CN104501791A - Novel north seeker - Google Patents
Novel north seeker Download PDFInfo
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- CN104501791A CN104501791A CN201410802511.5A CN201410802511A CN104501791A CN 104501791 A CN104501791 A CN 104501791A CN 201410802511 A CN201410802511 A CN 201410802511A CN 104501791 A CN104501791 A CN 104501791A
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- controller
- motor
- encoder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
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- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a novel north seeker. The novel north seeker is characterized by comprising a controller, a power supply management chip, a motor driving integration module, a signal isolation coupling chip, an encoder, a serial port transceiver and a static memory, wherein the power supply management chip is connected with the controller and can be used for providing working power supply to the controller, the memory and the like; the controller is in driving connection with a motor and can be used for controlling the rotating angle of the motor; the encoder is connected with the controller and is used for detecting the position and the speed of a rotor; and the serial port transceiver is connected with the controller and is used for achieving electrical level transformation. The novel north seeker can detect the position and the speed of the rotor rapidly in real time by the encoder and can be used for achieving the purpose of finding out the north direction automatically.
Description
Technical field
The present invention relates to field of intelligent control technology, particularly a kind of north finder control system.
Background technology
North finder, as a kind of highly sensitive, good stability, not by the high-precision independent formula orienting device of magnetic interference, round-the-clock automatic indicating position easy to use, is widely used as directed foundation of demarcating in the electro-optical tracking device such as airborne, carrier-borne and vehicle-mounted and inertial navigation.Realize quick high accuracy autonomous heading to remain at home at certain difficulty, the present situation of current domestic autonomous heading development research is extremely unbecoming with the requirement of current maneuver device systems, and high precision, contradiction fast and between low cost have become " bottleneck " of Related product development.
Summary of the invention
For the deficiencies in the prior art, inventing a kind of north finder control system, take DSP as control core, has good Steady speed and compared with high positioning precision (steady-state error is little), also has rapidity simultaneously.
The present invention adopts following technical scheme:
A kind of novel north finder, it is characterized in that, it comprises: controller, power management chip, motor drive integration module, signal isolation coupling chip, scrambler, serial ports transceiver, static memory; Described power management chip is connected with described controller, for controller, storer etc. provide working power; Described controller drives with described motor and is connected, and controls the rotational angle of motor; Described scrambler is connected with described controller, the Position And Velocity of detection rotor; Described serial ports transceiver is connected with described controller, realizes the conversion of level.
Preferably, described power management chip, model selects B2405.
Preferably, described controller is digital signal processor, and model selects DSP TMS320LF2407A.
Preferably, described motor drives integration module, and model selects L6203.
Preferably, described static memory, model selects CY7C1041.
Preferably, described serial ports transceiver, model selects MAX232E.
Preferably, described signal isolation coupling chip, model selects IL71X.
Technique scheme has following beneficial effect: for the deficiencies in the prior art, invents a kind of north finder control system, can pass through scrambler position that is real-time, detection rotor fast and speed, reach the object in automatic seeking north.This system has that simplicity of design, degree of accuracy are high, integrated level advantages of higher.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of instructions, coordinates accompanying drawing to be described in detail as follows below with preferred embodiment of the present invention.The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention structural representation.
Fig. 2 is embodiment of the present invention workflow diagram.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As shown in Figure 1, a kind of novel north finder, it is characterized in that, it comprises: 1 controller, 2 power management chips, 3 motors drive integration module, 4 signal isolation coupling chips, 5 scramblers, 6 serial ports transceivers, 7 static memories; Described power management chip is connected with described controller, for controller, storer etc. provide working power; Described controller drives with described motor and is connected, and controls the rotational angle of motor; Described scrambler is connected with described controller, the Position And Velocity of detection rotor; Described serial ports transceiver is connected with described controller, realizes the conversion of level.Described power management chip, model selects B2405; Described controller is digital signal processor, and model selects DSP TMS320LF2407A; Described motor drives integration module, and model selects L6203; Described static memory, model selects CY7C1041; Described serial ports transceiver, model selects MAX232E; Described signal isolation coupling chip, model selects IL71X.
The DC/DC module B2405 that Power Management Unit selects MORNSUN company to produce, adjusts single+24V input voltage, exports a road+5V power supply.+ 24V power supply is as the working power of motor driver, and+5V power supply is the V of DSP
cCPpin powered.
16 fixed-point dsp TMS320LF2407A that DSP selects TI company to produce are motion control chips that integrated level is high, performance is strong.External clock 10MHz, in sheet, 4 frequencys multiplication are phase-locked, execution speed 30MIPS, instruction cycle 33ns, adopt Harvard structure bussing technique.TMS320LF2407A hardware resource: the Flash program storage of 32K × 16 in sheet; 2.5K the data/program RAM of × 16; 544 word two-port RAMs (DARAM); The single port RAM (SARAM) of 2K word; 16 bit address buses, can independent access be the storage space of 192K × 16, be respectively 64K program memory space, the data space of 64K and the input/output space of 64K; Two event manager module, eachly include: two 16 general purpose timers, and 8 16 width modulation passages, carry out 3 capturing units of timing acquisition, photoelectric encoder interface circuit in sheet to external event; The synchronous A/D converter of 16 passages; 10 ADC converters, the minimum transition time is 500ns.
TMS320LF2407A software resource: the compatible TMS320C24X instruction set of TMS320LF2407A DSP, has 86 instructions, instruction can carry out multi-mode operation and grammer is simple; Stream line operation can make the fetching of an elementary instruction, decoding, read operation number and execution realize parallel work-flow; Abundant transfer, call and return, repeat instruction; Three kinds of addressing modes.
The L6203 motor drive ic that motor driver selects ST company to produce, L6203 is DMOS full bridge driver, low-power consumption, and ceiling voltage reaches+48V, and working current is 5A to the maximum.Driving signal input takes Light Coupled Device and carries out Signal transmissions, and plays the effect of insulation blocking.
Static memory is the CY7C1041 that CYPRESS company produces, and CY7C1041 is CMOS memory, memory capacity 256K × 16bit, high speed access time 15ns, compatible Transistor-Transistor Logic level, low-power consumption, the maximum 210mA of working current, quiescent current 6mA.
TMS320LF2407A device comprises serial communication interface SCI module.SCI module supports the digital communication between CPU and other asynchronous peripheral using standard format.System utilizes the SCI module string of integrated chip to complete and other equipment serial communications, completes and accepts steering order, report revolving table position.Native system serial ports is RS232 standard, and other system serial ports is RS422 standard, only need increase by one 485 with 232 level conversion devices can realize the differential signal of 485 and the Transistor-Transistor Logic level of 232 is changed mutually, while do not affect the real-time of communication yet.Serial ports transceiver MAX232E is used to communicate between native system with other system.MAX232E structure is simple, and easy to use, single+3.3V powers, the RS232 level conversion that peripheral needs 4 chip capacitors, a resistance can realize Transistor-Transistor Logic level and standard.
Isolating chip is the IL71x series that NVE company produces, and isolate the digital signal of input, output ,+5V ,+3.3V are compatible, and TTL, CMOS are compatible, the highest 2500V of isolation voltage, the highest 100Mbit/s of transfer rate, transmission delay 10ns.Select IL71x model isolating chip, as the isolation of DSP and scrambler, wherein IL711 is the reverse channel isolations in 2 tunnels; IL712 is the channel isolation of 2 road equidirectionals; IL715 is the channel isolation of 4 road equidirectionals.
After connecting firmly the rotational-angular velocity of the earth north component information of the north finder parts current location point obtaining on platform, this angular velocity component information is sent in the form of a voltage the A/D modular converter of data processing unit, data processing unit obtains the angular velocity of current location after processing gathered information, then angular velocity signal amount and position quantity are kept at the storage unit of specifying.The extraction of system angle rate signal is obtained through A/D circuit sampling by main control unit, and servo-drive system reports the current location of turntable by serial communication to master controller, simultaneously servo-drive system carries out accurately location needs real-time closed-loop control, adopts rational position signalling obtaining means to be also the important ring of influential system overall performance with this.
Photoelectric encoder is as being usually used for the Position And Velocity of detection rotor in modern electrical machine control system, photoelectric encoder divides two classes, i.e. absolute type and increment type.Absolute type encoder has the interface with microcomputer or DSP, and easy to use, precision is high; And incremental optical-electricity encoder does not possess above-mentioned technology and interface circuit, be generally export A, B, Z pulse signal, but to have price low for it, is therefore often used when not high to system requirements.Consider that system has selected absolute optical encoder as position detecting element in conjunction with many factors.
Selected absolute optical encoder belongs to digital angular sensor, compared with analog angular transducer, has the advantages such as resolution is high, restraint speckle ability is strong, low-speed performance is splendid.The parts compositions such as photoelectric encoder is paid primarily of light source, grating, light activated element, code-disc, electronic processing circuit.The directional light that the light source of code-disc side sends is paid through grating and is irradiated to the transparent of code-disc and opaque section, can pass code-disc, then can not at opaque section at transparent section light.At the light activated element of code-disc opposite side, receive from transparent section through light, after the modulation of opto-electronic conversion and electronic processing circuit, positional information is exported with digital signal form.According to the difference of transparent section scribing rule on code-disc, the type of coding of the digital signal that absolute type encoder exports is also different, mainly contains binary code and Gray code two kinds.Relative to binary code, Gray code is unit change code, namely only has a change from a position to adjacent position, can improve the reliability that position is detected.Therefore, most of absolute type encoder all adopts Gray code mode to encode.What system was chosen is 17 absolute photoelectric shaft encoders, and a circumference equal dividing is become 2
17part, its resolution is: δ=360 °/2
17, be 9.9 ", precision is 12 ".
The step reading shaft-position encoder absolute position values is as follows: first, and the subsequent conditioning circuit of reset angle coding, arranges the clock frequency of scrambler transceiving data; Then, write corresponding mode instruction, and start timer internal; Finally, load position value is carried out by interruption or inquiry mode.
Controller hardware design only need within the time interval of setting, by the sequential of agreement, sampling pulse is sent out to code device signal processing module, and read corresponding zone bit signal, each 8 read the output value of absolute type encoder by parallel mode, calculated the real-time angular velocity of turntable by software.
In the process that turntable rotates, have two kinds of mode of operations can select: quick mode and high precision mode.These two kinds of mode of operations can realize switching by the button on panel, but must must ensure system cut-off before switching working mode.Difference seek turntable under northern pattern the angle that turns and to seek the north time all different:
Quick mode: often enclose 90 points, often some 2.5s, seeks north time 3.75min altogether;
High precision mode: often enclose 180 points, often some 2.5s, seeks north time 7.5min altogether.
System electrification, first turntable is rotated counterclockwise, when limit switch 1 action, motor break-off, send the control information of reading coder state by serial ports 1 to servo unit, then turntable turns clockwise, when limit switch 2 action, postbacked the status data of motor by serial ports to processing unit, determine the position of motor, processing unit sends mode of operation order according to the data received to servo unit.
After system electrification, temperature conditioning unit starts to enter preliminary work, when the environment temperature constant temperature conditions in dynamic tuning gyroscope work, show that temperature control is ready, and temperature conditioning unit exports and gets out status code.Temperature value on panel by numeral method.Upon power-up of the system, servo unit controls turntable and resets to initial restraining position, self-inspection simultaneously, waits for measurement control order, and servo unit exports and gets out status code, and turntable is ready to complete.During gyroscope north searching instrument work, turntable only rotates a circle, and in order to reduce interference, simplified design, does not design conducting ring, and system only devises one and is greater than 360 ° spacing.
After temperature control and turntable are all ready to complete, system starts measurement procedure according to the north order of seeking of main control unit.Servo unit receives work order, and according to selected mode of operation, turntable starts to drive gyro and associated components to rotate, and controls motor run by algorithm software, makes it to realize accurate calibration location.The comparand register of the event manager module of DSP exports the pulse-width signal (PWM) in band dead band, then is horizontally rotated by motor drive ic control motor.Sample frequency T is set by timer
s=1.25ms, setting pwm signal Dead Time is 0.2us.Meanwhile, within each sampling period, Negotiation speed algorithm makes comparand register can constantly update according to the value calculated, makes the speeds control of motor certain certain value between angular velocity 80 °/s ~ 120 °/s.Turntable is when static, and output turntable angle-data and duty are to processing unit.Rotation due to turntable is a continuous process, sweep limit > 360 °, system limit switch, when detect limit switch again action time, motor stalls, finishes the work.Now, processing unit gathers gyro signal by A/D, finally by the gyro data of 180 or 90 positions, carries out process and calculates real north, realizes multiposition and seeks north measurement.
Above a kind of north finder control system that the embodiment of the present invention provides is described in detail; for one of ordinary skill in the art; according to the thought of the embodiment of the present invention; all will change in specific embodiments and applications; in sum; this description should not be construed as the restriction to invention, and all any changes made according to design philosophy of the present invention are all within protection scope of the present invention.
Claims (1)
1. a novel north finder, is characterized in that, it comprises: controller, power management chip, motor drive integration module, signal isolation coupling chip, scrambler, serial ports transceiver, static memory; Described power management chip is connected with described controller, for controller, storer etc. provide working power; Described controller drives with described motor and is connected, and controls the rotational angle of motor; Described scrambler is connected with described controller, the Position And Velocity of detection rotor; Described serial ports transceiver is connected with described controller, realizes the conversion of level.
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| CN201410802511.5A CN104501791A (en) | 2014-12-18 | 2014-12-18 | Novel north seeker |
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| CN201410802511.5A CN104501791A (en) | 2014-12-18 | 2014-12-18 | Novel north seeker |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105737812A (en) * | 2016-03-01 | 2016-07-06 | 北京航天控制仪器研究所 | Multi-position automatic north-seeking method for uniaxial laser north seeker |
| CN113364655A (en) * | 2021-04-30 | 2021-09-07 | 北京航天发射技术研究所 | DSP-based reliable communication system and communication method of inertial north-seeking component |
| CN115164859A (en) * | 2022-06-17 | 2022-10-11 | 武汉天宸伟业煤安科技有限公司 | North-seeking orientation method and north-seeking orientation system of orientation instrument |
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| CN203375970U (en) * | 2013-08-09 | 2014-01-01 | 张盛 | Transferring device capable of transferring to any position and gyro north seeker |
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Patent Citations (5)
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| CN200965777Y (en) * | 2006-01-24 | 2007-10-24 | 中国科学院长春光学精密机械与物理研究所 | DSP-based LCD screen control circuit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105737812A (en) * | 2016-03-01 | 2016-07-06 | 北京航天控制仪器研究所 | Multi-position automatic north-seeking method for uniaxial laser north seeker |
| CN113364655A (en) * | 2021-04-30 | 2021-09-07 | 北京航天发射技术研究所 | DSP-based reliable communication system and communication method of inertial north-seeking component |
| CN115164859A (en) * | 2022-06-17 | 2022-10-11 | 武汉天宸伟业煤安科技有限公司 | North-seeking orientation method and north-seeking orientation system of orientation instrument |
| CN115164859B (en) * | 2022-06-17 | 2024-02-09 | 武汉天宸伟业煤安科技有限公司 | North seeking orientation method and north seeking orientation system of orientation instrument |
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Application publication date: 20150408 |