CN118226775A - Control system and control method for locking mechanism of heavy-load swing table - Google Patents
Control system and control method for locking mechanism of heavy-load swing table Download PDFInfo
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- CN118226775A CN118226775A CN202410170417.6A CN202410170417A CN118226775A CN 118226775 A CN118226775 A CN 118226775A CN 202410170417 A CN202410170417 A CN 202410170417A CN 118226775 A CN118226775 A CN 118226775A
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Abstract
The invention belongs to the technical field of swing table control, and particularly relates to a control system and a control method for a locking mechanism of a heavy-load swing table. The control system of the locking mechanism of the heavy-load swing table comprises a motor driver, a control device, a gesture acquisition device and a limit sensor; the motor driver is used for controlling the motor of the locking mechanism to realize the action of the locking mechanism, the gesture acquisition device is used for acquiring the gesture information of the swinging platform, and the limit sensor is used for acquiring the state information of the locking mechanism; the control device is connected with the gesture acquisition device and the limit sensor to acquire information acquired by the gesture acquisition device and the limit sensor, and is connected with the motor driver to send an instruction to the motor driver according to gesture information of the swinging platform and state information of the locking mechanism so as to enable the motor driver to control the action of the locking mechanism, locking of the swinging platform is achieved, shaking of the heavy-load swinging platform due to inertia is prevented, and stability and reliability of the swinging platform are improved.
Description
Technical Field
The invention belongs to the technical field of swing table control, and particularly relates to a control system and a control method for a locking mechanism of a heavy-load swing table.
Background
The swinging test bed is used for placing the carrier-based equipment on a test platform, simulating the real motion gesture of a ship at sea and testing whether the functions of the carrier-based equipment meet the requirements of the motion gesture at sea; the large-load (load of more than 100 tons) swinging table is large in self weight and large in inertia, and shake is easy to generate when the table body stops to a theoretical zero position, so that the position of the table body is easy to generate shake change when the table body stops to the zero position, and the starting position and the last stopping position are easy to deviate when the table body is restarted after stopping, so that the precision of closed-loop motion control of a hydraulic system is influenced; in order to enable the large-load swing table to be stable at a designated position in the zero position, and enable the hydraulic system to provide a stable position starting point when the table body is zeroed and restarted, a control device is required to perform functional control such as locking, unlocking, fine adjustment, locking and positioning of 4 endpoints on each degree of freedom of the locking mechanism of the square table body, and stable control of the locking mechanism on the table body is guaranteed.
Disclosure of Invention
The invention aims to provide a control system and a control method for a locking mechanism of a heavy-load swing table, which are used for solving the technical problem that the heavy-load swing table is easy to shake.
In order to solve the technical problems, the invention provides a control system of a locking mechanism of a heavy-load swing table, which comprises a motor driver, a control device, a gesture acquisition device and a limit sensor; the motor driver is used for controlling the motor of the locking mechanism to realize the action of the locking mechanism, the gesture acquisition device is used for acquiring the gesture information of the swinging platform, and the limit sensor is used for acquiring the state information of the locking mechanism; the control device is connected with the gesture acquisition device and the limit sensor to acquire information acquired by the gesture acquisition device and the limit sensor, and is connected with the motor driver to send an instruction to the motor driver according to the gesture information of the swinging table and the state information of the locking mechanism so that the motor driver controls the action of the locking mechanism.
Further, the system also comprises a man-machine interface, wherein the man-machine interface is connected with the control device to send instructions to the control device.
Further, the control device is also used for connecting a hydraulic system to send a hydraulic pump start-stop instruction and attitude angle information of the swing table to the hydraulic system.
Further, the motor driver is connected with the control device by using a CAN bus interface.
Further, the control device processor uses a structure including an ARM and an FPGA.
The invention provides a control system for a locking mechanism of a heavy-load swing table, which has the beneficial effects that in order to solve the technical problem that the heavy-load swing table is easy to shake, a locking mechanism is needed to be added on the swing table, and the control system uses a control device to issue a control instruction to an electric appliance driver to control the locking mechanism to move according to information acquired by a gesture sensor and a limiting device, so that the swing table is locked, the shake caused by the inertia of the swing table is prevented, and the stability and the reliability of the swing table are improved.
In order to solve the technical problem, the invention also provides a control method of the locking mechanism of the heavy-load swing table, and the control device sends an instruction to the motor driver to control the action of the locking mechanism according to the attitude angle information of the swing table acquired by the attitude acquisition device and the state information of the locking mechanism acquired by the limit sensor.
Further, the method for the motor driver to receive the control command and control the locking mechanism to act is as follows:
the control device establishes communication with the corresponding motor driver;
when the corresponding motor driver receives the speed command, the type of the command is judged: if the command is a locking command or an unlocking command and no residual unclean command exists, controlling the locking mechanism to operate according to the direction and the speed of the command; if the locking instruction is in the position and no residual unclean instruction exists, controlling the locking mechanism to operate at the instruction speed according to the corresponding direction according to the position of the locking mechanism;
When the corresponding motor driver receives the position command, the motor is controlled to reach the set position according to the corresponding direction according to the received position command.
Further, after judging the type of the instruction is finished, if the instruction is not cleared, the instruction is cleared, and then the locking mechanism is controlled to operate according to the corresponding function according to the instruction.
Further, the method for judging whether the residual unremoved instruction exists or not is as follows: judging whether other types of speed instructions exist after receiving a certain speed instruction, and if so, indicating that residual instructions which are not cleared exist; if there are no other types of speed instructions, then no residual unremoved instructions are indicated.
Further, the method also comprises the step of enabling the driver to disable and clear the instruction data after the received instruction is executed.
The beneficial effects are as follows: in order to solve the technical problem that a large-load swinging table is easy to shake, a locking mechanism needs to be added on the swinging table, and the invention provides a control method for the locking mechanism of the large-load swinging table.
Drawings
FIG. 1 is a schematic diagram of a control device of an embodiment of a control device of the present invention;
FIG. 2 is a control unit block diagram of a control unit embodiment of the present invention;
FIG. 3 is a schematic diagram of a control device control board of a control device embodiment of the present invention;
Fig. 4 is a control method logic flow diagram of a control method embodiment of the present invention.
The reference numerals are as follows: 1. a human-machine interface; 2. a hydraulic system; 3. a gesture acquisition device; 4. a control device; 5, controlling a board; 6. a power module; 7. a motor driver; 8. a limit sensor; 9. a first aviation plug; 10. a second aerial plug; 11. a third aviation plug; 12. a fourth aviation plug; 13. a power supply; 14. ARM processors; 15. a system clock; 16. CAN isolation driver; 17. a CAN controller; 18. an FPGA chip; 19. and (5) photoelectric isolation.
Detailed Description
The control device sends corresponding instructions to the motor driver according to the information acquired by the gesture acquisition device and the limit sensor to control the movement of the locking mechanism, and the shaking of the swing table is prevented through the control of the locking mechanism. The stability of the swing table is enhanced.
Control system embodiment:
As shown in fig. 1, the swing table locking mechanism control system comprises a hydraulic system 2, a man-machine interface 1, 8 sets (roll 1 to roll 4, pitch 1 to pitch 4) of motors and drivers 7, a control device 4, a gesture acquisition device 3 and a limit sensor 8; the man-machine interface 1 communicates with the control device through a network interface, sends instructions such as driver type selection, on/off band-type brake, on/off enable, locking, unlocking, locking in place, driver handshake, speed and position and the like to the control device, receives information such as unlocking in place, locking in place, positive limit, negative limit, attitude angle and the like fed back by the control device, and tests whether a program of the control device 4 has data output and function debugging through an RS232 serial port.
The control device is also connected with the hydraulic system 2 and sends instructions such as starting and closing of the hydraulic pump and the servo valve and attitude angle information to the hydraulic system 2 through a network interface, and the hydraulic system 2 feeds back self fault and alarm information to the control device 4. The gesture acquisition device 3 acquires the roll/pitch angle of the swing table and sends the roll/pitch angle to the control device 4, and the control device 4 forwards the roll/pitch angle to a human-machine interface and a hydraulic system. The limit sensor detects the locking mechanism to be locked in place, unlocked in place and limit signals, and after the sensor is triggered, the corresponding signals are fed back to the control device 4 through the DI interface, and the control device 4 forwards the data to the human-machine interface 1.
8 Sets of motor drivers respectively control the motors at the positions of 1 to 4 in rolling and 1 to 4 in pitching, the motor driver 7 feeds back the position of the locking mechanism, fault information, mode information, handshake information and the like through a CAN interface, the control device 4 sends commands of driver type selection, on/off band-type brake, on/off enabling, locking, unlocking, locking in-place and the like to the motor driver 7, and the control device 4 controls the motor driver 7 to control the on/off of electricity through a DO interface, so that the on/off electricity of the motor driver is controlled. The power module 6 inputs 24V direct current and converts the direct current into 5V and 3.3V voltage, and outputs the voltage to the processor and the peripheral equipment of the control board 5 for use.
The control device comprises an ARM processor, a DI interface, a DO interface, a CAN interface, an RS232 serial port, an Ethernet interface, a power module and the like. The ARM processor is composed of an ARM+FPGA core framework, and based on a Cortex-M4 kernel, the FPGA performs data interaction with the ARM through a local bus; the DI and DO peripheral interfaces are separated from ARM processing by using a optocoupler isolation module, the DI is used for receiving signals of unlocking in place, locking in place and feeding the signals back to the man-machine interaction interface through a network, and the DO is used for controlling a control power switch of the motor driver. The control device uses SPI bus and FPGA to process and transmit through CAN interface; the system supplies power to the ARM module, the ARM module provides a system clock and a printed board power supply management module, and the clock management module realizes on-board power supply and clock management and meets the requirement of normal operation of the control device.
8 Sets of motors and drivers are communicated with a control device by using a CAN interface, and each motor is used for independently controlling 1 set of locking mechanism; the control device receives the designation of a human-computer interface through a network UDP and feeds back the state of the motor driver at the same time, and 8 sets of motors and drivers are controlled through a CAN interface so as to control the locking mechanism; the gesture acquisition device is communicated with the human-computer interface and the control device through the network UDP, and the gesture angle is fed back to the human-computer interface and the control device.
The locking mechanism is of a mechanical structure, and 4 sets of locking mechanisms and 8 sets of locking mechanisms are respectively arranged in the transverse/longitudinal direction and are used for locking the swinging platform at a specified position or unlocking the swinging platform to operate.
The hydraulic system drives the swinging table by using 12 hydraulic cylinders and drives the swinging table to perform 2-degree-of-freedom compound motion.
The human-computer interface is written by using a VS2010MFC development environment, and is communicated with the locking mechanism, the hydraulic system, the control device and the gesture acquisition device by using a network UDP. The man-machine interface comprises 10 interfaces including parameter real-time display, indicator light state display, fault prompt area, gesture angle curve display, locking control, hydraulic motion control, single machine test, fault state display, warning state and hydraulic power-on control.
As shown in fig. 2, the control device adopts a compact structure, the outside is connected with the outside by using 4 aviation plugs in total, and the first aviation plug 9 is the DO interface output of the control device and is used for connecting a motor driver; the second aviation plug 10 is a DI interface output of the control device and is used for connecting a sensor data transmission line; the third aviation plug 11 is a CAN interface for connecting to a motor driver; the fourth aviation plug 12 is an interface of a 24V direct current power supply, an RS232 serial port and a network, and is convenient for the connection of an external power supply and a debugging notebook computer and the communication of a later replacement debugging line and a system line during single machine debugging.
As shown in fig. 3, the control device control board comprises a power supply 13, an ARM processor 14, a system clock 15, a CAN isolation driver 16, a CAN controller 17, an FPGA chip 18 and a photoelectric isolation 19. The power supply 13 is used for converting DC 24V voltage input by the control panel into 5V voltage and 3.3V voltage which are respectively used for the ARM processing 14 and the peripheral equipment of the FPGA chip 18; the ARM processor 14 is used for processing data received by the RS232 serial port and the network, and the ARM processor starts to process when detecting that the RS232 serial port and the network data are arranged in the ARM register; the system clock 15 provides clock cycle calculation for the ARM processor 14, and provides a plurality of frequency division modes to facilitate the timer cycle selection of the ARM processor 14; the CAN isolation driver is used for avoiding ground reflux burning of a circuit board and limiting the amplitude of interference, so that the stability of CAN communication is improved; the CAN controller 17 is used for converting the received and transmitted information (message) into a CAN frame conforming to the CAN standard, and the upper layer software application is realized; the FPGA chip 18 is used for processing the data of CAN communication and GPIO, and has the characteristics of high efficiency and stable signals; the photoelectric isolation 19 uses light as a medium to transmit signals, and can isolate the input circuit from the output circuit, so that the interference of current noise on the GPIO is eliminated.
Through the control system, the control of the swing table locking mechanism can be realized, so that the swing table is locked by the locking mechanism when needed, the swing table is prevented from shaking, the stability of the swing table is improved, and the control precision of the swing table is also improved.
Control method embodiment:
According to the swing table locking mechanism control system of the control system embodiment, as shown in fig. 4, the control method of the heavy-load swing table locking mechanism starts to receive the driver selection instruction first, and starts to prepare to receive the handshake signal after the corresponding driver receives the selection instruction; receiving a handshake instruction of a corresponding driver, wherein the handshake instruction is sent by a human-computer interface, can be any single driver or any multiple drivers, and is controlled after the driver continuously receives handshake signals for more than 50 times in order to prevent the driver from receiving error instruction interference; the driver then receives the instruction in two parts in parallel, with different parts being managed using different messages.
According to the locking mechanism motion control method, after a driver is controlled, a part of the driver starts to receive a speed instruction, and after the speed instruction is received, the message tells a control panel to prepare 3 threads to independently process subsequent operations after the instruction; after receiving the speed instruction, using 3 threads to manage locking, unlocking and locking in-place operations respectively; judging whether the instruction contains an unlocking and locking in-place instruction which is not cleared up last time after receiving the locking instruction, if yes, clearing the interference instruction first, then performing fixed speed movement along the locking direction, if not, directly performing movement along the locking in-place direction, then receiving a speed stopping instruction, stopping with maximum acceleration, and finally enabling to clear instruction data of a human-computer interface; after receiving the unlocking instruction, the control principle is similar to that of locking, whether the instruction contains an instruction which is not cleaned of locking and locked in place at the last time is judged, if yes, the interference instruction is cleaned first, then the fixed speed movement along the unlocking direction is carried out, if not, the movement along the locked in-place direction is directly carried out, and then the control logic which is the same as that of locking is executed; after the locking and positioning is received, whether the instruction contains two judging results after the locking instruction and the unlocking instruction are not cleared last time is judged firstly, if the judging result is not yes, the position of the locking mechanism is judged again, when the locking mechanism is positioned between the two positioning points of unlocking and positioning, the locking mechanism moves at a fixed speed along the locking direction, when the locking mechanism is positioned between the two positioning points of locking and positioning, the locking mechanism moves at the fixed speed along the unlocking direction, then the same control logic as the locking is executed, and if the interference instruction exists, the interference instruction is cleared firstly, and then the subsequent control logic which is the same as the control logic without the interference instruction is executed.
According to the method for controlling the movement of the locking mechanism, after the driver is controlled, the other part starts to receive the position instruction sent by the human-computer interface, if the position instruction with a positive value is received, the locking mechanism moves to the position of the position instruction along the locking direction and then stops, if the position instruction with a negative value is received, the locking mechanism moves to the position of the position instruction along the unlocking direction and stops waiting for receiving the next position instruction, and finally the driver enables and clears non-position instruction data, so that data interference is prevented.
The locking is that the locking mechanism is in the non-locking position, the control device controls the motor to move at a certain speed along the locking direction in the non-unlocking position; the unlocking is that the control device controls the motor to move at a certain speed along the unlocking direction when the locking mechanism is not unlocked to the in-place position; the locking in position is the ability of the locking mechanism to perform a locking operation by stopping the locking mechanism immediately and moving it in the locking direction to the locking in position when the locking mechanism is not in the unlocking position and is not in the locking in position and the locking mechanism is running in the unlocking direction.
Claims (10)
1. The control system of the locking mechanism of the heavy-load swing table is characterized by comprising a motor driver, a control device, a gesture acquisition device and a limit sensor; the motor driver is used for controlling the motor of the locking mechanism to realize the action of the locking mechanism, the gesture acquisition device is used for acquiring the gesture information of the swinging platform, and the limit sensor is used for acquiring the state information of the locking mechanism; the control device is connected with the gesture acquisition device and the limit sensor to acquire information acquired by the gesture acquisition device and the limit sensor, and is connected with the motor driver to send an instruction to the motor driver according to the gesture information of the swinging table and the state information of the locking mechanism so that the motor driver controls the action of the locking mechanism.
2. The heavy duty swing lock control system of claim 1, further comprising a human-machine interface coupled to the control device to send instructions to the control device.
3. The heavy duty swing lock control system according to claim 1, wherein the control means is further adapted to connect to a hydraulic system to send hydraulic pump start-stop commands and swing attitude angle information to the hydraulic system.
4. The heavy duty swing lock control system according to claim 1, wherein said motor driver is connected to said control device using a CAN bus interface.
5. The heavy duty swing lock control system according to any one of claims 1 to 4, wherein said control processor uses a structure including an ARM and FPGA.
6. A control method of a locking mechanism of a heavy-load swing table is characterized in that a control device sends an instruction to a motor driver to control the action of the locking mechanism according to attitude angle information of the swing table acquired by an attitude acquisition device and state information of the locking mechanism acquired by a limit sensor.
7. The method of controlling a locking mechanism of a heavy load swing table according to claim 6, wherein the motor driver receives the control command and controls the locking mechanism as follows:
the control device establishes communication with the corresponding motor driver;
when the corresponding motor driver receives the speed command, the type of the command is judged: if the command is a locking command or an unlocking command and no residual unclean command exists, controlling the locking mechanism to operate according to the direction and the speed of the command; if the locking instruction is in the position and no residual unclean instruction exists, controlling the locking mechanism to operate at the instruction speed according to the corresponding direction according to the position of the locking mechanism;
When the corresponding motor driver receives the position command, the motor is controlled to reach the set position according to the corresponding direction according to the received position command.
8. The method according to claim 7, wherein after determining that the instruction type is completed, if the instruction is not cleared, the instruction is cleared, and the locking mechanism is controlled to operate according to the corresponding function according to the instruction.
9. The method for controlling a locking mechanism of a heavy load swing table according to claim 8, wherein the method for determining whether there is a residual uncleaned instruction is: judging whether other types of speed instructions exist after receiving a certain speed instruction, and if so, indicating that residual instructions which are not cleared exist; if there are no other types of speed instructions, then no residual unremoved instructions are indicated.
10. The method of claim 7, further comprising the step of disabling the driver and clearing the command data after completion of the received command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410170417.6A CN118226775A (en) | 2024-02-06 | 2024-02-06 | Control system and control method for locking mechanism of heavy-load swing table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410170417.6A CN118226775A (en) | 2024-02-06 | 2024-02-06 | Control system and control method for locking mechanism of heavy-load swing table |
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| Publication Number | Publication Date |
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| CN118226775A true CN118226775A (en) | 2024-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410170417.6A Pending CN118226775A (en) | 2024-02-06 | 2024-02-06 | Control system and control method for locking mechanism of heavy-load swing table |
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| CN (1) | CN118226775A (en) |
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- 2024-02-06 CN CN202410170417.6A patent/CN118226775A/en active Pending
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