CN210968671U - Control system of satellite attitude adjustment trolley - Google Patents
Control system of satellite attitude adjustment trolley Download PDFInfo
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- CN210968671U CN210968671U CN201921424844.3U CN201921424844U CN210968671U CN 210968671 U CN210968671 U CN 210968671U CN 201921424844 U CN201921424844 U CN 201921424844U CN 210968671 U CN210968671 U CN 210968671U
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Abstract
A control system of a satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module (1-1), an external input control and display module (1-2), a product state monitoring and alarm module (1-3), a motor driving module and a power management module (1-4); the external input control and display module (1-2), the product state monitoring and alarm module (1-3), the motor driving module and the power management module (1-4) are respectively connected with the car lifting system main control module (1-1); the utility model discloses control satellite attitude adjustment unwheeling has the higher advantage of availability factor and security: the operating personnel only need press operating terminal's the button that corresponds can realize the satellite and adjust at final assembly test in-process gesture to can control the speed that the satellite gesture was adjusted through 3 different speed buttons, operating personnel can put operating terminal in oneself operating position department in addition, when needing to alternate the satellite gesture, nearby operation can.
Description
Technical Field
The utility model relates to a control system of satellite attitude adjustment unwheeling for realize unwheeling through portable operation terminal control satellite attitude adjustment, show satellite position and attitude adjustment speed, carry out functions such as satellite safety monitoring and warning.
Background
During satellite assembly, testing and testing, the attitude of the satellite often needs to be adjusted and locked according to different tasks. At present, the posture adjustment of the satellite is mainly performed by manually operating the posture adjustment trolley and hoisting, the automation level is low, the labor intensity of workers is high, and the satellite has the risk of colliding with a tool in the hoisting process. Secondly, in the satellite assembly process, the distance between the satellite and the surrounding objects is mainly controlled by naked eyes of operators, and the problem of omnibearing product safety monitoring is difficult to achieve. The existing production conditions are difficult to meet the assembly requirements of the current satellite.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a control system of satellite attitude adjustment unwheeling for control and adjustment satellite attitude.
A control system of a satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module 1-1, an external input control and display module 1-2, a product state monitoring and alarm module 1-3, a motor driving module and a power management module 1-4; the external input control and display module 1-2, the product state monitoring and alarm module 1-3, the motor driving module and the power management module 1-4 are respectively connected with the car lifting system main control module 1-1;
in particular, the method comprises the following steps of,
the car lifting system main control module 1-1 is a core data processing module of a car lifting control system and comprises a system main control board MCU, a digital quantity input and output module DAM0808_1 and a digital quantity input and output module DAM0808_ 2; the digital quantity input and output module DAM0808_1 and the digital quantity input and output module DAM0808_2 are connected with a system main control board MCU through RS 485;
the product state monitoring and alarming module 1-3 comprises 8 infrared sensors, 2 travel switches and a buzzer, wherein the 8 infrared sensors are respectively connected with the digital quantity input and output module DAM0808_2, and the 2 travel switches are respectively positioned at the upper travel limit position and the lower travel limit position of the attitude adjusting platform and used for controlling the maximum position of the lifting of the platform.
The motor driving module and the power management module 1-4 comprise a servo motor, a servo driver and a power management unit, wherein the power management unit is respectively connected with a strong current unit and a weak current unit, the three-phase 220V alternating current of the strong current unit is connected with the servo driver, and the servo driver is connected with the servo motor; the weak current unit is respectively connected with a car lifting system main control module 1-1, an external input control and display module 1-2 and a product state monitoring and alarming module 1-3;
the external input control and display module 1-2 is connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system; the servo drivers of the motor driving module and the power management module 1-4 are connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system through RS 422.
The strong electric unit comprises voltages of 24V, 5V and 3.3V.
The utility model discloses control satellite attitude adjustment unwheeling has the higher advantage of availability factor and security: the operating personnel only need press operating terminal's the button that corresponds can realize the satellite and adjust at final assembly test in-process gesture to can control the speed that the satellite gesture was adjusted through 3 different speed buttons, operating personnel can put operating terminal in oneself operating position department in addition, when needing to alternate the satellite gesture, nearby operation can. In addition, the equipment state acquisition and alarm system of the trolley can acquire and feed back the distance information between the outer contour of the satellite and an approaching object in real time, when the distance exceeds a set threshold value, the trolley system alarms and prompts an operator, the problem that the condition of the satellite is controlled mainly by the naked eyes of the operator to difficultly monitor the product in all directions in the prior art is solved, and the safety of the satellite product is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
1-a main control module of a car lifting system, 1-2-an external control input module, 1-3-an equipment state acquisition and alarm module, 1-4-a motor driving module and a power management system;
FIG. 2 is a working schematic diagram of the present invention;
fig. 3 is a schematic view of the structure of the operation terminal key of the present invention; wherein 3-1 is a power key, 3-2 is a function key, and 3-3 is a speed key;
fig. 4a is a schematic view of the arrangement of the travel switch and the terminal of the present invention;
fig. 4b is a schematic view of the configuration of the infrared distance measuring sensor and the terminal of the present invention;
fig. 5 is a schematic circuit diagram of a motor driving module and a power management system.
Detailed Description
A control system of a satellite attitude adjustment vehicle lifting comprises a vehicle lifting system main control module 1-1, an external input control and display module 1-2, a product state monitoring and alarm module 1-3, a motor driving module and a power management module 1-4; the external input control and display module 1-2, the product state monitoring and alarm module 1-3, the motor driving module and the power management module 1-4 are respectively connected with the car lifting system main control module 1-1;
in particular, the method comprises the following steps of,
the car lifting system main control module 1-1 is a core data processing module of a car lifting control system and comprises a system main control board MCU, a digital quantity input and output module DAM0808_1 and a digital quantity input and output module DAM0808_ 2; the digital quantity input and output module DAM0808_1 and the digital quantity input and output module DAM0808_2 are connected with a system main control board MCU through RS 485;
the product state monitoring and alarming module 1-3 comprises 8 infrared sensors, 2 travel switches and a buzzer, wherein the 8 infrared sensors are respectively connected with the digital quantity input and output module DAM0808_2, and the 2 travel switches are respectively positioned at the upper travel limit position and the lower travel limit position of the attitude adjusting platform and used for controlling the maximum position of the lifting of the platform.
The motor driving module and the power management module 1-4 comprise a servo motor, a servo driver and a power management unit, wherein the power management unit is respectively connected with a strong current unit and a weak current unit, the three-phase 220V alternating current of the strong current unit is connected with the servo driver, and the servo driver is connected with the servo motor; the weak current unit is respectively connected with a car lifting system main control module 1-1, an external input control and display module 1-2 and a product state monitoring and alarming module 1-3;
the external input control and display module 1-2 is connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system; the servo drivers of the motor driving module and the power management module 1-4 are connected with a digital quantity input and output module DAM0808_1 of the main control module 1-1 of the car lifting system through RS 422.
The strong electric unit comprises voltages of 24V, 5V and 3.3V.
The portable operation terminal can control the attitude adjustment of the satellite, display the position and the attitude adjustment speed of the satellite, monitor the safety of the satellite, give an alarm and the like during the satellite assembly, test and test processes of the trolley. The time required by satellite attitude adjustment can be effectively reduced, the safety and the reliability of satellite assembly are improved, the labor intensity of workers is reduced, and the satellite production efficiency is improved. The control system of the trolley mainly comprises four modules: the system comprises a 1-1 vehicle lifting system main control module, a 1-2 external input control and display module, a 1-3 product state monitoring and alarming module, a 1-4 motor driving module and a power supply management module.
The car lifting system main control module 1-1 is a core data processing module of a car lifting control system and is connected with a 1-2 external input control and display module, a 1-4 motor driving module and a power management module through a digital quantity input and output module 1; the 1-4 motor driving module and the power management module are additionally connected with a main control module 1-1 of the car lifting system through RS422, and the rotating speed and the pulse number of the motor are transmitted to a main control chip; 1-3 the product state monitoring and alarming module is connected with the car lifting system main control module 1-1 through a digital quantity input and output module 2. The scheme of the whole trolley control system is shown in figure 1.
The car lifting system main control module 1-1 comprises a system main control board MCU and two digital quantity input and output modules, the digital quantity input and output modules are connected with the main control board through RS485, in addition, the main control board is connected with a servo driver through RS422, the external input control and display module 1-2 comprises a control chip MCU, an O L ED display screen and a key input, the control chip is connected with an O L ED display screen through SPI, the key input and the control chip are connected through IO ports, the scheme design of the module is shown in FIG. 2, the appearance structure design is shown in FIG. 3 and is divided into a 3-1O L ED display screen and a 3-2 key input, the product state monitoring and alarm module 1-3 comprises 2 travel switches, 8 infrared sensors and a buzzer, the travel switches and the infrared sensors are respectively connected with ports of the digital quantity input and output module 2, the appearances and terminal configurations of the travel switches and the infrared sensors are shown in FIG. 4a, the motor driving module and the power management module 1-4 comprise a servo motor, a servo driver and a power management module 1-4, a servo driver of a servo motor driving module, a servo driver of a servo motor, a servo driver of a servo power management module, a servo driver of a servo motor 220V, a servo driver of a servo driver, a servo driver of.
When the satellite attitude adjustment is carried out on the trolley, an operator only needs to press a function button of the handheld terminal to carry out instruction control on the trolley. When an operator presses down keys on the handheld terminal, such as an original point, ascending, descending and the like, level changes of ports corresponding to the keys pass through the digital quantity input and output module 1, and signals are directly transmitted to the motor controller to control the motor to move; the other keys are speed selection keys of the handheld terminal: the input signals of high speed, medium speed and low speed are transmitted to a control chip of the car lifting main control module 1-1 through a serial port, and then control instructions are sent to a motor driver through the digital quantity input and output module 1, so that gear selection of different speeds of car lifting posture adjustment is realized.
In the car lifting operation process, relevant operation information of real-time car lifting on a display screen of the handheld terminal comprises the speed of satellite attitude adjustment, the lifting height of the car lifting and the like, a servo motor encoder transmits the speed information of motor operation to a servo controller, the servo controller establishes communication with an upper computer through RS422, the upper computer can inquire the rotating speed and the pulse number of the motor in real time, and then the inquired information is displayed on an O L ED display screen in real time.
The functions of satellite safety monitoring, alarming and the like are realized through sensors and a buzzer, 8 infrared sensors are distributed around the trolley to detect the distance between an object and the trolley in real time in an all-around mode, the distance information is transmitted to a main control chip of the trolley main control module 1-1, the main control chip detects the distance in real time, when the distance value is too small (smaller than a given threshold value), the main control chip sends an instruction to the buzzer through the digital quantity input and output module 2, and the buzzer starts to alarm to prompt an operator. Travel switches are arranged at the extreme positions (the highest position and the lowest position) of the lifting platform of the trolley, when the lifting platform reaches the extreme positions, the travel switches act, and after the main control chip of the trolley lifting main control module 1-1 detects the action information of the travel switches, the digital quantity input and output module 1 controls the motor to stop moving, so that accidents are avoided.
When the satellite attitude adjusting and vehicle erecting system is used, firstly, a power line is connected, a transformer switch is turned on, and then a power key of a strong current control box and a power key of a weak current control box are pressed, at the moment, the satellite attitude adjusting and vehicle erecting system is in a power-on state, and an operator only needs to turn on the power key of the operation terminal and control the vehicle erecting system by pressing a corresponding button. The car lifting system is provided with a flexible alarm switch button, and when the alarm function is not needed, the alarm function of the car lifting system can be turned off only by pressing the alarm switch button on the control box. When the use is finished, the power supply buttons are turned off in sequence and the power supply line is disconnected.
The specific embodiment is as follows:
an automatic satellite attitude adjustment trolley comprises a trolley system main control module 1-1, an external control input module 1-2, a device state acquisition and alarm module 1-3, a motor driving module 1-4 and a power management system.
The car lifting system main control module 1-1 adopts an embedded stm32 control chip, and is mainly used for receiving an instruction of an external control input module 1-2, sending a control and query instruction to a servo driver, and returning a queried state to an operation input panel. After the car lifting system is powered on, the stm32 control chip reads the state of the digital input port of the optical coupling isolation module in real time through an RS485 communication protocol and controls the corresponding output port to output low level. And finally, the output port signal of the optical coupling isolation module enters a motor driver to control the motor to operate. The input signal of the optical coupling isolation module is from a 1-2 external control input module and a 1-3 equipment state acquisition and alarm module.
The external control input module 1-2 control module also adopts an stm32 control chip, when a key on the operation terminal is pressed down, the embedded stm32 control chip of the operation terminal reads the level change of a corresponding input port, the information is processed and then is sent to the control chip of the rack vehicle system main control module 1-1 through a serial port, the level change of the corresponding output port of the optical coupling isolation module is controlled, and a control instruction is sent to the motor driver, for example, the speed selection of the motor (namely, the speed/middle/slow speed on the operation terminal) is realized in the mode, part of key output on the operation terminal is directly transmitted to the optical coupling isolation module and is used for controlling the motor to move (such as original point/ascending/descending and the like), in addition, the stm32 control chip inside the operation terminal establishes communication with the motor driver through a TT L rotation module 422 in the rack vehicle system main control module 1-1, the speed and position information of the motor can be read in real time and displayed on a.
The device state acquisition and alarm module 1-3 comprises 2 travel switches (as shown in fig. 4 a), 8 infrared distance measurement sensors (as shown in fig. 4 b) and 1 buzzer. The device state acquisition module (a travel switch and an infrared distance measuring sensor) transmits acquired signals to the optical coupling isolation module, and a control chip of the car lifting system main control module 1-1 acquires level change of the other end of the optical coupling isolation module and sends an alarm instruction to the buzzer after information processing. The alarm is provided with a switch button which can be turned off when the alarm function is not required.
The main circuit power supply, the CN1 control circuit, the servo output circuit, the CN3-RS-422 circuit, the main circuit power three-phase 220V U, V, W are respectively connected with L1, L2, L3 to U, V and then respectively connected with L11 and L21, the CN1 wiring port mainly functions to control the movement of the motor, the input mode comprises a plurality of control modes, the control system mainly adopts a speed control mode, the interface type adopts a leakage input and output interface mode, the CN3-RS-422 interface mainly functions to communicate with an upper computer through RS-422, the upper computer inquires the rotating speed and the pulse number of the motor, the CN3 interface on the servo driver is an RJ-45 terminal, when in operation, 380V alternating current is converted into 220V alternating current through an external transformer, and the motor drive module and the power management system circuit diagram are shown in figure 5.
Claims (2)
1. A control system for satellite attitude adjustment vehicle lifting is characterized by comprising a vehicle lifting system main control module (1-1), an external input control and display module (1-2), a product state monitoring and alarm module (1-3), a motor driving module and a power management module (1-4); the external input control and display module (1-2), the product state monitoring and alarm module (1-3), the motor driving module and the power management module (1-4) are respectively connected with the car lifting system main control module (1-1);
in particular, the method comprises the following steps of,
the trolley lifting system main control module (1-1) is a core data processing module of a trolley lifting control system and comprises a system main control board MCU, a digital quantity input and output module DAM0808_1 and a digital quantity input and output module DAM0808_ 2; the digital quantity input and output module DAM0808_1 and the digital quantity input and output module DAM0808_2 are connected with a system main control board MCU through RS 485;
the product state monitoring and alarming module (1-3) comprises 8 infrared sensors, 2 travel switches and a buzzer, wherein the 8 infrared sensors are respectively connected with the digital quantity input and output module DAM0808_2, and the 2 travel switches are respectively positioned at the upper travel limit position and the lower travel limit position of the attitude adjusting platform and used for controlling the maximum position of the lifting of the platform;
the motor driving module and the power management module (1-4) comprise a servo motor, a servo driver and a power management unit, wherein the power management unit is respectively connected with a strong current unit and a weak current unit, the three-phase 220V alternating current of the strong current unit is connected with the servo driver, and the servo driver is connected with the servo motor; the weak current unit is respectively connected with a car lifting system main control module (1-1), an external input control and display module (1-2) and a product state monitoring and alarming module (1-3);
the external input control and display module (1-2) is connected with a digital quantity input and output module DAM0808_1 of the main control module (1-1) of the car lifting system; the servo drivers of the motor driving module and the power management module (1-4) are connected with a digital quantity input and output module DAM0808_1 of the main control module (1-1) of the car lifting system through RS 422.
2. The control system of claim 1, wherein the high voltage unit comprises 24V, 5V and 3.3V.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561328A (en) * | 2019-08-29 | 2019-12-13 | 北京航天新风机械设备有限责任公司 | Control system of satellite attitude adjustment trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561328A (en) * | 2019-08-29 | 2019-12-13 | 北京航天新风机械设备有限责任公司 | Control system of satellite attitude adjustment trolley |
| CN110561328B (en) * | 2019-08-29 | 2024-04-19 | 北京新风航天装备有限公司 | Control system of satellite attitude adjustment trolley |
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