CN115694323A - Stable tracker locking control method with two-stage overcurrent protection - Google Patents
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Abstract
The invention relates to a locking control method of a stable tracker with two-stage overcurrent protection, which is characterized in that a two-stage overcurrent protection circuit is added in a locking control circuit, a current of a motor bus is converted into a voltage through a precision resistor and is compared with a preset voltage of a comparison circuit, if the current of the motor bus is greater than a threshold value, a comparison chip outputs a high level to a programmable device CPLD (a low level is output when no overcurrent exists), the programmable device CPLD reads an overcurrent signal, the current of the motor can be clamped in a reasonable monitoring range, the instantaneous increase of the motor is avoided, and if the large current lasts for a period of time and an I2t overcurrent protection condition is triggered, the programmable device can send an output prohibition command to a motor driving chip to stop the driving motor, so that the aim of protecting the locked motor is achieved. The invention can realize the monitoring of the current in the locking action and the unlocking action only by adding the sampling resistor and the comparator, effectively solves the problem of locked rotor protection of the locking mechanism and saves the cost.
Description
Technical Field
The invention belongs to the field of servo control, and particularly relates to a locking control method of a locking mechanism of a stable tracker.
Background
The stable tracker is an important component of an XX bullet combined weapon, and mainly aims to provide a stable platform for tracking radar, television, infrared, laser and other tracking equipment, overcome the influence of vehicle body disturbance and advancing and ensure that the tracking equipment can quickly, accurately, stably and reliably complete target capture and tracking. The locking mechanism is a locking device in the stable platform system and is arranged on the periphery of the stable platform, and the stable tracker is arranged on a certain self-propelled gun turret and has a severe working environment, so that the safety and the reliability of the performance of the locking mechanism play an important role in the normal work of the stable tracker.
At present, a locking control module of a stable tracker mainly adopts a relay to control a locking mechanism to lock and unlock. And when the locking control signal is effective, executing locking action, stopping locking after detecting that the locking is in place, and outputting a locking in-place signal. And when the unlocking control signal is effective, unlocking is executed, unlocking is stopped after the unlocking in place is detected, and an unlocking in place signal is output. The locking control mode has a simple circuit, but lacks the monitoring of the movement of the locking pin in the locking hole, and when the locking mechanism is blocked or the in-place switch fails, the motor is easily blocked, so that the motor is burnt or the mechanism is damaged.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a locking control method of a stable tracker with a two-stage overcurrent protection function.
Technical scheme
A locking control method of a stable tracker with an overcurrent protection function is characterized by comprising the following steps:
step 1: the motor bus is connected with a sampling resistor in series, and the bus current can be converted into voltage through an operational amplifier and then input to pins 3 and 5 of the hysteresis comparator AiP2903SA to be used as the input ends of the two-stage comparator respectively; the +12V voltage of a power supply can be divided to a set value through different voltage dividing resistors, and pins 2 and 6 of a hysteresis comparator AiP2903SA are introduced to serve as input thresholds of a two-stage comparator, wherein the pin 2 serves as a first-stage voltage threshold, the pin 6 serves as a second-stage voltage threshold, and the second-stage voltage threshold is set to be 2 times of the first-stage voltage threshold; the set value is used as a reference value of the software protection circuit, and the circuit can be suitable for the control of motors with different powers by changing different set values;
step 2: when the 3-pin voltage signal input to the comparator AiP2903SA is greater than the threshold voltage of the 2 pin, the comparator AiP2903SA pin 1 outputs a high level to the CPLD, otherwise, outputs a low level to the CPLD; similarly, when the voltage signal of pin 5 input to the comparator AiP2903SA is greater than the threshold voltage of pin 6, the comparator AiP2903SA pin 7 outputs a high level to the CPLD, otherwise, outputs a low level to the CPLD;
and step 3: the CPLD regularly acquires level signals of the SA pin 1 and the SA pin 7 of the comparator AiP2903, and performs software anti-interference processing, and then performs on/off driving operation, wherein the logic processing is as follows:
(a) The CPLD acquires level signals of a pin 1 and a pin 7 of an SA (standard voltage) of a comparator AiP2903 in real time, when the pin 1 outputs a high level, the current motor bus voltage is larger than a first-level voltage threshold, the driving operation is closed, and when the bus voltage falls back to the first-level voltage threshold, the opening driving operation is executed again, so that the bus current is clamped in a proper range when the motor is locked, and the instantaneous rise of the current is avoided;
(b) When the motor is locked, the CPLD can judge whether the current exceeds a threshold value and repeatedly execute the operation of closing and opening the drive, so that the motor drive needs to be completely disconnected after the overcurrent state lasts for a period of time, and the fault state is reported; considering that the glitch signal of the motor bus current may cause the output pin level of the comparator AiP2903SA to be high, the CPLD adopts 'I' here 2 t' processing the data; high-stability crystal oscillator frequency division is adopted, the sampling period is 10K, the size of a sliding window is 80000, the comparison threshold is 40000, namely, a comparator Ai in an 8S time period is acquiredIf the overcurrent frequency output by the P2903SA pin 1 is greater than 40000, judging the overcurrent fault;
(c) Considering that the power supply of the locking mechanism of the stable tracker is provided by a vehicle-mounted power supply, the power supply has large surge, and occasionally the situation of high-power overload caused by insufficient current clamping exists; therefore, a two-stage voltage comparison threshold is adopted, and if the level signal of pin 7 of the comparator AiP2903SA acquired by the CPLD is high, the bus current of the motor is larger than the second-stage voltage threshold, the motor drive needs to be completely disconnected as soon as possible, and a fault state is reported; CPLD adopts' I 2 t' when the data is processed, the sampling period and the size of the sliding window are not changed, the comparison threshold is reduced to 10000, namely the overcurrent frequency output by the pin 1 of the comparator AiP2903SA in the 8S acquisition time period is greater than 10000, and then the overcurrent fault is judged; the sampling period, the size of the sliding window and the comparison threshold can be adaptively changed according to different motors and locking mechanisms.
A computer system, comprising: one or more processors, a computer readable storage medium, for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the above-described method.
A computer-readable storage medium having stored thereon computer-executable instructions for performing the above-described method when executed.
Advantageous effects
The stable tracker locking control method with the two-stage overcurrent protection function provided by the invention adopts the comparator AiP2903SA, has a stable and reliable overcurrent protection function, and can be adaptively changed aiming at different locking mechanisms and locking motors. The invention avoids the hidden danger of motor burnout or mechanism damage when the locking mechanism is locked or the in-place switch fails in the traditional relay locking control mode, and simultaneously avoids the use of a current sensor and an AD chip, thereby saving the cost.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1: an overcurrent protection hardware circuit;
FIG. 2: a system hardware architecture block diagram;
FIG. 3: and (4) a control flow chart of the CPLD.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
System design parameters: the maximum supply voltage Udc =80V, the maximum continuous output current 10A, and current protection during locking and unlocking of the locking mechanism can be performed.
Fig. 1 shows an overcurrent hardware protection circuit, and AiP2903 is composed of two independent voltage comparators, and is designed to work in a single power supply wide voltage range, and can also be powered by dual power supplies, and the output can be connected to other open-collector outputs to achieve a line-to-line relationship. The power supply is 12V, the voltage dividing resistors R35 and R39 are used to obtain a first-level voltage threshold of 1.2V, and according to the conversion relation between the motor bus current and the voltage of the circuit design, the threshold voltage of 1.2V represents that the motor bus current threshold is 1.2A. And voltage dividing resistors R35 and R39 are used to obtain a second-stage voltage threshold of 2.4V, namely a motor bus current threshold of 2.4A. (other parts of the circuit may be described here)
Fig. 2 shows a block diagram of a hardware structure of the whole system, which mainly includes a main control unit CPLD, an H-bridge driving circuit, an overcurrent detection unit, an overcurrent comparison circuit, an overcurrent software protection unit, an in-place switch, a power supply, and the like. The main control unit is composed of a programmable device EPM1270T14415N and a peripheral circuit thereof, and is the core of a locking control module, after receiving a master station adjusting command, the main control unit judges whether an overcurrent protection condition is triggered or not by combining an overcurrent detection signal fed back by a precision resistor and a real-time processing result of a position point IO digital quantity signal fed back by an upper limit switch and a lower limit switch, and finally forms a control command of a driving motor and sends the control command to a motor driving unit to enable the motor to act, so that a locking pin is extended or retracted into a locking groove, and the locking and unlocking process is realized.
FIG. 3 shows a workflow diagram of the locking controller for stabilizing tracker locking, with the unlocking process similar. When the locking plate receives a locking instruction, a locking action is executed, if no overcurrent exists in the locking process, the motor drives the locking pin to move towards the locking hole, and when the microswitch detects that the locking is in place, the motor stops rotating and reports that the locking is in place. In the locking process, the overcurrent protection unit converts the current of the motor into voltage through a precision resistor and compares the voltage with the preset voltage of the comparison circuit, and if the voltage is greater than a threshold value and the overcurrent continues for a period of time, the overcurrent protection unit triggers I 2 Under the condition of t overcurrent protection, the CPLD thoroughly cuts off the motor drive, stops locking action and reports a fault state.
The invention adds a two-stage overcurrent protection circuit in the locking control circuit for the first time, the overcurrent protection unit converts the current of the motor bus into voltage through a precision resistor and compares the voltage with the preset voltage of a comparison circuit, if the current of the motor bus is greater than a threshold value, a comparison chip outputs a high level to a programmable device CPLD (outputs a low level when not overcurrent), the programmable device CPLD reads an overcurrent signal, the current of the motor can be clamped in a reasonable monitoring range, the instantaneous increase of the motor is avoided, if the large current lasts for a period of time and triggers an I2t overcurrent protection condition, the programmable device can send an output prohibition command to a motor driving chip to stop the driving motor, and the aim of protecting and locking the motor is achieved. According to the mode, under the condition that a current sensor and an AD chip are not used, the current monitoring in the locking action and the unlocking action can be realized only by adding the sampling resistor and the comparator, the problem of locked rotor protection of the locking mechanism is effectively solved, and the cost is saved.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.
Claims (3)
1. A locking control method of a stable tracker with an overcurrent protection function is characterized by comprising the following steps:
step 1: the motor bus is connected with a sampling resistor in series, and the bus current can be converted into voltage through an operational amplifier and then input to pins 3 and 5 of a hysteresis comparator AiP2903SA to be used as input ends of two stages of comparators respectively; the +12V voltage of a power supply can be divided to a set value through different voltage dividing resistors, and pins 2 and 6 of a hysteresis comparator AiP2903SA are introduced to serve as input thresholds of a two-stage comparator, wherein the pin 2 serves as a first-stage voltage threshold, the pin 6 serves as a second-stage voltage threshold, and the second-stage voltage threshold is set to be 2 times of the first-stage voltage threshold; the set value is used as a reference value of the software protection circuit, and the circuit can be suitable for the control of motors with different powers by changing different set values;
and 2, step: when the 3-pin voltage signal input to the comparator AiP2903SA is greater than the threshold voltage of the 2 pin, the comparator AiP2903SA pin 1 outputs a high level to the CPLD, otherwise, outputs a low level to the CPLD; similarly, when the voltage signal of pin 5 input to the comparator AiP2903SA is greater than the threshold voltage of pin 6, the comparator AiP2903SA pin 7 outputs a high level to the CPLD, otherwise, outputs a low level to the CPLD;
and step 3: the CPLD regularly acquires level signals of the SA pin 1 and the SA pin 7 of the comparator AiP2903, and performs software anti-interference processing, and then performs on/off driving operation, wherein the logic processing is as follows:
(a) The CPLD acquires level signals of a pin 1 and a pin 7 of the SA AiP2903 in real time, when the pin 1 outputs a high level, the driving operation is closed when the current motor bus voltage is larger than a first-level voltage threshold, and the opening driving operation is executed again when the bus voltage falls back to the first-level voltage threshold, so that the bus current is clamped in a proper range when the motor stalls, and the instantaneous rise of the current is avoided;
(b) When the motor is locked, the CPLD can judge whether the current exceeds the threshold value and repeatedly execute the closing and opening driving operations,therefore, after the overcurrent state lasts for a period of time, the motor drive needs to be thoroughly disconnected, and a fault state needs to be reported; considering that the glitch signal of the motor bus current may cause the output pin level of the comparator AiP2903SA to be high, the CPLD adopts 'I' here 2 t' processing the data; adopting high-stability crystal oscillator frequency division, wherein the sampling period is 10K, the size of a sliding window is 80000, and the comparison threshold value is 40000, namely, if the number of overcurrent times output by a pin 1 of a comparator AiP2903SA in an 8S time period is acquired to be greater than 40000, judging that overcurrent faults occur;
(c) Considering that the power supply of the locking mechanism of the stable tracker is provided by a vehicle-mounted power supply, the power supply has large surge, and occasionally, the condition of high-power overload caused by insufficient current clamping exists; therefore, a two-stage voltage comparison threshold is adopted, and if the level signal of pin 7 of the comparator AiP2903SA acquired by the CPLD is high, the bus current of the motor is larger than the second-stage voltage threshold, the motor drive needs to be completely disconnected as soon as possible, and a fault state is reported; CPLD adopts "I 2 t' when the data is processed, the sampling period and the size of the sliding window are not changed, the comparison threshold is reduced to 10000, namely the overcurrent frequency output by the pin 1 of the comparator AiP2903SA in the 8S acquisition time period is greater than 10000, and then the overcurrent fault is judged; the sampling period, the size of the sliding window and the comparison threshold can be adaptively changed according to different motors and locking mechanisms.
2. A computer system, comprising: one or more processors, a computer readable storage medium, for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 1.
3. A computer-readable storage medium having stored thereon computer-executable instructions for, when executed, implementing the method of claim 1.
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| CN202211239510.5A CN115694323B (en) | 2022-10-11 | 2022-10-11 | Stable tracker locking control method with two-stage overcurrent protection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116799746A (en) * | 2023-08-16 | 2023-09-22 | 天合光能股份有限公司 | Protection circuit, load protection method and protection system |
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| WO2021168906A1 (en) * | 2020-02-26 | 2021-09-02 | 浙江禾川科技股份有限公司 | Servo driver and overcurrent fault protection circuit therefor |
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Patent Citations (3)
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| US20120319489A1 (en) * | 2011-06-15 | 2012-12-20 | Mccaslin Shawn R | Power Shuffling Solar String Equalization System |
| CN105591353A (en) * | 2016-02-24 | 2016-05-18 | 中国兵器工业集团第二一四研究所苏州研发中心 | Driving overcurrent protection circuit having anti-oscillation function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116799746A (en) * | 2023-08-16 | 2023-09-22 | 天合光能股份有限公司 | Protection circuit, load protection method and protection system |
| CN116799746B (en) * | 2023-08-16 | 2023-11-10 | 天合光能股份有限公司 | Protection circuit, load protection method and protection system |
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