CN115616959A - Control method of kinetic energy transmitting device - Google Patents
Control method of kinetic energy transmitting device Download PDFInfo
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- CN115616959A CN115616959A CN202211251454.7A CN202211251454A CN115616959A CN 115616959 A CN115616959 A CN 115616959A CN 202211251454 A CN202211251454 A CN 202211251454A CN 115616959 A CN115616959 A CN 115616959A
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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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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Abstract
The invention provides a control method of a kinetic energy transmitting device, which is applied to a control system, wherein the control system is connected with a plurality of external devices, the external devices comprise a motor, a pressure sensor, a plurality of electromagnetic valves and a ammunition feed sensor, and the control system is connected with a control platform; the control method comprises the following steps of S1: judging the operation mode of the control system; s2: in the automatic mode state, the control system extracts the setting parameters of the ammunition feeding mode and the continuous firing times in the command; s3: controlling the charging valve to open and close for charging; s4: if the control system receives the emission stopping instruction, starting the inducing valve to reduce the air pressure of the air chamber, otherwise, executing S5; s5: controlling the motor to rotate to a corresponding magazine position, and detecting whether the shot is in place; s6: when a shot in-place signal is detected, the motor rotates to a zero position, the inducing valve is opened, and when the residual pressure value is lower than a set threshold value, the launching is successful; when the predetermined number of shots is completed, the automatic operation mode is ended.
Description
Technical Field
The invention relates to the technical field of emission control of kinetic energy devices, in particular to a control method of a kinetic energy emission device.
Background
The existing hydrogen gun principle model machine used in the aerospace field has large volume and is not applicable to a control system. Various unstable factors exist in the using process, and the system preparation work cannot be completed quickly; the automatic control system does not have an interface for accessing an aviation master control system, and the automatic control process cannot be flexibly adjusted according to the test requirement. Currently, there is an urgent need to develop a hydrogen gun control system and an automatic control method suitable for the aviation field and various testing requirements on a newly developed hydrogen gun with a light and double-supply magazine structure.
Disclosure of Invention
In order to solve the problems, the invention provides a control method of a kinetic energy transmitting device, which is used for a control system, wherein the control system can receive commands of a control platform, is provided with three operation modes, controls an inflation valve, an induction valve and a motor to complete an automatic transmitting process according to set parameters of the control platform, is provided with five analog quantity channels, detects the operation voltage of the system in real time, and simultaneously monitors the action of an electromagnetic valve device through a monitoring feedback loop to realize the stable operation of the system.
The invention provides a control method of a kinetic energy transmitting device, which is applied to a control system, wherein the control system is connected with a plurality of external devices, the external devices comprise a motor, a pressure sensor, a plurality of electromagnetic valves and an ammunition feed sensor, and the control system is connected with a control platform;
the control method comprises the following steps:
s1: judging the operation mode of the control system;
if an automatic operation command of the control platform is received, entering an automatic mode state and executing the following steps;
s2: the control system extracts the setting parameters of the ammunition feeding mode and the continuous firing times in the command;
s3: controlling the charging valve to open and close for charging, monitoring whether the pressure of the air chamber reaches a set pressure value, and if so, closing the charging valve;
s4: judging whether the control system receives an emission stopping instruction, controlling the induction valve to open after the control system receives the emission stopping instruction, and discharging high-pressure gas in the gas chamber, otherwise, continuing to execute the following steps;
s5: controlling the motor to rotate to a corresponding bullet supply bin position, and detecting whether a bullet in-place signal exists within a set second preset time;
if the shot in-place signal exists, the automatic process is continuously executed; and if no shot in-place signal exists, the control system returns an abnormal code to the control platform, and the automatic operation mode is ended.
S6: the motor rotates to a zero position, the induction valve is automatically opened after the motor reaches the zero position, and the residual pressure value of the air chamber is detected after the motor lasts for third preset time;
when the residual pressure value is lower than the set threshold value, the successful transmission is indicated; otherwise, the system defaults to transmission failure;
and when the preset emission times are finished, ending the automatic running mode.
Furthermore, the control system is provided with at least one path of CAN interface, a plurality of communication ports and a plurality of analog input channels;
the control system comprises a control module, a power supply module and a motor driving module;
the control module is connected with the control platform through the CAN interface, the control platform is connected with the power module and the power end of the control module through the OC switch, the control module is connected with the fire control system through two communication ports, the control module is connected with the emitting device main body through the communication port, the emitting device main body is connected with the motor driving module through the communication port, and the motor driving module is connected with the motor.
Furthermore, the control system is provided with a CAN interface, an RS485 port, two RS422 ports and five analog input channels;
the IO port of the control module is connected with two paths of switch signal telemetering;
five analog quantity channels connected with the control module are respectively two paths of switch state telemetering, pressure telemetering, 15V voltage switch state and analog quantity telemetering and 28V voltage switch state and analog quantity telemetering;
the two ways of switch state telemetering respectively correspond to the inflation solenoid valve and the induction solenoid valve.
Further, step S5 includes an interrupt signal detection, which is turned on when the motor rotates to 75 °, and after the interrupt signal lasts for 1ms, the motor is determined as a normal input signal, and after the signal lasts for 1ms, the motor is turned off.
Furthermore, a feedback detection loop is arranged on the electromagnetic valve and used for monitoring the action of the electromagnetic valve.
Further, in step S3, in the opening and closing process of the inflation valve, the opening times of the inflation valve is set to be not more than 3 times, and each opening time is executed according to the set first preset time.
Further, the first preset time cannot exceed 10 seconds, and the first preset time is set to be 3 seconds.
Further, the second preset time is set to 1 second.
Further, in step S6, the air pressure in the air chamber is reduced by opening the induction valve for a plurality of times, which specifically includes the following steps:
s601: after the motor rotates to a zero position, the induction valve is opened for a third preset time duration, and meanwhile, the pressure change rate of the air chamber is detected;
s602: if the pressure reduction rate in the air chamber exceeds a threshold value, closing the inducing valve, and judging whether the launching is successful or not according to the residual pressure value of the air chamber; if the pressure reduction rate in the air chamber does not exceed the threshold value, whether the opening times of the induction valve is less than or equal to the preset times is judged, if the opening times is less than or equal to the preset times, the induction valve is closed, the step S601 is returned to, the induction valve is opened again, and if the opening times is greater than the preset times, the fault prompt of the induction valve is fed back.
Further, the third preset time is set to be 3 seconds.
The invention has the following beneficial effects:
the motor adopts the communication mode to control, be equipped with the monitoring feedback loop on the solenoid valve, the current position of control motor operation that can be accurate, the interrupt signal detection mechanism has been set up simultaneously, the shot feed control accuracy has been improved, realize that the ammunition feed is to the transmission action smoothness, no card is pause, control system passes through the interface and is connected with control platform, realize the automatic transmission flow based on control platform's instruction, transmission parameter and mode are set for by the staff on control platform, satisfy multiple test demand.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic flow chart of the method of example 1 of the present invention;
FIG. 3 is a schematic flow chart of the method of embodiment 2 of the present invention.
Detailed Description
In the following description, technical solutions in the embodiments of the present invention are clearly and completely described, 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
The embodiment 1 of the invention discloses a control method of a kinetic energy transmitting device, which is applied to a control system, wherein the control system is connected with a plurality of external devices, and the external devices mainly comprise a motor, a pressure sensor, an electromagnetic valve and a ammunition feed sensor;
the control system is provided with a CAN interface, an RS485 port, two RS422 ports and five analog quantity input channels;
the control system comprises a control module, a power supply module and a motor driving module;
the control module is connected with the control platform through the CAN interface, the control platform is connected with the power supply end of the power supply module and the power supply end of the control module through an OC switch, the control module is connected with the fire control system through two RS422 ports, the control module is connected with the transmitting device main body through an RS485 port, the transmitting device main body is connected with the motor driving module through an RS485 port, and the motor driving module is connected with a motor;
in the embodiment, different motor driving programs are stored in the motor driving module, so that when the use environment requirements cannot be met due to insufficient torque and inaccurate positioning of the used motor, the different motors can be rapidly replaced conveniently for testing;
the IO port of the control module is connected with two paths of switch signal telemetering which are respectively a left proximity switch and a right proximity switch; five analog quantity channels connected with the control module are respectively two paths of switch state telemetering, pressure telemetering, 15V voltage switch state and analog quantity telemetering and 28V voltage switch state and analog quantity telemetering;
wherein, the two paths of switch state telemetering respectively correspond to the inflation solenoid valve and the induction solenoid valve.
In this embodiment, the motor driving module controls the motor in a wireless communication manner.
In this embodiment, a feedback detection loop is provided on the solenoid valve to monitor the operation of the solenoid valve.
The current position of the valve body cannot be used as the basis of the mechanical angle position, the mechanical fit can have a gap in actual use, and the actual position of a mechanical part can be detected only by mounting a position sensor on the valve body.
As shown in fig. 1, the method comprises the following specific steps:
s1: judging the operation mode of the control system;
if an automatic operation command of the control platform is received, entering an automatic mode state;
s2: the control system extracts the setting parameters of the ammunition feeding mode and the continuous firing times in the command;
s3: controlling the charging valve to open and close for charging, monitoring whether the pressure of the air chamber reaches a set pressure value, and if so, closing the charging valve;
after the inflation valve is closed, the control platform can send a command for stopping emission to the control system in the period;
in this embodiment, in the process of opening and closing the inflation valve to inflate, the time for opening the inflation valve each time cannot exceed 10 seconds, specifically, the valve can be automatically opened 3 times per firing process, and the opening time of the inflation valve each time is 3 seconds.
S4: whether the system has an emission stopping instruction is checked, and after the system receives the emission stopping instruction, the induction valve is controlled to be opened, high-pressure gas in the gas chamber is discharged, and the safety threat of the high-pressure gas chamber and related accessories to the whole carrying environment is reduced.
If the system does not receive the emission stopping instruction, the system continues to automatically execute the action downwards according to the normal working flow.
S5: controlling the motor to rotate to a corresponding bullet supply bin position, and detecting whether a bullet in-place signal exists after waiting for 1 second;
specifically, the ammunition feeding motor is controlled to rotate by 90 degrees leftwards or rightwards to rotate to a corresponding ammunition feeding bin position;
if the shot in-place signal exists, the automatic process is continuously executed; if no projectile in-place signal exists, abnormal problems related to the projectile blocking may occur, and at the moment, the control system returns an abnormal code to the control platform to end the automatic operation mode.
When a motor power line and a signal on the transmitting device main body are connected with the control panel, the wiring can only be parallel wiring, the wiring mode easily causes the power line to interfere with the signal line, and in practical application, the condition that the magazine sensor does not receive the action of the shot and outputs the signal to the controller appears for many times. Because the bullet feeding in-place detection sensor adopts an external interrupt input mode, the system enters an interrupt program ceaselessly due to interference signals, and a normal flow cannot be continuously executed.
In the present embodiment, the interrupt signal detection is turned on after the valve body has rotated to 75 °, and the interrupt signal is regarded as a normal input signal after 1 ms. After receiving the signal lasting 1ms, the interrupt is closed.
S6: the motor rotates 90 degrees and rotates to a zero position, and after the zero position is reached, the induction valve is automatically opened for 3 seconds, and then the residual pressure value of the air chamber is detected;
and when the residual pressure value is lower than the set threshold value, the transmission is successful. Otherwise, the system defaults to transmission failure;
when the predetermined number of shots is completed, the automatic operation mode is ended.
In this embodiment, the operation modes of the control system include a safety mode, an automatic mode, and a manual mode;
wherein, the safe mode: in the mode, any device capable of executing actions can not be operated, and only the current power supply voltage, the residual quantity of the shots and the current pressure of the air chamber of the system can be monitored;
manual mode: all components can be operated in the mode to perform actions in a single step;
automatic mode: the mode automatically completes the whole set of emission process according to 2 different emission modes selected by the control platform.
The power supply of the whole control system is controlled by the OC on/off of the platform. When the OC is on, the system control program automatically enters a safe mode after the initialization of the system control program is finished. In this mode, neither the motor nor the solenoid valve can perform any action. After the platform gives the manual operation mode instruction, the fire control system can be powered on manually. After the fire control system is powered on for 2 seconds, the system can automatically judge whether the motor is in an absolute zero position. If the motor is in the zero position, the system operating motor instruction is effective, and other action function instructions are also effective. If the motor is not at the zero position at the moment, the system sends a zero returning instruction to the motor to enable the motor to return to the zero position to be standby.
Example 2
the control system is provided with a CAN interface, an RS485 port, two RS422 ports and five analog quantity input channels;
the control system comprises a control module, a power supply module and a motor driving module;
the control module is connected with the control platform through the CAN interface, the control platform is connected with the power supply end of the power supply module and the power supply end of the control module through an OC switch, the control module is connected with the fire control system through two RS422 ports, the control module is connected with the transmitting device main body through an RS485 port, the transmitting device main body is connected with the motor driving module through an RS485 port, and the motor driving module is connected with a motor;
in the embodiment, different motor driving programs are stored in the motor driving module, so that when the use environment requirements cannot be met due to insufficient torque and inaccurate positioning of the used motor, the different motors can be rapidly replaced conveniently for testing;
the IO port of the control module is connected with two paths of switch signal telemetering, namely a left proximity switch and a right proximity switch; five analog quantity channels connected with the control module are respectively two paths of switch state telemetering, pressure telemetering, 15V voltage switch state and analog quantity telemetering and 28V voltage switch state and analog quantity telemetering;
wherein, the two paths of switch state telemetering respectively correspond to the inflation solenoid valve and the induction solenoid valve.
In this embodiment, the motor driving module controls the motor in a wireless communication manner.
In this embodiment, a feedback detection loop is provided on the solenoid valve to monitor the operation of the solenoid valve.
The current position of the valve body cannot be used as the basis of the mechanical angle position, the mechanical fit can have a gap in actual use, and a position sensor is required to be mounted on the valve body to detect the real position of a mechanical part.
As shown in fig. 1, the method comprises the following specific steps:
s1: judging the operation mode of the control system;
if an automatic operation command of the control platform is received, entering an automatic mode state;
s2: the control system extracts the setting parameters of the ammunition feeding mode and the continuous firing times in the command;
s3: controlling the charging valve to open and close for charging, monitoring whether the pressure of the air chamber reaches a set pressure value, and if so, closing the charging valve;
after the inflation valve is closed, the control platform can send a command of stopping transmitting to the control system in the period;
in this embodiment, in the process of opening and closing the inflation valve to inflate, the time for opening the inflation valve each time cannot exceed 10 seconds, specifically, the valve can be automatically opened 3 times per firing process, and the opening time of the inflation valve each time is 3 seconds.
S4: whether the system has an emission stopping instruction is checked, and after the system receives the emission stopping instruction, the induction valve is controlled to be opened, high-pressure gas in the gas chamber is discharged, and the safety threat of the high-pressure gas chamber and related accessories to the whole carrying environment is reduced.
If the system does not receive the instruction of stopping transmitting, the system continues to automatically execute the action downwards according to the normal working flow.
S5: controlling the motor to rotate to a corresponding bullet supply bin position, and detecting whether a bullet in-place signal exists after waiting for 1 second;
specifically, the ammunition feeding motor is controlled to rotate by 90 degrees leftwards or rightwards to rotate to a corresponding ammunition feeding position;
if the shot in-place signal exists, the automatic process is continuously executed; if no projectile in-place signal exists, abnormal problems related to the projectile blocking may occur, and at the moment, the control system returns an abnormal code to the control platform to end the automatic operation mode.
When the motor power line and the signal on the transmitting device main body are connected with the control panel, the wiring can only be parallel wiring, the wiring mode easily causes the power line to interfere the signal line, and in the practical application, the condition that the magazine sensor does not receive the action of the shot and outputs the signal to the controller appears for many times. Because the bullet feeding in-place detection sensor adopts an external interrupt input mode, the system enters an interrupt program ceaselessly due to interference signals, and a normal flow cannot be continuously executed.
In the present embodiment, the interrupt signal detection is turned on after the valve body has rotated to 75 °, and the interrupt signal is regarded as a normal input signal after 1 ms. The interrupt is turned off after receiving a signal lasting 1 ms.
S6: the motor rotates 90 degrees and rotates to a zero position, the induction valve is automatically opened to reduce the pressure of the air chamber after the zero position is reached, and whether the launching is successful or not is judged; judging according to the residual pressure value, and if the residual pressure value of the air chamber is lower than a set threshold value, indicating that the launching is successful; otherwise, the system defaults to transmission failure;
and when the preset emission times are finished, ending the automatic running mode, and returning to the step S5 if the preset emission times are not met.
The specific process is as follows:
s601: after the motor rotates to a zero position, the induction valve is opened for 3 seconds, and meanwhile, the pressure change rate of the air chamber is detected;
s602: if the pressure reduction rate in the air chamber exceeds the threshold value, the inducing valve is closed, and whether the launching is successful or not is judged according to the residual pressure value of the air chamber;
if the pressure reduction rate in the air chamber does not exceed the threshold value, whether the opening times of the induction valve is less than or equal to 3 is judged, if the opening times is less than or equal to 3, the induction valve is closed and then the step S601 is returned to start the induction valve again, and if the opening times is more than 3, the fault prompt of the induction valve is fed back.
In this embodiment, the operation modes of the control system include a safety mode, an automatic mode, and a manual mode;
wherein, the safe mode: in the mode, any device capable of executing actions can not be operated, and only the current power supply voltage, the residual quantity of the shots and the current pressure of the air chamber of the system can be monitored;
manual mode: in the mode, all components can be operated to perform actions in a single step;
automatic mode: the mode automatically completes the whole set of emission process according to 2 different emission modes selected by the control platform.
The power supply of the whole control system is controlled by the OC on/off of the platform. When the OC is on, the system control program automatically enters a safe mode after the initialization of the system control program is finished. In this mode, neither the motor nor the solenoid valve can perform any action. After the platform gives the manual operation mode instruction, the fire control system can be powered on manually. After the fire control system is powered on for 2 seconds, the system can automatically judge whether the motor is in an absolute zero position. If the motor is in the zero position, the system operates the motor command to be effective, and other action function commands are also effective. If the motor is not at the zero position at the moment, the system sends a zero returning instruction to the motor to enable the motor to return to the zero position to be standby.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (10)
1. The control method of the kinetic energy transmitting device is characterized by being applied to a control system, wherein the control system is connected with a plurality of external devices, the external devices comprise a motor, a pressure sensor, a plurality of electromagnetic valves and an ammunition feed sensor, and the control system is connected with a control platform;
the control method comprises the following steps:
s1: judging the operation mode of the control system;
if an automatic operation command of the control platform is received, entering an automatic mode state, and executing the following steps;
s2: the control system extracts the setting parameters of the ammunition feeding mode and the continuous firing times in the command;
s3: controlling the charging valve to open and close for charging, monitoring whether the pressure of the air chamber reaches a set pressure value, and if so, closing the charging valve;
s4: judging whether the control system receives an emission stopping instruction, controlling the induction valve to open after the control system receives the emission stopping instruction, and exhausting high-pressure gas in the gas chamber, otherwise, continuing to execute the following steps;
s5: controlling the motor to rotate to a corresponding bullet supply bin position, and detecting whether a bullet in-place signal exists within a set second preset time;
if the shot in-place signal exists, the automatic process is continuously executed; if no shot in-place signal exists, the control system returns an abnormal code to the control platform, and the automatic operation mode is ended;
s6: the motor rotates to a zero position, the induction valve is automatically opened after the zero position is reached, and the residual pressure value of the air chamber is detected after the third preset time is continued;
when the residual pressure value is lower than the set threshold value, the successful transmission is indicated; otherwise, the system defaults to transmission failure;
and when the preset emission times are finished, ending the automatic running mode.
2. The control method of the kinetic energy emission device as claimed in claim 1, wherein the control system is provided with at least one CAN interface, a plurality of communication ports and a plurality of analog input channels;
the control system comprises a control module, a power supply module and a motor driving module;
the control module passes through the CAN interface with control platform connects, control platform passes through the OC switch connection power module with control module's power end, control module is connected with fire control system through two way communication ports, control module passes through communication port and is connected with the emitter main part, the emitter main part pass through communication port with motor drive module connects, motor drive module connects the motor.
3. The control method of the kinetic energy emission device of claim 2, wherein the control system is provided with a CAN interface, an RS485 port, two RS422 ports and five analog input channels;
the IO port of the control module is connected with two paths of switch signal telemetering;
five analog quantity channels connected with the control module are respectively two paths of switch state telemetering, pressure telemetering, 15V voltage switch state and analog quantity telemetering and 28V voltage switch state and analog quantity telemetering;
the two ways of switch state remote measurement respectively correspond to the inflation solenoid valve and the induction solenoid valve.
4. The method as claimed in claim 1, further comprising an interrupt signal detection step S5, wherein the interrupt signal detection is turned on when the motor rotates to 75 °, the normal input signal is recognized after the interrupt signal lasts for 1ms, and the interrupt is turned off after the signal lasts for 1 ms.
5. The control method of the kinetic energy emission device as defined in claim 1, wherein the solenoid valve is provided with a feedback detection loop for monitoring the operation of the solenoid valve.
6. The control method of the kinetic energy emission device as claimed in claim 1, wherein in the step S3, the number of times of opening the inflation valve is set not to exceed 3 times during the opening and closing of the inflation valve, and each opening time is performed according to the set first preset time.
7. The control method of the kinetic energy emitting device as set forth in claim 6, wherein the first preset time cannot exceed 10 seconds and is set to 3 seconds.
8. The control method of the kinetic energy emission device as claimed in claim 1, wherein the second preset time is set to 1 second.
9. The method for controlling a kinetic energy emission device as claimed in claim 1, wherein in step S6, the air pressure of the air chamber is reduced by opening the induction valve a plurality of times, which comprises the following steps:
s601: after the motor rotates to a zero position, the induction valve is opened for a third preset time duration, and meanwhile, the pressure change rate of the air chamber is detected;
s602: if the pressure reduction rate in the air chamber exceeds a threshold value, closing the inducing valve, and judging whether the launching is successful or not according to the residual pressure value of the air chamber; if the pressure reduction rate in the air chamber does not exceed the threshold value, whether the opening times of the induction valve is less than or equal to the preset times or not is judged, if the opening times are less than or equal to the preset times, the step S601 is returned to start the induction valve again after the induction valve is closed, and if the opening times are less than or equal to the preset times and greater than the preset times, the fault prompt of the induction valve is fed back.
10. The control method of a kinetic energy emission device as claimed in any one of claims 1 or 9, wherein the third preset time is set to 3 seconds.
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| CN202211251454.7A CN115616959A (en) | 2022-10-13 | 2022-10-13 | Control method of kinetic energy transmitting device |
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| CN202211251454.7A CN115616959A (en) | 2022-10-13 | 2022-10-13 | Control method of kinetic energy transmitting device |
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| CN202211251454.7A Pending CN115616959A (en) | 2022-10-13 | 2022-10-13 | Control method of kinetic energy transmitting device |
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