CN216014018U - Azimuth and pitching limiting anti-interference detection module of radar system servo turntable - Google Patents
Azimuth and pitching limiting anti-interference detection module of radar system servo turntable Download PDFInfo
- Publication number
- CN216014018U CN216014018U CN202122768418.5U CN202122768418U CN216014018U CN 216014018 U CN216014018 U CN 216014018U CN 202122768418 U CN202122768418 U CN 202122768418U CN 216014018 U CN216014018 U CN 216014018U
- Authority
- CN
- China
- Prior art keywords
- comparator
- limiting
- electrically connected
- voltage
- inverting input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Safety Devices In Control Systems (AREA)
Abstract
And the direction and pitching limiting anti-interference detection module of the radar system servo turntable. The anti-interference detection module for the azimuth and pitching limiting is capable of avoiding mistaken limiting and mistaken limiting removal. The optical coupler isolation circuit module comprises a comparator and an optical coupler isolation circuit module which are electrically connected; the comparator compares the voltage V1 at the non-inverting input end with the voltage V2 at the inverting input end, so that the voltage V3 at the output end outputs a low level or high level signal to control the on-off of the optical coupling isolation circuit module. In the actual working process, due to factors such as external interference or a limiting process, the voltage of the limiting signal input Vin may fluctuate, for example, when the limiting is not performed, transient pulses higher than a low level may occur to cause false limiting, or when the limiting is performed, transient pulses lower than the high level may occur to cause false limiting. The utility model has the characteristics of avoid the mistake spacing with the mistake go spacing etc.
Description
Technical Field
The utility model relates to a servo revolving stage of radar system especially relates to the position and the spacing anti-interference detection module in every single move of the servo revolving stage of radar system.
Background
The servo turntable comprises a servo control unit, a servo driving unit, an azimuth and pitching driving motor, a code acquisition unit, a platform protection switch, a turntable and the like. The servo turntable movement modes comprise manual operation, scanning, tracking and the like, wherein the manual operation mode can carry out antenna orientation, pitching control and zero resetting. The schematic block diagram of the servo turntable is shown in fig. 2.
The servo system adopts the classical three-loop control of a position loop, a speed loop and a current loop, and can obtain better control characteristics. The position loop forms closed-loop control by calculating output feedback according to a rotary table azimuth angle acquired in real time through a photoelectric encoder, the speed loop forms closed-loop control by a rotary transformer feedback signal of an alternating current servo motor, and the current loop forms closed-loop control by a current sampling module signal. FIG. 3 is a schematic diagram of a servo position loop, a velocity loop, and a current loop.
The servo control unit consists of a servo control computer board, a servo control protection circuit board and a servo interface conversion circuit board.
1) Servo control computer board
The servo control computer board is the core of the servo turntable control, and comprises: receiving and interpreting commands of the comprehensive display and control console; reporting the state of the slave unit; receiving angular error signals of a radar and a television, and correcting shafting errors; receiving external guide data through a network, and performing coordinate conversion and extrapolation on the external guide data so as to control the azimuth and elevation motions of the radar antenna; the system has the functions of fault detection and positioning, and the fault is positioned to the module unit.
The servo control computer adopts a PC/104 embedded computer as a main control unit, a CPU module of CQESS2-SSCM-720B-1-X of Hobobo company is selected, the highest main frequency is 300MHz, and the main board is simultaneously provided with 10/100M Ethernet port, display interface, hard disk interface, standard RS232 serial port and other interfaces. The operating system adopts a real-time operating system Vxworks. Meanwhile, the servo control computer board selects a 12-bit D/A interface with 6 paths of high speed, a bidirectional 48-path I/O interface and an expansion communication interface module to receive digital and analog I/O signals inside various servo extensions and data of a compass and a north finder of an external platform. The composition of the servo control computer board is shown in the schematic block diagram of fig. 4.
2) Servo control and protection circuit board
The servo control and protection circuit board is mainly used for finishing the servo start control and the real-time protection function in the antenna movement process. The servo control computer can inquire the working state of each module of the servo system in each cycle process, and the servo control and protection circuit board can detect the servo fault in real time, report the fault state to the servo control computer in time and take corresponding measures to protect simultaneously. Therefore, the safety of the machine and the human body is ensured, and the fault part can be quickly and accurately positioned.
The servo control and protection circuit takes the FPGA as a logic control core and is matched with a detection and isolation circuit, so that the fault part can be accurately positioned in real time. The servo control and protection circuit is shown in block diagram form in fig. 5.
3) Servo interface conversion circuit board
The servo interface conversion circuit board is used for converting the state switching values of all paths of the servo extension set into digital values, sending the digital values to the servo control computer through the digital I/O port, and simultaneously converting the analog values sent by the servo control computer into control values sent to the servo power amplifier. The block diagram of the servo interface conversion circuit is shown in fig. 6.
In the prior art, the detection of the azimuth limit signal and the pitching limit signal generally directly compares the limit detection voltage with the fixed comparison voltage, and the output signal of the comparator is isolated by single optical coupling and then output to the bus driver, so that the problems of two aspects exist: (1) the problem of limit jitter cannot be effectively solved; (2) when an interference signal exists, the false limit or the false limit removal is easily caused.
SUMMERY OF THE UTILITY MODEL
The utility model provides an above problem, provide one kind and avoided the mistake spacing and the mistake to go spacing position and the spacing anti-interference detection module of every single move.
The technical scheme of the utility model is that: the azimuth and pitching limiting anti-interference detection module of the radar system servo turntable comprises a comparator and an optical coupling isolation circuit module which are electrically connected;
the comparator compares the voltage V1 at the non-inverting input end with the voltage V2 at the inverting input end, so that the voltage V3 at the output end outputs a low level or high level signal to control the on-off of the optical coupling isolation circuit module;
the optical coupling isolation circuit module comprises a first optical coupling isolator and a second optical coupling isolator which are electrically connected;
the first optical coupler isolator is electrically connected with the output end of the comparator;
and the second optical coupler isolator is electrically connected with the inverting input end of the comparator through a resistor R5.
A first voltage division module is arranged at the non-inverting input end of the comparator;
the voltage division module comprises a capacitor C1, a resistor R1 and a resistor R6 which are electrically connected.
The inverting input end of the comparator is provided with a second voltage division module;
the voltage division module comprises a capacitor C2, a resistor R2 and a resistor R3 which are electrically connected.
The output end of the comparator is provided with a filtering current-limiting module;
the filtering current-limiting module comprises a capacitor C3 and a resistor R4 which are electrically connected.
A pin 1 of the first optical coupler isolator is electrically connected with the output end of the comparator;
the pin 2 of the first optical coupler isolator is electrically connected with the pin 3 of the second optical coupler isolator, and the pin 4 of the second optical coupler isolator is grounded;
and the 5 pins of the second optical coupler isolator are electrically connected with the inverting input end of the comparator through a resistor R5.
The comparator is model LM 2903.
The first optical coupler isolator and the second optical coupler isolator are respectively TLP521-2 in model.
The utility model comprises an electrically connected comparator and an optical coupling isolation circuit module; the comparator compares the voltage V1 at the non-inverting input end with the voltage V2 at the inverting input end, so that the voltage V3 at the output end outputs a low level or high level signal to control the on-off of the optical coupling isolation circuit module. In the actual working process, due to factors such as external interference or a limiting process, the voltage of the limiting signal input Vin may fluctuate, for example, when the limiting is not performed, transient pulses higher than a low level may occur to cause false limiting, or when the limiting is performed, transient pulses lower than the high level may occur to cause false limiting. According to the invention, through the design of the voltage division circuit at the non-inverting input end and the inverting input end of the comparator and the design of the double-optical-coupling circuit and the feedback resistor R5, the error limit and the error removal limit are effectively avoided. The utility model has the characteristics of avoid the mistake spacing with the mistake go spacing etc.
Drawings
Figure 1 is a schematic circuit diagram of the present invention,
figure 2 is a schematic block diagram of a servo system,
FIG. 3 is a schematic diagram of a servo system position loop, velocity loop and current loop,
figure 4 is a schematic block diagram of a servo control computer board assembly,
figure 5 is a block diagram of the servo control and protection circuitry,
fig. 6 is a block diagram of the servo interface conversion circuit board.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
The utility model discloses as shown in figure 1, the azimuth and pitching spacing anti-interference detection module of the radar system servo turntable comprises an electrically connected comparator and an optical coupling isolation circuit module;
the comparator compares the voltage V1 at the non-inverting input end with the voltage V2 at the inverting input end, so that the voltage V3 at the output end outputs a low level or high level signal to control the on-off of the optical coupling isolation circuit module;
the optical coupling isolation circuit module comprises a first optical coupling isolator and a second optical coupling isolator which are electrically connected;
the first optical coupler isolator is electrically connected with the output end of the comparator;
and the second optical coupler isolator is electrically connected with the inverting input end of the comparator through a resistor R5. The limiting detection signal is sent to the processor through the first optical coupler isolator to be processed, the feedback resistor R5 and the inverting input end of the comparator can be connected or disconnected through the second optical coupler isolator, and then the switching of the comparison voltage of the inverting input end of the comparator is controlled.
A first voltage division module is arranged at the non-inverting input end of the comparator;
the voltage division module comprises a capacitor C1, a resistor R1 and a resistor R6 which are electrically connected.
The inverting input end of the comparator is provided with a second voltage division module;
the voltage division module comprises a capacitor C2, a resistor R2 and a resistor R3 which are electrically connected.
The output end of the comparator is provided with a filtering current-limiting module;
the filtering current-limiting module comprises a capacitor C3 and a resistor R4 which are electrically connected.
A pin 1 of the first optical coupler isolator is electrically connected with the output end of the comparator;
the pin 2 of the first optical coupler isolator is electrically connected with the pin 3 of the second optical coupler isolator, and the pin 4 of the second optical coupler isolator is grounded;
and the 5 pins of the second optical coupler isolator are electrically connected with the inverting input end of the comparator through a resistor R5.
When the normal work is carried out:
(1) when the turntable is not limited, the voltage V1 of the non-inverting input end of the comparator is lower than the voltage V2 of the inverting input end, the output voltage V3 of the comparator is low-level GND24, the optical coupler is not turned on, the input V4 of the bus driver is low-level GND5, and the turntable is not limited by a signal sent to the processor;
(2) when the revolving stage is limited, the voltage V1 of the non-inverting input end of the comparator is higher than the voltage V2 of the inverting input end, the output voltage V3 of the comparator is high level +24V at the moment, the optical coupler is turned on, the input V4 of the bus driver is high level +5V at the moment, and the revolving stage is limited by a signal sending processor.
The non-inverting input terminal of the comparator LM2903 is composed of resistors R1, R6, and C1, and GND24 is +24V ground. During normal operation, when the servo turntable is not rotated to the limit position, the limit signal Vin is at a low level of 0V, and the voltage V1 at the non-inverting input terminal of the comparator is at 0V. When the servo turntable rotates to a limit position, the limit signal Vin changes from a low level 0V to a high level 24V, and the voltage of the non-inverting input terminal of the comparator is 4V (24 × R6/(R1+ R6) = 4V).
The inverting input terminal of the comparator LM2903 is composed of resistors R2, R3, C3, and R5, and GND24 is +24V ground. When the optocoupler TLP521-2 is not opened, the 5 feet of the optocoupler are suspended. At this time, the voltage of V2 was 1.04V (24 × R3/(R2+ R3) = 1.04V.). When the optocoupler TLP521-2 is switched on, the voltage of the 5 pins of the optocoupler is + 24V. At this time, the voltage of V2 was 2V (24 × R3/(R2// R5+ R3) = 2V).
In the actual working process, due to factors such as external interference or a limiting process, the voltage of the limiting signal input Vin may fluctuate, for example, when the limiting is not performed, transient pulses higher than a low level may occur to cause false limiting, or when the limiting is performed, transient pulses lower than the high level may occur to cause false limiting. According to the invention, through the design of the voltage division circuit at the non-inverting input end and the inverting input end of the comparator and the design of the double-optical-coupling circuit and the feedback resistor R5, the error limit and the error removal limit are effectively avoided.
Avoid the spacing theory of operation of mistake:
when the turntable is not limited, Vin =0V, V1=0V, and V2= 1.04V. If jitter or interference signals are added to Vin, the comparator can be turned over only when Vin is required to exceed 6.24V (6.24 × 2/(10+2) = 1.04V.), so that the output voltage V3 of the comparator is high level, the optical coupler is turned on, and the output V4 and the output V5 of the optical coupler are both high level. When V5 was high, V2 became 2V according to the above analysis. As long as Vin does not exceed 12V (12 × R6/(R1+ R6) = 2V.), V2> V1, at this time, the comparator is inverted again, V3 outputs low level, and the optical coupler outputs low level. If the pulse width of the interference signal is narrow, the normal working state is recovered when the process does not occur due to the short-time delay effect of the comparator output filter capacitor C3 and the optical coupler output filter capacitor C4.
Avoid the mistake to go spacing theory of operation:
when the turntable is limited, at the moment, Vin =24V, V1=4V, and V2= 2V. If jitter or interference signals are added to Vin, the comparator can be turned over only when Vin is lower than 12V (12 × R6/(R1+ R6) = 2V.), so that the output voltage V3 of the comparator is low level, the optical coupler is turned off, the output V4 of the optical coupler is low level, and V5 is floating. When V5 was suspended, V2 became 1.04V according to the analysis above. As long as Vin is not lower than 6.24V (6.24 × R6/(R1+ R6) = 1.04V.), V2< V1, at this time, the comparator is turned over again, V3 outputs high level, and the optical coupler outputs high level. If the pulse width of the interference signal is narrow, the normal working state is recovered when the process does not occur due to the short-time delay effect of the comparator output filter capacitor C3 and the optical coupler output filter capacitor C4.
The disclosure of the present application also includes the following points:
(1) the drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;
(2) in case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;
the above embodiments are only embodiments disclosed in the present disclosure, but the scope of the disclosure is not limited thereto, and the scope of the disclosure should be determined by the scope of the claims.
Claims (7)
1. The azimuth and pitching limiting anti-interference detection module of the radar system servo turntable is characterized by comprising a comparator and an optical coupling isolation circuit module which are electrically connected;
the comparator compares the voltage V1 at the non-inverting input end with the voltage V2 at the inverting input end, so that the voltage V3 at the output end outputs a low level or high level signal to control the on-off of the optical coupling isolation circuit module;
the optical coupling isolation circuit module comprises a first optical coupling isolator and a second optical coupling isolator which are electrically connected;
the first optical coupler isolator is electrically connected with the output end of the comparator;
and the second optical coupler isolator is electrically connected with the inverting input end of the comparator through a resistor R5.
2. The azimuth and elevation limit anti-interference detection module of the radar system servo turntable according to claim 1, wherein a first voltage division module is arranged at a non-inverting input end of the comparator;
the voltage division module comprises a capacitor C1, a resistor R1 and a resistor R6 which are electrically connected.
3. The azimuth and elevation limit anti-interference detection module of the radar system servo turntable according to claim 1, wherein a second voltage division module is arranged at an inverting input end of the comparator;
the voltage division module comprises a capacitor C2, a resistor R2 and a resistor R3 which are electrically connected.
4. The azimuth and elevation limit anti-interference detection module of the radar system servo turntable according to claim 1, wherein the output end of the comparator is provided with a filtering current limiting module;
the filtering current-limiting module comprises a capacitor C3 and a resistor R4 which are electrically connected.
5. The azimuth and elevation limit anti-interference detection module of the radar system servo turntable according to claim 1, wherein a pin 1 of the first opto-isolator is electrically connected with an output end of the comparator;
the pin 2 of the first optical coupler isolator is electrically connected with the pin 3 of the second optical coupler isolator, and the pin 4 of the second optical coupler isolator is grounded;
and the 5 pins of the second optical coupler isolator are electrically connected with the inverting input end of the comparator through a resistor R5.
6. The azimuth and elevation limit anti-jamming detection module of a radar system servo turntable of claim 1, wherein the comparator is model number LM 2903.
7. The module for detecting the spacing anti-interference detection of azimuth and elevation of the radar system servo turntable according to claim 1, wherein the first and second opto-isolators are TLP521-2 in type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122768418.5U CN216014018U (en) | 2021-11-12 | 2021-11-12 | Azimuth and pitching limiting anti-interference detection module of radar system servo turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122768418.5U CN216014018U (en) | 2021-11-12 | 2021-11-12 | Azimuth and pitching limiting anti-interference detection module of radar system servo turntable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216014018U true CN216014018U (en) | 2022-03-11 |
Family
ID=80586654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122768418.5U Active CN216014018U (en) | 2021-11-12 | 2021-11-12 | Azimuth and pitching limiting anti-interference detection module of radar system servo turntable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216014018U (en) |
-
2021
- 2021-11-12 CN CN202122768418.5U patent/CN216014018U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100549752C (en) | The movement in a curve control system of heavy caliber astronomical telescope azimuth axis | |
| CN101729002A (en) | SOPC-based remote monitoring system of no-position sensor brushless DC motor | |
| CN202871980U (en) | Antenna control device | |
| CN203434899U (en) | High-precision servo controller used for multiple motors | |
| CN101729005A (en) | Method for controlling brushless DC motor based on FPGA | |
| CN113489411B (en) | Servo driver absolute position and speed detection method | |
| CN216014018U (en) | Azimuth and pitching limiting anti-interference detection module of radar system servo turntable | |
| CN113848863B (en) | Universal servo system test switching device | |
| CN106655928A (en) | Driving control and rotating angle measurement system used for stepping motor | |
| CN108304002A (en) | The method of proximity sensor target motion angle control | |
| CN202093383U (en) | Field bus control module of VPC3+C chip-based electric execution mechanism | |
| CN201845234U (en) | Servo synchronous testing device | |
| CN201293928Y (en) | Locale bus control module based on PROFIBUS-DP protocol | |
| CN110995071A (en) | Full-automatic switching device of two hall sensing of group based on rotor position gathers | |
| CN110927430A (en) | System and method for detecting guide voltage of direct-current charging gun of electric vehicle | |
| CN109445348B (en) | Missile detection simulation device for missile weapon system | |
| CN211905638U (en) | Handheld cable fault detection device | |
| CN106976085B (en) | Control device of live working robot of transformer substation | |
| CN210983102U (en) | Turntable/swing table control system with front end compensation mechanism | |
| CN208224851U (en) | Control circuit takes aim at control system with thick | |
| CN203813709U (en) | Controlling device for stepping motor of photoelectric direct-reading spectrometer | |
| CN211180636U (en) | Control circuit of motion control system of numerical control machine tool | |
| CN206021053U (en) | Tool magazine control circuit | |
| CN110634351A (en) | Aviation horizon sensor control system of flight simulator | |
| CN204229184U (en) | A kind of high precision four axle scanning support controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |