CN209459666U - Decision maker for electronic inertial navigation turntable driving state - Google Patents
Decision maker for electronic inertial navigation turntable driving state Download PDFInfo
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- CN209459666U CN209459666U CN201920482148.1U CN201920482148U CN209459666U CN 209459666 U CN209459666 U CN 209459666U CN 201920482148 U CN201920482148 U CN 201920482148U CN 209459666 U CN209459666 U CN 209459666U
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- magnetic sheet
- turntable
- inertial navigation
- shaft
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Abstract
The utility model relates to a kind of decision makers for electronic inertial navigation turntable driving state.The electronic inertial navigation turntable includes for driving the shaft of turntable rotation and being set in the fixed frame axis of the shaft periphery, it is characterized in that, magnetic sheet mounting base is installed in the shaft end of the shaft, induction magnetic sheet is pasted in the magnetic sheet mounting base, there are two sensors for installation on the end face of the frame axis, two sensors are symmetrical arranged with frame axis center, when the induction magnetic sheet turns around with shaft rotation, successively pass through two sensors, and energy trigger sensor generates corresponding inductive signal, the corresponding inductive signal of generation is sent to the signal processing unit for being used to determine electronic inertial navigation turntable driving state by described two sensors.The apparatus structure is simplified, easy disassembly and maintenance, and using the easy to operate of the device, high reliablity has the advantages that be easy to be engineered.
Description
Technical field
The utility model relates to numerical control Inertial Navigation Testing Device technical fields, are used for electronic inertial navigation turntable more particularly to one kind
The decision maker of driving state.
Background technique
Electronic inertial navigation turntable can provide accurate Angle Position, angular speed and angular acceleration test benchmark, and being that one kind is electronic closes
Ring controls equipment, due to the characteristic of closed loop moving control system, when it is lost by such as load characteristic, control algolithm and component
When the influences of uncertain factors such as effect, the inevitably catastrophe failure of driving out of control.Common leads to turntable driving
The reason of substantially have it is following several: feedback signal lose, servo output saturation, power tube breakdown etc..Turntable motor will when driving
Empty load of motor revolving speed is met or exceeded, turntable index request revolving speed is much larger than, if cannot be handled in time, it would be possible to cause
Inertial navigation damage is burnt or be tested to turntable motor.
Usual turntable can configure manually emergency stop key, and groundwork mechanism is, when operator visually confirms turntable
When driving, it is manually pressed by emergency stop key, cuts off turntable drive system electrical source of power.Manual emergency stop key is limited in that its behaviour
The timeliness of work is restricted by person's development ability and attention.Currently with the development of inertial navigation automatic test, in test process
The participation of people substantially reduces, and the emergency processing of turntable driving should also comply with this trend, therefore turntable driving state is sentenced automatically
Fixed protective device is necessary the safety and inertial navigation automatic test of turntable and measured piece.
In the prior art, some overspeed testing apparatus that shift theory is pressed using frequency may be implemented automatic after turntable exceeds the speed limit
Defencive function out of service rapidly.But there are limitations for the use of the device, because its need of work receives code-disc position
Signal, when leading to driving due to code-disc position signal loss, the defencive function of the device will fail.Also some are based on gyro
Turntable overspeed protective device, which is limited in that, one side rate gyroscope needs to carry out rate self-calibration in advance with true
Fixed normal voltage range, may damage rate top when on the other hand revolving speed exceeds rate gyroscope working speed when turntable driving
Spiral shell.In addition, being to add installation tachometer or rotary transformer offer turntable speed in turntable shaft there are also some protective devices
Monitoring, is limited in that additional mechanism will increase the complexity of turntable structure and control system.
Therefore, a kind of decision maker for electronic inertial navigation turntable driving state is inventor provided.
Utility model content
The utility model embodiment provides a kind of determination method and its device for electronic inertial navigation turntable driving state,
Structure is simple, method is reliable, can be realized the automatic judgement to turntable driving turntable, and solving existing apparatus, structure is complicated, behaviour
Make method inconvenience, the problem of poor reliability.
In a first aspect, the embodiments of the present invention propose a kind of judgement dress for electronic inertial navigation turntable driving state
It sets, the electronic inertial navigation turntable includes for driving the shaft of turntable rotation and being set in the fixed frame of the shaft periphery
Axis, which is characterized in that be equipped with magnetic sheet mounting base in the shaft end of the shaft, be pasted with induction magnetic in the magnetic sheet mounting base
Piece, there are two sensors, two sensors to be symmetrical arranged with frame axis center for installation on the end face of the frame axis, the induction magnetic
When piece turns around with shaft rotation, successively pass through two sensors, and energy trigger sensor generates corresponding inductive signal, institute
It states two sensors and the corresponding inductive signal of generation is sent to the signal processing for being used to determine electronic inertial navigation turntable driving state
Unit.
Further, the material of the magnetic sheet mounting base is the aluminum alloy material without magnetic, and the magnetic sheet mounting base is detachable
Ground is mounted on the shaft end of the shaft.
Further, the inner end of the magnetic sheet mounting base is rectangular configuration, and outer end is semi arch structure, close to described
The center position design of semi arch structure has a groove, and the induction magnetic sheet is pasted in the groove, and the induction magnetic
The upper surface of piece is concordant with the upper surface of the magnetic sheet mounting base.
Further, described two sensors pass through the end face that corresponding sensor installation seat is mounted on the frame axis respectively
On.
Further, the outer end of two sensor installation seats is designed with kidney-shaped mounting hole, two sensings
Device mounting base passes through the end face that kidney-shaped mounting hole is adjustably mounted at the frame axis respectively, and two sensors are separately mounted to
The inner end of two sensor installation seats, it is corresponding with the induction magnetic sheet.
Further, described two sensors are all made of Hall switch sensor.
To sum up, this patent provides a kind of decision maker and method for electronic inertial navigation turntable driving state, the device
Independently of rotating platform control system, it is provided with the induction magnetic sheet rotated with shaft in shaft end face, and is arranged on fixed frame axis
Can in two sensors that induction magnetic sheet mutually incudes, when induction magnetic sheet is rotated with shaft, can trigger sensor generate sense
Induction signal is simultaneously sent to signal processing unit into making accurate judgement to whether turntable is in driving state.When the device works not
Code-disc position feedback is relied on, does not need additionally to configure tachometer uniform velocity feedback element, structure is simplified, easy disassembly and dimension
Shield is utilized using the determination method of the device and determines the progress revolving speed judgement of angle time study method, and this method is easy to operate, reliably
Property it is high, have the advantages that be easy to be engineered.
Detailed description of the invention
It, below will be in the utility model embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Required attached drawing is briefly described, it should be apparent that, drawings described below is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of decision maker schematic diagram for electronic inertial navigation turntable driving state of the utility model.
In figure:
1- shaft；2- turntable；3- frame axis；4- magnetic sheet mounting base；5- incudes magnetic sheet；6- sensor installation seat I；7- Hall passes
Sensor I；8- sensor installation seat II；9- Hall sensor II；10- signal processing unit.
Specific embodiment
The embodiments of the present invention is described in further detail with reference to the accompanying drawings and examples.Following embodiment
The detailed description and the accompanying drawings for illustratively illustrating the principles of the present invention, but cannot be used to limit the model of the utility model
It encloses, i.e., the utility model is not limited to described embodiment, covers zero under the premise of not departing from the spirit of the utility model
Any modification, replacement and the improvement of part, component and connection type.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to accompanying drawings and in conjunction with the embodiments.
Be currently used in turntable driving or overspeed protection mechanism common in electronic inertial navigation turret design there are several types of:
Usual turntable can configure manually emergency stop key, and groundwork mechanism is, when operator visually confirms turntable
When driving, it is manually pressed by emergency stop key, cuts off turntable drive system electrical source of power.Manual emergency stop key is limited in that its behaviour
The timeliness of work is restricted by person's development ability and attention.Currently with the development of inertial navigation automatic test, in test process
The participation of people substantially reduces, and the emergency processing of turntable driving should also comply with this trend, therefore turntable driving state is sentenced automatically
Fixed protective device is necessary the safety and inertial navigation automatic test of turntable and measured piece.
The overspeed monitoring appliance of shift theory is pressed based on frequency, which passes through the encoded position signal of digital pulses
Frequency buckling changing device is converted to real time rate signal, by comparing rear output digital quantity logical switching signal, and passes through braking connection
Motor can be placed in dynamic braking state by lock circuit, thus automatic rapid protection function out of service after realizing turntable hypervelocity
Energy.There are limitations for the use of the device, because its need of work receives code-disc position signal, lose when due to code-disc position signal
When mistake leads to driving, which will fail.
Turntable overspeed protective device based on gyro, the device monitor turntable speed by adding installation gyro on turntable
Degree, rate gyroscope exports analog voltage signal when work, and when turntable overspeed condition, the voltage value will exceed preset electricity
Range is pressed, logic sentences terminal circuit and exports corresponding logic level, is sent to subsequent dynamic braking device.It is limited in that,
One side rate gyroscope needs to carry out rate self-calibration in advance with the normal voltage range of determination, on the other hand turns when turntable driving
Speed may damage rate gyroscope when exceeding rate gyroscope working speed.
It is that installation tachometer or rotary transformer offer turntable speed are provided in turntable shaft there are also some protective devices
Monitoring, system read the signal of tachometer or rotary transformer in real time, are compared by certain circuit with setting speed, when
Turntable hypervelocity or driving are determined when beyond setting speed.It is limited in that additional mechanism will increase turntable structure and control system
The complexity of system.
For the deficiency of currently existing technology, this patent first aspect proposes as shown in Fig. 1 a kind of for electronic
The decision maker device of inertial navigation turntable driving state.Shown in Figure 1, electronic inertial navigation turntable has been included at least for driving turntable
The shaft 1 of 2 rotations and the fixed frame axis 3 for being set in 1 periphery of shaft, which is characterized in that, at described turn
The shaft end of axis 1 is equipped with magnetic sheet mounting base 4, induction magnetic sheet 5 is pasted in the magnetic sheet mounting base 4, in the end face of the frame axis 3
Upper installation is there are two sensor (7,8), and two sensors are with 3 center symmetric setting of frame axis, and the induction magnetic sheet 5 is with the shaft
When 1 rotation is turned around, successively pass through two sensors, and energy trigger sensor generates corresponding inductive signal, described two sensings
The corresponding inductive signal of generation is sent to the signal processing unit 10 for being used to determine electronic inertial navigation turntable driving state by device.
Wherein, the material of magnetic sheet mounting base 4 is the aluminium alloy material without magnetic in the present embodiment as a preferred implementation manner,
Matter, the magnetic sheet mounting base 4 are removably mounted on the shaft end of the shaft 1.In engineering practice, magnetic sheet is by shaft magnetic in order to prevent
Change and influence signal determining, so induction magnetic sheet 5 is connected by the magnetic sheet mounting base 4 and shaft 1 of no magnetic aluminium alloy ZL201A material
It connects, aluminium alloy ZL201A material has the characteristics that light-high-strength and easy to process, and usually domestic turntable structure design is common
Material.
As other alternative embodiments, the inner end of magnetic sheet mounting base 4 is rectangular configuration, and outer end is semi arch structure,
Center position design close to the semi arch structure has a groove, and the induction magnetic sheet 5 is pasted in the groove, and institute
The upper surface for stating induction magnetic sheet 5 is concordant with the upper surface of the magnetic sheet mounting base 4, makes to be unlikely to interfere in rotation process event
Barrier.
As another preferred embodiment, described two sensors pass through corresponding sensor installation seat (sensor respectively
8) mounting base I 6 and sensor installation seat II are mounted on the end face of the frame axis 3.Meanwhile two sensor installation seats (6,8)
Outer end be designed with kidney-shaped mounting hole, two sensor installation seats pass through kidney-shaped mounting hole respectively and are adjustably mounted at institute
The end face of frame axis 3 is stated, two sensors are separately mounted to the inner end of two sensor installation seats (6,8), and described
It is corresponding to incude magnetic sheet 5.Wherein, in the present embodiment, two sensors are all made of Hall switch sensor, in specifically Fig. 1
9 Hall sensor II of 7 Hall sensor I of serial number and serial number.
Can be used for the judgement of electronic inertial navigation turntable driving state using the device of the utility model, determination method referring to
Lower step S110~step S130:
Step S110, in 1 rotary course of shaft of electronic inertial navigation turntable, induction magnetic sheet 5 in magnetic sheet mounting base 4 is with turning
Axis rotation, when induction magnetic sheet successively passes through two sensors (7,8), the corresponding inductive signal of trigger sensor generation, two
Signal is transmitted to signal processing list 10 via different physics I/O, respectively obtains first level signal H1 and second level
Signal H2.
Step S120 when signal processing unit 10 receives first level signal H1, records current corresponding moment value
T1 when being connected to second level signal H2, records current corresponding moment value T2, obtains turntable in two sensors (7 and 9)
Between real-time slewing rate be ω=θ/| T1-T2 |, wherein θ is the angle between two sensors.Due to two sensors
(7 and 9) are poor in 180 ° of fixed angles, so signal processing unit 10 is according to time difference | T1-T2 | turntable can be calculated and worked as
The unit of preceding slewing rate ω, usual slewing rate ω is available " °/s ".Further, since θ is fixed 180 °, so using
The device of the utility model is that the forward and reverse operating of shaft will not influence judgement result in the driving state judgement of progress.
Step S130, by the real-time slewing rate ω of turntable compared with preset turntable index maximum rate ω ', wherein
The numerical value of ω ' is less than the maximum non-load speed of turntable motor, as (ω-ω ')/ω '≤δ %, determines that turntable is in driving shape
State, wherein δ % is reserved security control surplus.In this step, usually reserved security control surplus δ % is taken as 20%.
It should be noted that the numerical value of turntable index maximum rate ω ' is to be previously written in the memory module of signal processing unit 10.
After step s 130, when signal processing unit 10 determines that turntable is in driving state, corresponding driving is exported
Logic level signal, and be transmitted to rotating platform control system and protection processing is powered off or braked to turntable driver.
In addition, expanding embodiment, the driving logic level signal of the signal processing unit output of the device as other
It can be shown by visualization transition on the display module of Control System Software, it is correspondingly visual also software protection to be handled progress
Change display.
It should be clear that all the embodiments in this specification are described in a progressive manner, each embodiment it
Between the same or similar part may refer to each other, the highlights of each of the examples are it is different from other embodiments it
Place.The utility model is not limited to particular step and structure described above and shown in figure.Also, it is risen in order to concise
See, omits the detailed description to known method technology here.
The above description is only an example of the present application, is not restricted to the application.The utility model is not being departed from
In the case where range to those skilled in the art, various changes and changes are possible in this application.All essences in the application
Any modification, equivalent replacement, improvement and so within mind and principle, should be included within the scope of claims hereof.
Claims (6)
1. being used for the decision maker of electronic inertial navigation turntable driving state, the electronic inertial navigation turntable includes for driving turntable to rotate
Shaft and be set in the fixed frame axis of the shaft periphery, which is characterized in that magnetic sheet is installed in the shaft end of the shaft
Mounting base is pasted with induction magnetic sheet in the magnetic sheet mounting base, and installation is there are two sensor on the end face of the frame axis, and two
Sensor is symmetrical arranged with frame axis center, when the induction magnetic sheet turns around with shaft rotation, successively passes through two sensors,
And energy trigger sensor generates corresponding inductive signal, the corresponding inductive signal of generation is sent to and is used for by described two sensors
Determine the signal processing unit of electronic inertial navigation turntable driving state.
2. the decision maker according to claim 1 for electronic inertial navigation turntable driving state, which is characterized in that the magnetic
The material of piece mounting base is the aluminum alloy material without magnetic, and the magnetic sheet mounting base is removably mounted on the shaft end of the shaft.
3. the decision maker according to claim 1 for electronic inertial navigation turntable driving state, which is characterized in that the magnetic
The inner end of piece mounting base is rectangular configuration, and outer end is semi arch structure, close to the center position of the semi arch structure
Design has a groove, and the induction magnetic sheet is pasted in the groove, and the upper surface of the induction magnetic sheet and the magnetic sheet are pacified
The upper surface for filling seat is concordant.
4. the decision maker according to claim 1 for electronic inertial navigation turntable driving state, which is characterized in that described two
A sensor passes through corresponding sensor installation seat respectively and is mounted on the end face of the frame axis.
5. the decision maker according to claim 4 for electronic inertial navigation turntable driving state, which is characterized in that two institutes
The outer end for stating sensor installation seat is designed with kidney-shaped mounting hole, and two sensor installation seats are installed by kidney-shaped respectively
Hole is adjustably mounted at the end face of the frame axis, and two sensors are separately mounted to the interior of two sensor installation seats
End, it is corresponding with the induction magnetic sheet.
6. being used for the decision maker of electronic inertial navigation turntable driving state according to claim 1 or 5, which is characterized in that institute
It states two sensors and is all made of Hall switch sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920482148.1U CN209459666U (en) | 2019-04-10 | 2019-04-10 | Decision maker for electronic inertial navigation turntable driving state |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920482148.1U CN209459666U (en) | 2019-04-10 | 2019-04-10 | Decision maker for electronic inertial navigation turntable driving state |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109959393A (en) * | 2019-04-10 | 2019-07-02 | 中国航空工业集团公司北京航空精密机械研究所 | Decision maker and its method for electronic inertial navigation turntable driving state |
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2019
- 2019-04-10 CN CN201920482148.1U patent/CN209459666U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109959393A (en) * | 2019-04-10 | 2019-07-02 | 中国航空工业集团公司北京航空精密机械研究所 | Decision maker and its method for electronic inertial navigation turntable driving state |
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