CN102506277A

CN102506277A - Underwater cloud platform servo system based on electronic compass

Info

Publication number: CN102506277A
Application number: CN2011103568022A
Authority: CN
Inventors: 马春波; 王铮; 邓洪高; 朱勇; 敖珺
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2011-11-11
Filing date: 2011-11-11
Publication date: 2012-06-20

Abstract

The invention discloses an underwater cloud platform servo system based on an electronic compass, which comprises the electronic compass, a cloud platform, a housing, a circuit board mounted in the housing, and an external interface. The underwater cloud platform servo system is characterized by comprising a follow-up end and a control end, wherein the follow-up end comprises the electronic compass, a single chip microcomputer (SCM) and the electronic cloud platform; the electronic compass is connected with the SCM through a level switching circuit; and the SCM is connected with the electronic cloud platform through a silicon controlled rectifier (SCR) motor driving circuit. The control end comprises a rotary encoder, an SCM and a liquid crystal display (LCD); the rotary encoder is connected with the SCM through a control circuit; the SCM is connected with the LCD through a conducting wire; and the SCM of the control end is connected with the SCM of the follow-up end through a level switching circuit. The underwater cloud platform servo system is based on data returned by the high-precision three-dimensional electronic compass, real-time coordinates of the cloud platform are displayed by the LCD, and the far-end cloud platform can be controlled only by operating the rotary encoder, so that the underwater cloud platform servo system has the characteristics of simple structure, convenience for operation and the like.

Description

The servo-system of The Cloud Terrace under water based on electronic compass

Technical field

The present invention relates to a kind of automatic aligning equipment, specifically be based on the servo-system of The Cloud Terrace under water of electronic compass based on electronic compass.

Background technique

Existing common cloud platform control system can carry out level and luffing angle adjustment to the horizontal bearing thing; But the response time is slow, automatization level is low; When skew takes place in system positioin; Can not realize effectively, lock onto target once more apace, particularly in carrying out seawater during the experiment of laser characteristics research, experimenter and inconvenient directly gets into the adjustment of carrying out laser in the water.

Summary of the invention

The objective of the invention is for overcoming the deficiency of existing technology, and a kind of servo-system of The Cloud Terrace under water based on electronic compass is provided.This system adopts rotating coder as the man-machine interaction device, and adopts the real time data of liquid crystal display displays operation process, operator scheme and compass.

The technological scheme that realizes the object of the invention is:

The present invention is based on the servo-system of The Cloud Terrace under water of electronic compass; Comprise electronic compass, The Cloud Terrace, housing and be installed in circuit board and the external interface in the housing; Different with existing technology is: this servo-system is made up of follower ends and control end; Follower ends is made up of electronic compass, single-chip microcomputer, electronic platform, and electronic compass is connected with single-chip microcomputer through electrical level conversion circuit, and single-chip microcomputer is connected with electronic platform through the controllable silicon motor-drive circuit; Control end is made up of rotating coder, single-chip microcomputer and liquid crystal display panel, and rotating coder is connected with single-chip microcomputer through control circuit, and single-chip microcomputer is connected through lead with liquid crystal screen, and the single-chip microcomputer of control end and follower ends is connected through the RS485 channel.

Control end is sent to the electronic platform of follower ends to the instruction of rotating coder, makes The Cloud Terrace accomplish corresponding action.

Follower ends passes to control end with the bearing signal of electronic compass, according to corresponding rule decoding, on liquid crystal display panel, shows.

Rotate if will control The Cloud Terrace, at first rotate rotating coder, the button knob is the user and pass to information the most directly device of system, and the rotating coder that band touches can the simplest directly mode provide information typing and menu selection for the user.Equally, through the MAX3485 level conversion and deliver to channel, follower ends is given the decoding of STM32 single-chip microcomputer through level conversion once more, and the control The Cloud Terrace rotates.Because the operating voltage of The Cloud Terrace is AC220V, so, adopt controllable silicon to reach dc low-voltage control electric main in order to let single-chip microcomputer directly control the running of motor.In system, adopt silicon-controlled device BTA16 600E as electric machine controller, and combine optocoupler MOC3022 to use together to avoid of the influence of civil power part single-chip microcomputer.

Advantage of the present invention is:

(1) selecting STM32F103C8T6 for use is the main control singlechip of control end and follower ends, and it is based on 32 single-chip microcomputers of the custom-designed ARM Cortex-M3 of Embedded Application kernel, and maximum clock frequency can reach 72MHz; And has an abundant Peripheral Interface; Convenient other functions of expansion, a high performance single-chip microcomputer is merely about 13.5 yuan like this, makes native system have high efficiency; Low power consumption, advantage cheaply.

(2) in system, adopt MAX3485, accomplish the conversion of RS485 and Transistor-Transistor Logic level; The RS485 interface is the combination of adopting balance driver and differential receiver; Anti-common mode disturbances ability strengthens, and makes that data transfer rate is the highest can to reach 10Mbps, and maximum communication distance is about 1219M.Because the feedback information of the order of control end, followup system all will be through the communication channel of RS485, the stability of channel and reliability have all determined the performance of system.

(3) DCM308 is a high-precision three-dimensional compass, and its course precision can reach 0.2 degree.It adopts the hard iron and the soft iron calibration algorithm of U. S. Patent technology, makes it when latitude arrives 85 °, still high-precision course information can be provided.It has small-sized and low in power consumption, has improved the performance of native system.

(4) in the software design, adopt coarse adjustment and fine tuning dual mode, the system that makes can reach higher precision;

(5) in software design, Promethean interpolation lock function makes under the situation that The Cloud Terrace power effect outside deflects, and can accomplish adjustment automatically, aims at the mark.

(6) data returned based on the high-precision three-dimensional electronic compass of native system are shown the real-time coordinate of The Cloud Terrace by liquid crystal display panel, handle rotating coder and promptly can accomplish the control to the far-end The Cloud Terrace, have characteristics such as simple in structure, easy to operate.

Description of drawings

Fig. 1 is the servo-system of the The Cloud Terrace under water composition frame chart that the present invention is based on electronic compass.

Fig. 2 is the FB(flow block) of servo-system control end of the present invention.

Fig. 3 is the FB(flow block) of servo-system follower ends of the present invention.

Embodiment

Accompanying drawings is following;

Referring to Fig. 1; Servo-system of the present invention is made up of follower ends and control end; Follower ends is made up of electronic compass, STM32F103C8T6 single-chip microcomputer, electronic platform, and electronic compass is connected with single-chip microcomputer through electrical level conversion circuit, and single-chip microcomputer is connected with electronic platform through the controllable silicon motor-drive circuit; Control end is made up of rotating coder, single-chip microcomputer and liquid crystal display panel, and rotating coder is connected with single-chip microcomputer through control circuit, and single-chip microcomputer is connected through lead with liquid crystal screen, and the single-chip microcomputer of control end and follower ends is connected through the RS485 channel.

Referring to Fig. 2, electronic compass accepted standard RS232 output interface, the signal of output at first will pass through the MAX3232 electrical level conversion circuit RS232 signal conversion is become Transistor-Transistor Logic level.Transistor-Transistor Logic level form electronic compass signal arrives the STM32F103C8T6 single-chip microcomputer through the USART1 serial ports; Through software programming realizes

Figure 2011103568022100002DEST_PATH_IMAGE001

data that electronic compass returns are carried out verification, whether inspection has error code;

is through TIM2 timer interrupt function; Realize that every separated 90ms reads the real-time pitching of electronic compass, roll and azimuthal coordinate respectively, and give control end through the RS485 channel it.The follower ends of system and control end carry out the related data exchange through the RS485 channel, can prolong communication distance effectively and improve communication efficiency, adopt MAX3485 to accomplish Transistor-Transistor Logic level and RS485 level conversion.Accomplish control end and follower ends information interaction, judge whether USART3 receives data, and whether the data that verification receives are errorless, single-chip microcomputer is accomplished decoding, and I/O mouth output Transistor-Transistor Logic level control The Cloud Terrace rotates.The operating voltage of electronic platform is AC220V, so in order to let single-chip microcomputer directly control the running of horizontal stage electric machine, adopt silicon-controlled device to make low-voltage direct directly control electric main.In system, adopt silicon-controlled device BTA16 600E as electric machine controller, and combine optocoupler MOC3022 to use together to avoid of the influence of civil power part single-chip microcomputer.

Referring to Fig. 3; Receive the electronic compass signal that follower ends is sent at control end; At first to carry out level conversion; Then signal is given the USART1 serial ports of STM32F103C8T6 single-chip microcomputer; Here through the signal that sends being carried out verification, check whether it exists error code to mcu programming is realized ; identification receives command word in the data, and (0x81h is the pitching coordinate; 0x82h is the roll coordinate; 0x83h is azimuthal coordinate) judge its coordinate mode, and give the liquid crystal screen demonstration.Select the TLX1761 liquid crystal display for use, it shows dimensions as 5.7 cun, and resolution is 240 * 128, is a liquid crystal screen that needs backlight drive, and the controller of liquid crystal screen is T6963.In order to let liquid crystal screen keep normal working; Two kinds of operating voltages need be provided:

AC400V; This part adopts the ready-made module of TDK company production, can finely light the bias light of liquid crystal screen;

regulates the voltage of contrast ratio; This part adopts one chip DC-DC transducer MOC34063; It can be just+and 5V is transformed into-1.25V～-voltage of 25V; Experiment finds, and output voltage be-and during 12V, the liquid crystal screen show state is an optimum.In the operation of control The Cloud Terrace, rotating coder plays a part crucial as the assembly of man-machine information exchange.In the drive circuit of rotating coder, each outlet is all used on the resistance of a 10K and is drawn, so that level is enough stable, improves certain driving current.Press or rotate the interrupt response that rotating coder can cause single-chip microcomputer, carry out corresponding action, directly reflection is exactly that different menus is presented on the liquid crystal display, makes things convenient for the user to operate.Rotating coder triggers and interrupts, and single-chip microcomputer is carried out the related interrupts function.The Single-chip Controlling The Cloud Terrace can be accomplished following function:

pitching, roll manual adjustment, two rotating coders are realized coarse adjustment and fine tuning respectively;

is provided with pitching, roll coordinate, accomplishes automatic redirect;

Figure 2011103568022100002DEST_PATH_IMAGE003

is provided with pitching, roll coordinate, and completion automatically locks.

AutoLock feature is with the difference of automatic turn function; When system because external force or other reasons have departed from the coordinate time that sets; System can adjust once more, electronic platform is remained turn to same direction, guarantees the probability that tests successfully.

Claims

1. based on the servo-system of The Cloud Terrace under water of electronic compass; Comprise electronic compass, The Cloud Terrace, housing and be installed in circuit board and the external interface in the housing; It is characterized in that: this servo-system is made up of follower ends and control end; Follower ends is made up of electronic compass, single-chip microcomputer, electronic platform, and electronic compass is connected with single-chip microcomputer through electrical level conversion circuit, and single-chip microcomputer is connected with electronic platform through the controllable silicon motor-drive circuit; Control end is made up of rotating coder, single-chip microcomputer and liquid crystal display panel, and rotating coder is connected with single-chip microcomputer through control circuit, and single-chip microcomputer is connected through lead with liquid crystal display panel, and the single-chip microcomputer of control end and follower ends is connected through the RS485 channel.