CN87210031U - Singal chip controller used for top compass - Google Patents

Abstract

Disclosed is a single chip controller used for an electric control top compass, which has the functions of impact error compensation for the electric control top compass, automatic and fast start control, integral compensation, and fault diagnosis. The utility model manufactured by an advanced single chip technique has the advantages of small size, strong function, low cost, and reliable and reasonable software. Especially, the algorithm of the impact error compensation adopts the compensation structure of simulating electromagnetic pendulum and takes advantage of a speed of a ship signal to compensate an impact error. The top compass adopting the utility model can complete a start-up procedure in thirty or forty minutes and can work on a moving object which frequently maneuvers with high precision.

Description

Singal chip controller used for top compass

The utility model is a kind of control device of the automatically controlled gyrocompass of navigation instrument (to call ETG in the following text).

On behalf of meridianal direction, ETG in ship navigation be widely used as the instrument of indication and transmission course signal, it comes responsive gyrorotor main shaft to depart from the surface level signal by electromagnetic pendulum, this electric signal amplifies rear drive orientation/horizontal moment device, gyro motor is applied correction moment, thereby make gyroscope by the rule precession, promptly obtain selectivity meridian ellipse.Because electromagnetic pendulum is actual to be a kind of single pendulum structure, therefore ETG will produce ballistic error when the motor-driven navigation of boats and ships.The present big damping electromagnetic pendulum that adopts or cut off still imperfection of scheme that damping etc. reduces ballistic error, fundamentally do not solve the ballistic error compensation problem, the orientation registration still has 2～3 ° dynamic error when navigation of naval vessel speed change or turning, influences the usability of ETG.Secondly, though most of ETG has taked some to quicken the measure that starts, start as the sequential control variable element, the quality of its startup and speed are still undesirable.In addition, also there are some problems in the integral compensation that realizes of the dynamo-electric link that adopts of some ETG at present, and is short etc. as complex structure, integral time, influences the effect of its elimination of level axle static error effect.It is most important to the performance of further raising ETG to resolve the problems referred to above.

The utility model adopts singlechip controller (to call SMC in the following text) to have following function: first, utilize " analog electrical magnetic pendulum " structure and " uniform velocity increment compensation condition " to compensate the ballistic error of ETG effectively, it can be worked in higher precision on the motor-driven frequent motion thing.The second, the fast automatic start-up control of realization ETG.The 3rd, realize the integral compensation of ETG, it is improper and gyro that cause refers to northern error to eliminate the compensation of gyrorotor centre-of gravity shift or latitude error.In addition, SMC can also finish the self diagnosis task.

The utility model accompanying drawing is as follows:

Fig. 1: the circuit theory diagrams of SMC major part.

The synoptic diagram that connects of Fig. 2: SMC and ETG.

Fig. 3: the ETG functional block diagram that carries out ballistic error compensation and integral compensation.

Fig. 4: SMC software flow pattern.

As shown in Figure 1, SMC described in the utility model is by single-chip microcomputer (MCS-48 series 8749H) expansion analog-digital converter (ADC0809﹠amp; DAC0832) and necessary interface circuit (pre-service, modulation, driving and demonstration) form.Between each integrated chip by bus DB(8 bit data bus, comprise bus driver 74LS244) and the CB(control bus, WR among the figure, RD, P21-P27 and their nondisjunction signal) connect, DB transmits data, CB is responsible for sheet choosing (P24, P25, P27), A/D channel selecting (P21-P23) provides clock (ALE) and answer signal (P26, START, OPE etc.), I/O line (P24 with 8749H, P25) and WR " with " as the write signal WR1 of DACO832, another root I/O line (P27) and RD coincidence AND signal provide the gating 1G of 74LS244, the output of 2G and ADC0809 allows OPE, and this I/O line and WR coincidence AND signal begin START as the conversion of ADC0809, ALE.It is anti-phase after I/O line (P26) input single-chip microcomputer to convert signal EOC.Four-operational amplifier among the figure (CA3140E) is formed the D/A driving circuit.This SMC is by+5V, ± 12V DC power supply, spendable resource has: 8 tunnel 8 analog quantity input ports (IN0-IN7), 2 tunnel 8 analog quantity output ports, 12 I/O lines (INT, T0, T1, P10-P17, P20), 18 timing/counter, can hold 2K * 8 control programs.This SMC is made in a 130cm ²Printed board on, with one-chip computer developing systems such as TPMCS debugging and program curing, can insert in the control box of ETG, with connecting as shown in Figure 2 of ETG.The electromagnetic pendulum output r(r sign gyro main shaft angle of pitch that prime amplifier comes), the speed of a ship or plane V that log comes and three parameters of azimuth angle alpha of ETG convert 0-5V d. c. voltage signal input SMC to by pre-process circuit (demodulation, coupling); SMC resolves back output transverse axis bucking voltage Uby and Z-axis bucking voltage Ubz through algorithm shown in Figure 4, they control voltage U y/Uz superposition with former ETG respectively after modulators modulate, send the vertical torquer Mz of horizontal moment device My/ to produce compensation and control moment.SMC switches the state of ETG according to r and internal clocking two relays of control (J1, J2) in start-up course, finishes start-up course, and SMC also controls the current state of display logic indication (smoothing, fast steady, compass, fault) simultaneously.

As shown in Figure 3, the part that frame of broken lines goes out among the figure is the compensation tache that SMC realizes.W represents corresponding to the north-south component of acceleration

The compensating signal of n/g, WN are the absolute motion angular velocity of gyro gimbal around the earth's axis.α is the output position angle.Ky, Kz, H represent the gyro pendulosity respectively, and vertical damping and rotor angular momentum, KP, τ are represented the sensitivity and the time constant of electromagnetic pendulum respectively, and symbol S is the Laplace transformation operator, and 1/S represents an integrator.

The utility model adopts " analog electrical magnetic pendulum " structure (see figure 3), and compensates the ballistic error of ETG according to " uniform velocity increment compensation condition " structure compensating signal W that theoretical analysis obtains.So-called " analog electrical magnetic pendulum " promptly is the similar link that of being realized by SMC and compass electromagnetic pendulum have the identical power characteristic; So-called " uniform velocity increment compensation condition " promptly requires compensating signal W and north-south component of acceleration

N/g equates the integration of time.Can get according to this condition: W=1/ (gT) ${\∫}_O^T$

T is the sampling period in ≈ 1/ (gT) the △ Vn formula, generally gets T=1～10 second; △ Vn is the north-south speed increment.Obviously, only need and calculate △ Vn, can obtain the W of a correspondence by following formula every T time measurement V.After the compensation,, can both eliminate ballistic error effectively as stated above, and keep the northern function of looking for of ETG no matter ETG is subjected to what kind of impact or acceleration effect.

Some ETG adopts the method for sequential control variable element startup to quicken start-up course at present, but its quality and speed all are difficult to be guaranteed, the utility model adopts SMC to realize the automatically quick start-up control of ETG, and utilizes Rule of judgment: " electromagnetic pendulum output r is less than a certain scope △ r and can keep the certain hour (see figure 4) in this scope " switches parameter and the state of ETG.This is a kind of closed-loop control that utilizes electromagnetic pendulum signal and time, has guaranteed the quality that starts.

Fig. 3 dotted portion also comprises integral compensation link Kc/HS.Kc is that integration scale-up factor integral compensation not only can be eliminated latitude error, also can eliminate the error that gyro motor centre-of gravity shift causes, and this ETG to some cup-shaped rotor is particularly important, has solved the problem that refers to northern precision temperature influence.Can reach bigger integration time constant with the digital integral compensation of chip microcontroller, and available software excises automatically or preset the integral compensation amount, obtain better effect.

For improving the reliability of SMC work, the utility model has also been considered SMC self is carried out simple fault diagnosis, in case find fault, promptly adopts remedial measures (as cutting off compensating signal etc.) and in time reports to the police.

Above-mentioned start-up control, self diagnosis, integral compensation, ballistic error compensation method are reduced a block diagram form, as shown in Figure 4.I partly is that start-up control: № 1 frame is the smoothing state among the figure, the horizontal moment device is applied be proportional to the main shaft angle of pitch but anti-phase correction voltage; Next frame is a measures, and it makes smoothing T.T. no longer than 10 minutes; Next be the concrete application of above-mentioned Rule of judgment.№ 2 frames are fast steady states of short period, adjust that Ky, Kz make the ETG cycle of working in be two, halfhour state looks for north fast; Below two frames same as described above except that parameter.№ 3 frames are normal conditions, and the cycle recovers normal, finishes start-up course.II is partly for self diagnosis among the figure: check successively whether counter, A/D, D/A, relay be normal, find that fault reports to the police at once.III partly is an integral compensation among the figure: except that " reading in " and " integration ", also considered saturated processing, avoided integral compensation that the dynamic characteristic of ETG is caused excessive adverse effect.IV partly is the ballistic error compensation among the figure: № 1 frame reads in signal; № 2 frames are by " uniform velocity increment compensation condition " structure compensating signal W; Down two frames are simple filter action, carry out saturated processing when W is also bigger than the peak acceleration of boats and ships, and then zero setting when W is too small has been eliminated the noise that tests the speed by the disturbance of compensation tache to ETG; № 3 frames are digital " analog electrical magnetic pendulums ", and actual is a differential equation of first order; № 4 frames are exported bucking voltage to ETG.Delay time and get back to II behind the sampling period T and partly repeat said process.

Adopt the utility model can greatly improve precision and the serviceability of ETG. Experiment shows: when initial drift angle was 30 °, the SMC that starts shooting after 30 minutes can control ETG and start complete (the azimuth index error is less than 1 °, main shaft and horizontal plane angle less than 1 '). After this, with closed loop Method is eliminated the deviation that latitude error, temperature and unbalance mass, cause, makes the finger north precision of ETG satisfy the ISO requirement. When speed of a ship or plane measurement relative error was within 10%, its ballistic error was no more than 0.5 °. The utility model has not only improved the Performance And Reliability of ETG, made things convenient for operation, also owing to having eliminated ballistic error the traditional design thought of ETG is changed, and it be may be used on such as the land with on the violent object of the motions of automobile such as, military affairs and purpose-built vehicle.

Claims (1)

1, a kind of automatically controlled gyrocompass singlechip controller, formed by microcomputer and interface circuit and relative control technologies, it is characterized in that adopting 8749H single-chip microcomputer expansion analog quantity interface to constitute controller, and utilize " analog electrical magnetic pendulum ", " compensation of uniform velocity increment ", automatic start-up control and integral compensation realization control compass:

Described controller has been used bus driver/impact damper 74LS244 between 8749H and ADC0809, and allows O with I/O line and the RD coincidence AND signal of 8749H as the gating signal 1G of 74LS244 and the output of 2G and ADC0809 _PE, this I/O line and WR coincidence AND signal begin START and ale signal [Fig. 1] as the conversion of ADC0809;

Described " analog electrical magnetic pendulum " is the similar link that of being realized by this controller and compass electromagnetic pendulum have the same movement characteristic, and they have identical differential equation of motion;

Described " compensation of uniform velocity increment " is to make the compensated input signal W of above-mentioned link equal north orientation speed increment Δ V _NProduct divided by gravity acceleration g and compensation cycle T;

Described automatic start-up control is to judge the degree of stability of compass according to the electromagnetic pendulum output signal, and the consideration time factor is carried out the automatic switchover control of compass parameter and state;

Described integral compensation is digital integral compensation device.

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