CN101726425A - Steering engine tester - Google Patents
Steering engine tester Download PDFInfo
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- CN101726425A CN101726425A CN200910242226A CN200910242226A CN101726425A CN 101726425 A CN101726425 A CN 101726425A CN 200910242226 A CN200910242226 A CN 200910242226A CN 200910242226 A CN200910242226 A CN 200910242226A CN 101726425 A CN101726425 A CN 101726425A
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Abstract
The invention provides a steering engine tester, which makes as plain as daylight the condition of motion of a steering engine connected with the steering engine tester, plays an important role in future programming and also can directly read signal parameters of the steering engine out through values displayed on a digital tube and formulate corresponding motion functions through the parameters. Through long-term research and development, the steering engine tester with two channels can be provided at present, which undoubtedly provides powerful technical support for the research, development and production links of robots. The steering engine tester can be applied to various occasions which are not limited to the field of the robots, and also can be used for controlling various valve steering engines in model airplanes.
Description
One, technical field
The invention belongs to artificial intelligence field, relate to a kind of steering engine tester, this tester can better obtain the moving situation of steering wheel, for the automatic control to steering wheel provides good support.
Two, background technology
In the robot Mechatronic control system, steering wheel control effect is the important factor in order of performance.Steering wheel can be as basic output executing mechanism in micro-electro-mechanical systems is unified model plane, and it is simply controlled and output makes Single Chip Microcomputer (SCM) system be very easy to interface with it.
Steering wheel is the servo driver in a kind of position (angle), is applicable to the control system that those need angle constantly to change and can keep.At high-grade remote-control toy, as model plane, comprise model aircraft, submarine model at present; The remote-controlled machine philtrum has used commonplacely.Steering wheel is a kind of being commonly called as, and is a kind of servo motor in fact.
Its principle of work is:
Control signal obtains dc offset voltage by the passage entering signal modulation chip of receiver.There is a reference circuit its inside, and the generation cycle is 20ms, and width is the reference signal of 1.5ms, with the voltage ratio of the dc offset voltage that obtains and potentiometer, obtains voltage difference and exports.At last, the positive and negative rotating that outputs to motor drive ic decision motor of voltage difference.When motor speed one timing, drive the potentiometer rotation by the cascade reduction gearing, make that voltage difference is 0, motor stops operating.Certainly we can not spend the concrete principle of work of understanding it, know that its control principle is just much of that.Use transistor as us, know and can take it to do switching tube or amplifier tube just, specifically how flowing as for the electronics in the pipe not to spend consideration fully.
The control of steering wheel:
The control of steering wheel generally needs the time main pulse about a 20ms, and the high level of this pulse partly is generally the angle gating pulse part in 0.5ms～2.5ms scope.Spending angle servo with 180 is example, and so Dui Ying control relation is such:
0.5ms--------------0 degree;
1.0ms------------45 degree;
1.5ms------------90 degree;
2.0ms-----------135 degree;
2.5ms-----------180 degree;
The operating voltage of small-sized steering wheel is generally 4.8V or 6V, and rotating speed neither be very fast, is generally 0.22/60 degree or 0.18/60 degree, so if the width of change angle gating pulse is too fast, steering wheel may react does not come over.Reaction has faster just needed higher rotating speed if desired.
To control steering wheel accurately, so uneasy in fact, the position grade of a lot of steering wheels has 1024, so, if the effective angle scope of steering wheel is 180 degree, the angle precision of its control is can reach 180/1024 degree about 0.18 to have spent, and the pulse-width controlled precision that requires in fact is the about 2us of 2000/1024us from the time.If you have taken individual steering wheel, control accuracy is all inaccessible words of 1 degree, but also sees that steering wheel shaking.In this case, as long as the not shake of the voltage of steering wheel, that shake be exactly your gating pulse.Can and why this pulse shake? certainly the pulse producer of selecting for use with you is relevant.
Use the scheme of conventional one-piece machine control steering wheel also to have a lot, mostly be to utilize the mode of timer and interruption to finish control, it is still quite effective that such mode is controlled 1 steering wheel, but along with the increase of steering wheel quantity, perhaps control is got up just so not convenient and can have been reached the pulse-width controlled precision of about 2 microseconds.It is said that AVR also has the breadboard of 32 steering wheels of control, may still want the Tyke just to know but precision can reach 2 microseconds.Test is got up very simply in fact, only its control signal need be connected with oscillograph, allows steering wheel control signal that breadboard exports increase progressively with the width of 2 microseconds then.
FPPA can be easily accurately be controlled at 2 microseconds with the precision of pulsewidth even below 2 microseconds, this mainly is that effect has been brought into play in the so creative instruction of delay memory.The delay time of this instruction is that the value of counting immediately in the data cell adds 1 instruction cycle (data 0 out, details see also delay instruction application notice) because of the data storage cell that is 8, so the data among the memory are (0～255), remember that the front carried, the angle progression of steering wheel is generally 1024 grades, so only store delay parameter as usefulness not enough, so we can adopt 2 internal storage locations to deposit the angle servo parameter of steering wheel with a storage space.
In the robot Mechatronic control system, steering wheel control effect is the important factor in order of performance.Steering wheel can be as basic output executing mechanism in micro-electro-mechanical systems is unified model plane, and it is simply controlled and output makes Single Chip Microcomputer (SCM) system be very easy to interface with it.
Steering wheel is the servo driver in a kind of position (angle), is applicable to the control system that those need angle constantly to change and can keep.At high-grade remote-control toy, as model plane, comprise model aircraft, submarine model at present; The remote-controlled machine philtrum has used commonplacely.Steering wheel is a kind of being commonly called as, and is a kind of servo motor in fact.
For the joint that the humanoid robot has many steering wheels to control, these joints affect robot motion's stability, and the cooperation between the joint is more important.Before the establishment movement function, just can observe the motion conditions and the signal parameter of joint of robot for let us, be beneficial to the wherein programming and the maintenance in joint, need research a kind of to each joint part one by one or the machine and the method for carrying out performance test in batch, this equipment configurations to robot, trouble hunting and later stage maintenance all are very favourable.
Three, summary of the invention
The invention provides a kind of steering engine tester and method of testing thereof, be used for test machine person joint's motion conditions and signal parameter, be beneficial to these joint parts are carried out programming Control and maintenance.
The advantage of steering engine tester of the present invention is: make the moving situation of steering wheel come into plain view, in the future programming plays an important role.And can directly read the signal parameter of steering wheel by the value that shows on the charactron, can be by the corresponding movement function of these parameter establishments.Through research and development for a long time, the steering engine tester of two passages can be provided at present, this provides powerful technical support to robot research and development production link undoubtedly.Steering engine tester can use in many occasions, not only is confined to the robot field, also can use steering engine tester to control various valve steering wheels in the model airplane.
According to goal of the invention of the present invention, a kind of steering engine tester is provided, be used for the performance of steering wheel is tested and adjusted the performance of steering wheel, it mainly is made up of following components:
The first passage interface, the steering wheel that is used for will testing is connected with steering engine tester, carries out the steering wheel performance test;
The second channel interface, the steering wheel that is used for will testing is connected with steering engine tester, carries out the steering wheel performance test;
The first passage display device is used to the current steering wheel performance that shows that first passage is connected with steering engine tester;
The second channel display device is used to the current steering wheel performance that shows that first passage is connected with steering engine tester;
The first passage regulating device is used to regulate the steering wheel performance number that is connected with first passage;
The second channel regulating device is used to regulate the steering wheel performance number that is connected with second channel;
First passage returns middle device, is used for the current steering wheel performance number that is connected with first passage is returned;
Second channel returns middle device, is used for the current steering wheel performance number that is connected with second channel is returned;
The test processes chip, be used for handling and be received from first passage and/or the detected steering wheel performance number of second channel, the performance number that receives is sent to the first passage display device and/or the second channel display device shows, the regulating command that first passage regulating device and/or second channel regulating device are sent is sent to the steering wheel that first passage and/or second channel connect and regulates;
Logical circuit, whether be used to detect first passage and second channel has the steering wheel that has been connected and the result is informed the test processes chip;
External working power is used for providing power supply to whole steering engine tester, and the power supply of the steering wheel that is connected with steering engine tester also is provided.
According to another goal of the invention of the present invention, wherein the first passage interface can be connected steering wheel separately with the second channel interface and tests, also can connect steering wheel together tests, when only connecting a channel interface, the display device of another idle channel, regulating device, time middle device can not normally use.
According to another goal of the invention of the present invention, comprise also that wherein first passage regulating device and second channel regulating device also comprise a state switching device.
According to another goal of the invention of the present invention, wherein work as this state switching device and comprise coarse adjustment and two states of fine setting, when this state switching device switches to the coarse adjustment state, first passage regulating device and second channel regulating device can be carried out coarse adjustment to the steering wheel performance, when this state switching device switched to the fine setting state, first passage regulating device and second channel regulating device can be finely tuned the steering wheel performance.
According to another goal of the invention of the present invention, wherein when this state switching device switched to the coarse adjustment state, the relay indicating light of coarse adjustment was bright, and when this state switching device switched to the fine setting state, the relay indicating light of fine setting was bright.
According to another goal of the invention of the present invention, use therein power supply can be a high-power DC power supply, also can be lithium battery.
According to another goal of the invention of the present invention, wherein the supply voltage scope is preferably between the 6.8-7.4V.
According to another goal of the invention of the present invention, first passage display device wherein, second channel display device are liquid crystal indicator.
According to another goal of the invention of the present invention, performance test wherein comprises that linear output, fixed point output mode, dead band test, velocity test, windscreen wiper test, standard signal receive.
Four, description of drawings
Below the present invention will be further described by drawings and Examples:
Fig. 1 is the circuit connection diagram of steering engine tester of the present invention;
Fig. 2 is the vertical view of steering engine tester of the present invention;
Fig. 3 is the theory diagram of steering engine tester of the present invention;
Fig. 4 is the connection layout of steering engine tester of the present invention;
Fig. 5 is the interface of steering engine tester of the present invention;
Fig. 6 is the relay indicating light location drawing of steering engine tester of the present invention;
Fig. 7 is steering engine tester charactron of the present invention and pilot lamp display sequence figure;
Fig. 8 normally connects the synoptic diagram of steering wheel for the present invention;
Fig. 9 connects the first passage and the second channel synoptic diagram of steering wheel for the present invention;
Figure 10 is an adjusting steering wheel value synoptic diagram one of the present invention;
Figure 11 is an adjusting steering wheel value synoptic diagram two of the present invention
Figure 12 returns middle synoptic diagram for steering wheel value of the present invention;
Figure 13 is a pcb board figure top layer of the present invention;
Figure 14 is a pcb board figure bottom of the present invention.
Five, embodiment
The test philosophy of steering engine tester of the present invention is as follows:
Steering engine tester of the present invention mainly is made up of following components:
First passage interface, second channel interface, first passage display device, second channel display device, first passage regulating device, second channel regulating device, first passage return middle device, second channel returns relay indicating light of middle device, test processes chip, logical circuit, external working power, coarse adjustment and fine setting etc.
Wherein first passage interface, second channel interface are used for the steering wheel that will will test with steering engine tester separately or connect, and carry out the steering wheel performance test.
Wherein first passage display device, second channel display device are used to the current steering wheel performance that shows that first passage is connected with second channel.
Wherein first passage regulating device, second channel regulating device are used to regulate the steering wheel performance number that first passage is connected with second channel.
Wherein first passage return middle device, second channel return in the device steering wheel performance number that is used for current first passage is connected with second channel return.
Wherein the test processes chip is the core of this steering engine tester, be used for handling and be received from first passage and/or the detected steering wheel performance number of second channel, the performance number that receives is sent to the first passage display device and/or the second channel display device shows, the regulating command that first passage regulating device and/or second channel regulating device are sent is sent to the steering wheel that first passage and/or second channel connect and regulates.
Whether wherein logical circuit is used to detect first passage and second channel has the steering wheel that has been connected and the result is informed the test processes chip.
Wherein external working power is used for providing power supply to whole steering engine tester, and the power supply of the steering wheel that is connected with steering engine tester also is provided, and power supply has two kinds, a kind of is high-power DC power supply, we use direct supply, and regulation voltage is 7.4V, receive on the steering engine tester corresponding interface; Another kind of mode is to use machine 7.4V lithium battery commonly used.
Wherein comprise a state switching device in first passage regulating device and the second channel regulating device, be used between coarse adjustment and big accent two song states, switching, wherein the relay indicating light of coarse adjustment and fine setting is two independently relay indicating lights, when current carry out be adjusted to coarse adjustment the time, the relay indicating light in coarse adjustment district is bright, when current carry out be adjusted to when fine setting, the relay indicating light in fine setting district is bright.
This product major function is as follows:
1, linear output.Tester outputting standard steering wheel signal, adjusting knob can change signal magnitude, and shows on display screen.Be used to detect the stroke of steering wheel, and in stroke, whether tremble the rudder point.
2, fixed point output mode.According to selection, tester output is minimum, middle and Senior Three kind standard steering wheel signal.Be used to detect the steering wheel positioning performance, especially after steering wheel work a period of time, whether can also be operated in the normal position.
3, the dead band is tested, and is used to test the response threshold of steering wheel.This function can be tested the sensitivity of steering wheel, is usually used in selecting the steering wheel of interlock on the model plane.
4, velocity test.The test steering wheel forwards the required time of 60 degree to from 0 degree, is used to judge that steering wheel rotates speed.According to the data that repeatedly record, can also judge whether the repeatability of steering wheel rotation is good.
5, windscreen wiper test.Tester can be with 10 kinds of different speed, and output makes the signal of the continuous rotating of steering wheel.Be used to simulate the steering wheel duty, the manufacturer can use the life-span of this functional test steering wheel.
6, standard signal receives.Detect the pulsewidth of the standard steering wheel signal of external unit generation.Whether good in order to detect receiver (perhaps other drives the circuit of steering wheel).
The steering engine tester operation instruction
Power supply
Steering engine tester can make power supply in two ways, and a kind of is high-power DC power supply, and we use direct supply, and regulation voltage is 7.4V, receives on the steering engine tester corresponding interface.
Another kind of mode is to use machine 7.4V lithium battery commonly used.Receive and just can begin on the corresponding interface to have tested, interface as shown in Figure 5.
Operating supply voltage is preferably between the 6.8-7.4V.
Start
Open the switch of charactron top, right side when us after, system initialization, charactron from left to right glimmer one by one successively and finish initialization and drive steering wheel.We need wait for the time in about three seconds this process, and we can detect charactron and whether LED light is normal this process.In the meantime, we observe as shown in Figure 6.
When glimmering successively, charactron and pilot lamp are as shown in Figure 7.
After start was finished, charactron can show an initial steering wheel value, and at this moment the steering wheel interface will produce output signal.Next we insert steering wheel and test.
Insert steering wheel
We can select J2, the JC2 of top or J4, the JC4 on the right side.Here we illustrate, and J2 is the same signal with JC2 output.We can connect above two steering wheels arrive, and their rotational angle is the same.We can observe the consistance of two steering wheels with this interface.J4 and JC4 are in like manner.
The synoptic diagram of normal connection steering wheel as shown in Figure 8.
Wherein illustrate, two parts about this steering engine tester is divided into, their function is identical, be two fully independently, the complete and digital display synchronization of the value of steering wheel.
Adjust the steering wheel output valve
After we connect steering wheel.We just can begin the turn knob and regulate the steering wheel value, illustrate here, and the steering wheel output valve becomes big clockwise, twist the steering wheel value counterclockwise and diminish, and the knob on both sides in like manner.
The amplitude that top red LED pilot lamp representative is regulated.The left side bright expression of LED is regulated a scale steering wheel value and is added one, and LED bright expression in right side is regulated a scale steering wheel value and added 10.We can switch adjusting range by pressing the adjustment button.
The steering wheel value can be from 0-250.Corresponding steering wheel PWM high level time is 0.5ms-2.5ms.
When we regulate steering wheel, need make during steering wheel returns.We can press the button of adjusting in the middle of the indication LED, during at this moment the steering wheel value is returned, and just 125.At this moment the corresponding 1.5ms that is output as.As shown in figure 12.
Claims (9)
1. steering engine tester is used for the performance of steering wheel is tested and adjusted the performance of steering wheel, and it mainly is made up of following components:
The first passage interface, the steering wheel that is used for will testing is connected with steering engine tester, carries out the steering wheel performance test;
The second channel interface, the steering wheel that is used for will testing is connected with steering engine tester, carries out the steering wheel performance test;
The first passage display device is used to the current steering wheel performance that shows that first passage is connected with steering engine tester;
The second channel display device is used to the current steering wheel performance that shows that first passage is connected with steering engine tester;
The first passage regulating device is used to regulate the steering wheel performance number that is connected with first passage;
The second channel regulating device is used to regulate the steering wheel performance number that is connected with second channel;
First passage returns middle device, is used for the current steering wheel performance number that is connected with first passage is returned;
Second channel returns middle device, is used for the current steering wheel performance number that is connected with second channel is returned;
The test processes chip, be used for handling and be received from first passage and/or the detected steering wheel performance number of second channel, the performance number that receives is sent to the first passage display device and/or the second channel display device shows, the regulating command that first passage regulating device and/or second channel regulating device are sent is sent to the steering wheel that first passage and/or second channel connect and regulates;
Logical circuit, whether be used to detect first passage and second channel has the steering wheel that has been connected and the result is informed the test processes chip;
External working power is used for providing power supply to whole steering engine tester, and the power supply of the steering wheel that is connected with steering engine tester also is provided.
2. according to the steering engine tester in the claim 1, wherein the first passage interface can be connected steering wheel separately with the second channel interface and tests, also can connect steering wheel together tests, when only connecting a channel interface, the display device of another idle channel, regulating device, time middle device can not normally use.
3. according to the steering engine tester among the claim 1-2, comprise also that wherein first passage regulating device and second channel regulating device also comprise a state switching device.
4. according to the steering engine tester in the claim 3, wherein work as this state switching device and comprise coarse adjustment and two states of fine setting, when this state switching device switches to the coarse adjustment state, first passage regulating device and second channel regulating device can be carried out coarse adjustment to the steering wheel performance, when this state switching device switched to the fine setting state, first passage regulating device and second channel regulating device can be finely tuned the steering wheel performance.
5. according to the steering engine tester in the claim 4, wherein when this state switching device switched to the coarse adjustment state, the relay indicating light of coarse adjustment was bright, and when this state switching device switched to the fine setting state, the relay indicating light of fine setting was bright.
6. according to the steering engine tester among the claim 1-5, use therein power supply can be a high-power DC power supply, also can be lithium battery.
7. according to the steering engine tester of claim 6, wherein the supply voltage scope is preferably between the 6.8-7.4V.
8. according to the steering engine tester of claim 1-5, first passage display device wherein, second channel display device are liquid crystal indicator.
9. according to the steering engine tester of claim 1-5, performance test wherein comprises that linear output, fixed point output mode, dead band test, velocity test, windscreen wiper test, standard signal receive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910242226A CN101726425B (en) | 2009-12-10 | 2009-12-10 | Steering engine tester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910242226A CN101726425B (en) | 2009-12-10 | 2009-12-10 | Steering engine tester |
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| Publication Number | Publication Date |
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| CN101726425A true CN101726425A (en) | 2010-06-09 |
| CN101726425B CN101726425B (en) | 2012-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910242226A Expired - Fee Related CN101726425B (en) | 2009-12-10 | 2009-12-10 | Steering engine tester |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103116134A (en) * | 2013-02-07 | 2013-05-22 | 哈尔滨工业大学 | Double-redundancy steering engine residual life predicting device and method for predicting residual life of double-redundancy steering engine |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN103600350A (en) * | 2013-09-23 | 2014-02-26 | 哈尔滨工大天才智能科技有限公司 | Robot steering gear control system and method based on imaging |
| CN106501649A (en) * | 2016-11-11 | 2017-03-15 | 中国科学院长春光学精密机械与物理研究所 | Portable multi-channel electric steering engine auxiliary testing system and method for testing |
| CN107942246A (en) * | 2017-11-16 | 2018-04-20 | 深圳市科比特航空科技有限公司 | Unmanned plane horn testing tool and its test method |
| CN108106872A (en) * | 2016-11-24 | 2018-06-01 | 兰州飞行控制有限责任公司 | A kind of rotary electric mechanism exerciser |
| CN109708862A (en) * | 2019-01-10 | 2019-05-03 | 深圳飞马机器人科技有限公司 | A kind of steering engine test macro |
| CN112278318A (en) * | 2020-09-22 | 2021-01-29 | 长沙五七一二飞机工业有限责任公司 | Helicopter hydraulic steering engine tester and test method |
-
2009
- 2009-12-10 CN CN200910242226A patent/CN101726425B/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103116134A (en) * | 2013-02-07 | 2013-05-22 | 哈尔滨工业大学 | Double-redundancy steering engine residual life predicting device and method for predicting residual life of double-redundancy steering engine |
| CN103116134B (en) * | 2013-02-07 | 2015-01-28 | 哈尔滨工业大学 | Double-redundancy steering engine residual life predicting device and method for predicting residual life of double-redundancy steering engine |
| CN103600350A (en) * | 2013-09-23 | 2014-02-26 | 哈尔滨工大天才智能科技有限公司 | Robot steering gear control system and method based on imaging |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN103499444B (en) * | 2013-10-24 | 2016-04-06 | 北京航空航天大学 | A kind of actuator performance tester |
| CN106501649A (en) * | 2016-11-11 | 2017-03-15 | 中国科学院长春光学精密机械与物理研究所 | Portable multi-channel electric steering engine auxiliary testing system and method for testing |
| CN108106872A (en) * | 2016-11-24 | 2018-06-01 | 兰州飞行控制有限责任公司 | A kind of rotary electric mechanism exerciser |
| CN107942246A (en) * | 2017-11-16 | 2018-04-20 | 深圳市科比特航空科技有限公司 | Unmanned plane horn testing tool and its test method |
| CN109708862A (en) * | 2019-01-10 | 2019-05-03 | 深圳飞马机器人科技有限公司 | A kind of steering engine test macro |
| CN112278318A (en) * | 2020-09-22 | 2021-01-29 | 长沙五七一二飞机工业有限责任公司 | Helicopter hydraulic steering engine tester and test method |
| CN112278318B (en) * | 2020-09-22 | 2022-05-17 | 长沙五七一二飞机工业有限责任公司 | Helicopter hydraulic steering engine tester and test method |
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| CN101726425B (en) | 2012-08-29 |
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Granted publication date: 20120829 Termination date: 20131210 |