ended digital signal;
the FPGA decoder is respectively connected with the first signal converter and the second signal converter and is suitable for being connected with an upper computer;
the driver is connected with the FPGA decoder and is used for driving the inner frame rotating shaft, the outer frame rotating shaft and the middle frame rotating shaft to rotate;
the controller is connected with the FPGA decoder and is used for closed-loop control of the rotary table;
the FPGA decoder is connected with the driver, and the relay is used for controlling the driver to be turned on or turned off.
2. The three-axis turret overspeed protection system of claim 1, wherein said first signal converter is a differential single-ended converter and said second signal converter is a high-precision AD converter.
3. A three-axis turret overspeed protection method comprising the three-axis turret overspeed protection system of any of claims 1-2, characterized in that said overspeed protection method comprises the steps of:
s1: the first signal converter converts differential digital signals generated by the first rate gyroscope and the second rate gyroscope into a first single-ended digital signal and transmits the first single-ended digital signal to the FPGA decoder, and the second signal converter converts a voltage analog signal generated by the direct current tachometer into a second single-ended digital signal and transmits the second single-ended digital signal to the FPGA decoder;
s2: the FPGA decoder decodes the first single-ended digital signal and the second single-ended digital signal to obtain a real-time rotating speed value V1 of the rotating shaft of the rotary table;
s3: reading a preset rotating speed value V0 of a rotating shaft of the rotary table sent by an upper computer by the FPGA decoder;
s4: comparing a difference value Err between the real-time rotating speed value V1 and a preset rotating speed value V0 with a preset threshold value M by the FPGA decoder;
s5: if Err is larger than or equal to M, entering an overspeed protection step, and if Err is smaller than M, repeating the steps S1-S4.
4. The three-axis rotary table overspeed protection method as claimed in claim 3, wherein the preset threshold value M = Km × V0, where Km is an overspeed coefficient, and M =1,2,3 \8230, where N is a speed segment number.
5. The three-axis rotary table overspeed protection method according to claim 3 or 4, characterized in that the overspeed protection step is that the FPGA decoder outputs two signals, one signal is transmitted to a controller to turn off the rotary table closed-loop control, the other signal is transmitted to the relay to turn off the relay, and then the driver is turned off.
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| CN113984088B (en) * | 2021-10-11 | 2024-01-26 | 北京信息科技大学 | Multi-position automatic calibration method, device and system for MEMS inertial sensor |
| CN114279481B (en) * | 2021-11-25 | 2023-09-19 | 季华实验室 | System and method for testing fluctuation of rotating speed of encoder |
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| US9857198B2 (en) * | 2015-02-04 | 2018-01-02 | Bae Systems Information And Electronic Systems Integration Inc. | Apparatus and method for inertial sensor calibration |
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| US4418306A (en) * | 1981-11-06 | 1983-11-29 | The United States Of America As Represented By The Secretary Of The Navy | Directional data stabilization system |
| CN104777850A (en) * | 2015-03-30 | 2015-07-15 | 中国电子科技集团公司第三十八研究所 | High-accuracy and splittable three-axis turntable control system |
| CN106155102A (en) * | 2015-03-31 | 2016-11-23 | 北京航天计量测试技术研究所 | Turntable based on Multi-sensor Fusion is spacing, speed-limiting protection system |
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