CN206096841U

CN206096841U - Embedded digital monitoring circuit of multiaxis real -time simulation revolving stage

Info

Publication number: CN206096841U
Application number: CN201621089382.0U
Authority: CN
Inventors: 曾悠兵; 李科; 王金; 李丰; 侯伟钦; 刘晓红; 李力
Original assignee: Jiujiang Precision Measuring Technology Research Institute
Current assignee: Jiujiang Precision Measuring Technology Research Institute
Priority date: 2016-09-29
Filing date: 2016-09-29
Publication date: 2017-04-12
Anticipated expiration: 2026-09-29

Abstract

The utility model provides an embedded digital monitoring circuit of multiaxis real -time simulation revolving stage, includes angle measurement module, IO module, logical processing module, DSP module, DA module, still includes real time interaction module and communication module, the logical processing module be connected with angle measurement module, IO module, DSP module, DA module, real time interaction module and communication module respectively to accomplish angular surveying, IO input/output, multi -mode communication and the real time control output of multiaxis real -time simulation revolving stage. Have and observe and control the characteristics that the passageway is many, the angle measurement stable, control accuracy is high, and adopt the embedded type design mode, improve the stability and the reliability of observing and controlling system greatly, full digital module ization circuit design, system's interference killing feature is strong.

Description

A kind of multiaxis real-time simulation turntable embedded digital telemetry circuit

Technical field

This utility model is related to a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit, and particularly a kind of angle is passed Sensor is the digital telemetry circuit of multiaxis real-time simulation turntables more than three axles of increment type grating.

Background technology

Turntable is a kind of inertia test equipment of high-precision high-reliability, has important application in space flight navigational field.With The development and the increasingly raising to inertia device (such as gyro) high, precision and frontier index request of space flight naval technology, it is desirable to be used Property device provide demarcate and test job turntable also to high-quality, highly reliable, high stability, high speed, many axiation, it is high in real time And integrated development, turntable by being a kind of complicated measuring and controlling equipment, mainly by angular surveying, three part groups of position control and communication Into the turntable on ordinary meaning refers to single shaft, twin shaft or three-axle table, and more than the multi-axis turntable of three axles specific occasion is then used for （Such as infrared guidance, real time kinematics emulation）, this turntable structure is more complicated, and technical difficulty is high, precision, dynamic indicator and in real time Property require it is also higher, also have higher requirement to its embedded telemetry circuit.

Utility model content

This utility model its purpose is that a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit of offer, has The characteristics of observing and controlling passage is more, angle measurement is stable, control accuracy is high, and using embedded design mode, greatly improve TT＆C system Stability and reliability, digital modularized circuit design, system rejection to disturbance ability is strong.

The technical scheme realized above-mentioned purpose and take, including angle measurement module, I/O modules, logic processing module, DSP moulds Block, D/A module, also including real-time, interactive module and communication module, described logic processing module respectively with angle measurement module, I/O moulds Block, DSP module, D/A module, real-time, interactive module are connected with communication module, so as to complete the angle of multiaxis real-time simulation turntable Measurement, I/O input and output, multi-mode communication and real-time control output.

Beneficial effect

Compared with prior art this utility model has advantages below.

1st, observing and controlling port number is more, can carry out parameter measurement and output control to most five tunnels turntable motor simultaneously, and angle measurement is steady Fixed, control accuracy is high；

2nd, in addition to serial port and ISA interfaces, also with high-speed PCI interface, and VXWORKS real-time systems are run, can meets and turn High real-time requires of the platform to matter emulation；

3rd, using embedded design mode, the stability and reliability of TT＆C system is greatly improved；

4th, designed using digital modularized circuit, system rejection to disturbance ability is strong.

Description of the drawings

Below in conjunction with the accompanying drawings the utility model is described in further detail.

Fig. 1 is that circuit of the present utility model is constituted and logical schematic.

Specific embodiment

A kind of multiaxis real-time simulation turntable embedded digital telemetry circuit, including angle measurement module, I/O modules, logical process Module, DSP module, D/A module, as shown in figure 1, also including real-time, interactive module and communication module, described logic processing module It is connected with angle measurement module, I/O modules, DSP module, D/A module, real-time, interactive module and communication module respectively, it is many so as to complete Angular surveying, I/O input and output, multi-mode communication and the real-time control output of axle real-time simulation turntable.

Described angle measurement module at least includes differential-to-single-ended modular converter and level switch module, differential-to-single-ended signal Modular converter includes a kind of RS422 signal transceivers, for realizing differential signal to the conversion of single-ended signal, after converting Multichannel single-ended signal eventually passes the level signal conversion chip of 74 series, for completing 5V signal levels to 3.3V signal levels Conversion, to adapt to the level demand of subsequent logic processing module.

Five tunnels locking signal input, five road fault-signal inputs and 10 of the described I/O modules at least including turntable stage body Road limit signal input, per road input signal through high speed photoisolator and level signal conversion chip after current-limiting resistance After be input into logic processing module, logic processing module at least exports the turntable of 10 tunnel passive contact types and enables signal and at least Five tunnel alarm signals, so as to realize the work(such as the signal isolation of turntable stage body of I/O modules is input into and State- output is indicated.

Described logic processing module includes the extensive field programmable gate array of a ALTERA companies, by hardware Description language realizes the decoding of front end multichannel angle, I/O input and output control, DA output controls, and by internal IP kernel with double The form of mouth RAM realizes its communication and data transfer with DSP module and real-time, interactive module.

It is C6000 series floating type DSP digital processing unit of the described DSP module at least including a piece of TI companies, a piece of SDRAM and a piece of NorFLASH, between be connected by 32 bit data bus and corresponding address wire and chip select line, its major function It is the trajectory planning for realizing multi-axis turntable motor, corresponding position is made with the instruction rear turntable transmitted in reception logic processing module Put, speed, wave, simulating sports.

Described D/A module at least includes the DA digital-to-analogs conversion chip of more than 16, a piece of AD companies and is put by computing The follower composition of big device composition, described operational amplifier adopts track to track pattern, dual power supply, to realize DA signals Undistorted output, the analog quantity after DA conversions is directly inputted and enter after follower motor driver, so as to realize the controlled of motor Operating.

The technical grade ARM9 chips and its periphery SDRAM of described real-time, interactive module including a piece of atmel corp with FLASH, described ARM9 chips carry lcd controller, directly external touch can realize man-machine interaction, described ARM9 chips Operation VXWORKS hard real time operating systems, to realize real-time Transmission of the data in people's generator terminal, logic processing module and DSP ends.

Described communication module provides the communication modes of multi-axis turntable and outside, can pass through normal serial mouth RS232/ 422 directly communicate with external industrial control computer, can be led to external industrial control computer by ISA Industry Controls mouth News, can carry out real-time communication by pci bus and outside replicating machine, and described pci bus are at least including a PLX companies PCI protocol chips and standard PCI slot are constituted, and complete interactive correspondence with outside replicating machine by anti-body memory network.

Embodiment

As shown in figure 1, the present embodiment include five road increment type grating signal inputs, at angle measurement module, I/O modules, logic Reason module, DSP module, D/A module, real-time, interactive module, communication module, touch screen, five tunnel drivers, No. five motors and turntable The I/O signals of stage body and correlation.

Angular transducer signal, stage body I/O signals, driver and motor this embedded telemetry circuit and multi-axis turntable After signal, power supply signal are connected, to system electrification, telemetry circuit carries out angle after the completion of self-inspection to multi-channel Grating sensor Decoding simultaneously sends DSP module and real-time, interactive module and industrial control computer to angle value, is guaranteeing angle measuring function After the completion of the parameter adjustments such as normal and motor PID, turntable operation is input on touch screen or industrial control computer or replicating machine Parameter instruction, can unify to send logical process mould to by the instruction of touch screen or industrial control computer or replicating machine input Block, logic processing module completes to be sent to DSP module and D/A module after related instruction decoding, and DSP module completes turntable motor Trajectory planning, D/A module exports corresponding motor simulation controlled quentity controlled variable, and this controlled quentity controlled variable is exported to motor driver and finally realized The controlled operation of motor.

In the case of high real-time simulation, outside replicating machine is by pci interface via Reflective memory network high-speed transfer to logic Processing module, or patrolled to logic processing module by the VXWORKS real-time system real-time system high-speed transfers in real-time, interactive module Volume processing module after instruction is received with nanosecond time lag real-time Transmission to DSP module and D/A module, so as to complete to turn The real-time control of platform and transmission.

Claims

1. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit, including angle measurement module, I/O modules, logical process mould Block, DSP module, D/A module, it is characterised in that also including real-time, interactive module and communication module, described logic processing module It is connected with angle measurement module, I/O modules, DSP module, D/A module, real-time, interactive module and communication module respectively, it is many so as to complete Angular surveying, I/O input and output, multi-mode communication and the real-time control output of axle real-time simulation turntable.

2. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute The angle measurement module stated at least includes differential-to-single-ended modular converter and level switch module, differential-to-single-ended signal conversion module bag Containing a kind of RS422 signal transceivers, for realizing differential signal to the conversion of single-ended signal, the single-ended letter of the multichannel after converting The level signal conversion chip of 74 series number is eventually passed, for completing 5V signal levels to the conversion of 3.3V signal levels, with Adapt to the level demand of subsequent logic processing module.

3. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute The I/O modules stated at least lock signal input, five road fault-signals inputs and 10 road limit signals including five tunnels of turntable stage body Input, is input into after high speed photoisolator and level signal conversion chip after current-limiting resistance to patrolling per road input signal Processing module is collected, logic processing module at least exports the turntable of 10 tunnel passive contact types and enables signal and at least five road alarm signals Number, so as to realize the work(such as the signal isolation of turntable stage body of I/O modules is input into and State- output is indicated.

4. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute The logic processing module stated includes the extensive field programmable gate array of a ALTERA companies, by hardware description language reality The decoding of existing front end multichannel angle, I/O input and output control, DA output controls, and by internal IP kernel in the form of dual port RAM Realize its communication and data transfer with DSP module and real-time, interactive module.

5. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute C6000 series floating type DSP digital processing unit of the DSP module stated at least including a piece of TI companies, a piece of SDRAM and a piece of NorFLASH, between be connected by 32 bit data bus and corresponding address wire and chip select line, its major function is to realize multiaxis The trajectory planning of turntable motor, is made corresponding position, speed, is shaken with the instruction rear turntable transmitted in reception logic processing module Pendulum, simulating sports.

6. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute The D/A module stated at least includes the DA digital-to-analogs conversion chip of more than 16, a piece of AD companies and is made up of operational amplifier Follower is constituted, and described operational amplifier adopts track to track pattern, dual power supply, to realize the undistorted defeated of DA signals Go out, the analog quantity after DA conversions is directly inputted and enter after follower motor driver, so as to realize the controlled operating of motor.

7. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute The real-time, interactive module stated includes the technical grade ARM9 chips and its periphery SDRAM and FLASH of a piece of atmel corp, described ARM9 chips carry lcd controller, directly external touch can realize man-machine interaction, described ARM9 chips operation VXWORKS Hard real time operating system, to realize real-time Transmission of the data in people's generator terminal, logic processing module and DSP ends.

8. a kind of multiaxis real-time simulation turntable embedded digital telemetry circuit according to claim 1, it is characterised in that institute The communication module stated provides the communication modes of multi-axis turntable and outside, can by normal serial mouth RS232/422 directly with outward Portion's industrial control computer communication, can be communicated by ISA Industry Controls mouth with external industrial control computer, can be passed through Pci bus carry out real-time communication with outside replicating machine, and described pci bus are at least including the PCI protocol chips of a PLX companies And standard PCI slot composition, and interactive correspondence is completed with outside replicating machine by anti-body memory network.