CN106516055B - A kind of feedback self-check type underwater glider attitude regulating mechanism and control method - Google Patents
A kind of feedback self-check type underwater glider attitude regulating mechanism and control method Download PDFInfo
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- CN106516055B CN106516055B CN201610954830.7A CN201610954830A CN106516055B CN 106516055 B CN106516055 B CN 106516055B CN 201610954830 A CN201610954830 A CN 201610954830A CN 106516055 B CN106516055 B CN 106516055B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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Abstract
The invention discloses a kind of feedback self-check type underwater glider attitude regulating mechanism and control methods.It includes main control module, drive module, attitude detection sliding block, position switch and stepper motor that the regulating device, which includes including regulating device,；Position limit point is set on the movement position of attitude detection sliding block；Position switch is respectively provided at each limit point；The main control module includes master controller and the clock circuit being connected on master controller, program download circuit, power circuit and communication switching circuit；The drive module is connected with the main control module.The present invention increases limit feedback by fixed position point, it can force to determine slide position in each movement so that it is determined that its direction of motion, which is avoided, records movement confusion caused by slide position by quantity of state, machine driving can be prevented stuck by position self-checking and overtime alarm technique, the problems such as electric motor starting is bad increases the reliability of system.
Description
Technical field
The present invention relates to submarine navigation device attitude regulation technologies, and in particular to a kind of feedback self-check type underwater glider posture
Regulating device and control method.
Background technique
With the continuous development of marine monitoring equipment and technology, underwater glider is continued a journey underwater as a kind of low-power consumption, length
Unmanned monitoring device, technology are also constantly developing.
Underwater glider attitude regulating mechanism is by mobile pouring weight position, to change underwater glider center of gravity, to change
Become posture, and then controls operation course and the communication posture of underwater glider.
In the prior art, the design of underwater glider attitude regulating mechanism control system generally uses centralized control type frame
Structure, i.e., all control signals and feedback signal both are from a central computer, this kind of mode is compact-sized, low in energy consumption.
But for underwater glider, attitude regulation system farther out from central computer, the control wave of long range
Transmission can be easy to be interfered, and there is a situation where pulse-losing, be unfavorable for accurately controlling, meanwhile, the tasks such as feedback detection, control
All it is that central computer is given to complete, is unfavorable for improving the real-time of host.
In the prior art, the control system also having is built based on bus, using the drive for having communication mode in program
The shortcomings that dynamic device, this kind of technology, is that power consumption is larger, and host is less to the operating condition understanding of device, is unfavorable for raising system
Reliability.
Summary of the invention
For the deficiency of currently available technology, the invention proposes a kind of feedback self-check type underwater glider attitude regulation dresses
It sets and control method.The device is conducive to improve anti-interference by way of bus and PERCOM peripheral communication.Real-time Feedback self-test simultaneously
The reliability of device is improved with the strong collimation technique in position.Problems of the prior art can thoroughly be solved.
Technical scheme is as follows:
A kind of feedback self-check type underwater glider attitude regulating mechanism, including regulating device include main control module, driving mould
Block, attitude detection sliding block, position switch and stepper motor；
The stepper motor includes controlling the heel stepper motor and control attitude detection that attitude detection sliding block horizontally slips
The trim stepper motor that sliding block slides back and forth；
It is as follows that position limit point is set on the movement position of attitude detection sliding block: front limit point, rear limit point, left limit
Point, right limit point, middle limit point；Position switch is respectively provided at each limit point；Position switch includes that contact limit is opened
It closes and contactless limit switch；The contact limit switch is installed on front limit point, rear limit point, left limit point, right limit
Site；The contactless limit switch is installed on middle limit point；
The main control module includes master controller and the clock circuit being connected on master controller, program downloading electricity
Road, power circuit and communication switching circuit；The power circuit provides operation power supply for master controller；The clock circuit is
The operation of master controller provides clock signal；Master controller passes through described program download circuit downloading-running program；The communication
The rs 232 serial interface signal for the Transistor-Transistor Logic level that master controller exports is converted RS485 level signal by built-up circuit；
The drive module is connected with the main control module；The drive module includes high-speed pulse signal conversion electricity
Road, driving capability promote circuit and motor driver；The pulse that the high-speed pulse signal conversion circuit exports master controller
The voltage magnitude of signal is improved with drive motor driver, and then drives stepper motor；The driving capability promotes circuit and will lead
The driving voltage and driving current of controller output are promoted.
Its further technical solution is the model STM32F103ZET6 of the master controller.
Its further technical solution is that the clock circuit is no source crystal oscillator；Including oikocryst vibration and RTC clock crystal oscillator；
The crystal oscillator element that the oikocryst vibration is 8MHz, both ends are connected to the 23rd pin and the 24th pin of master controller；
RTC clock crystal oscillator is the crystal oscillator element with 32.768KHZ, and the 8th pin and the 9th that both ends are connected to master controller draws
Foot.
Its further technical solution is that the power circuit includes the conversion chip of model ADP3338；Its input is drawn
Foot input+5V voltage；Its output pin output+3.3V voltage.
Its further technical solution is that described program download circuit is the JTAG downloading mode of 20 cores.
Its further technical solution is that communication built-up circuit is the chip of model SP3481.
Its further technical solution is that the high-speed pulse signal conversion circuit includes two concatenated not circuits；
To master controller output+3.3V level signal to the input terminal of high-speed pulse signal conversion circuit, high-speed pulse signal conversion electricity
The input terminal on road is connected to motor driver, the level signal of output+5V.
Its further technical solution is that it includes triode, the base stage conduct of triode that the driving capability, which promotes circuit,
Input terminal, connects master controller, and the collector of triode is all used as output end, direction signal or enable signal are transported to motor
Driver.
A kind of feedback self-check type underwater glider attitude regulation control method, comprising the following steps:
Step 1, regulating device are waited for, and underwater glider host is waited to send order；
Step 2, regulating device receive order, parse the order；If receive unknown instruction, feedback parsing mistake is returned
To step 1；3 are then entered step after receiving correctly；
The current location of step 3, regulating device monitoring attitude regulation sliding block, determines its direction of motion；Attitude regulation sliding block
Current location judgment method it is as follows: on the movement position of attitude detection sliding block be arranged position limit point it is as follows: front limit point,
Limit point, left limit point, right limit point, middle limit point afterwards；Position switch is respectively provided at each limit point；Work as position switch
When being triggered, indicate that attitude regulation sliding block is in its corresponding position limit point；
Step 4, the current location according to attitude regulation sliding block, master controller setting direction signal；
Step 5 opens drive power supply, the movement according to direction signal control attitude regulation sliding block；
Step 6 starts overtime timing；
Step 7 judges whether time-out；If it times out, informing master controller time-out, it is transferred to step 9；If do not surpassed
When, then enter step 8；
Step 8 judges whether to reach limit point；If not reaching limit point, return step 7 continues to determine whether to surpass
When；If having arrived at limit point, informs that master controller commands are finished, enter step 9；
Step 9, motor power is closed.
Its further technical solution is, in the step 3, appoints if the current location of attitude regulation sliding block is not at
What position limit point then enters strong position determination process, i.e. master controller issues control signal, forces stepper motor to the left
Left limit point is moved to, then judges that the current location of attitude regulation sliding block at this time is in left limit point；4 are entered step later,
Complete subsequent step.
The method have the benefit that:
The beneficial effects of the present invention are the design methods for using distributed system architecture, are communicatively controlled
System, enhances the anti-interference of whole system.Increase the ARM microprocessor and power supply control mould of independent low-power consumption in system
Block can monitor the motion state of motor in real time, and the Command Task is immediately finished after motor movement to designated position, close and drive
Dynamic device power supply and limit switch power supply reduce its stand-by power consumption.
The present invention increases limit feedback further through in fixed position point, can force to determine sliding block position in each movement
It sets, so that it is determined that its direction of motion, avoids and record movement confusion caused by slide position by quantity of state, pass through position
Self-checking and overtime alarm technique can prevent machine driving is stuck, electric motor starting is bad, motor overload, motor overheating,
The problems such as driver malfunction, motor are burnt can close the deterioration that motor power avoids situation in motor movement time-out in time.
Detailed description of the invention
Fig. 1 is attitude regulating mechanism architecture diagram.
Fig. 2-a is master controller schematic diagram.
Fig. 2-b is power circuit principle figure.
Fig. 2-c is program download circuit schematic diagram.
Fig. 2-d is communication built-up circuit schematic diagram.
Fig. 3-a is the first high-speed pulse signal conversion circuit schematic diagram.
Fig. 3-b is the second high-speed pulse signal conversion circuit schematic diagram.
Fig. 3-c is that the first driving capability promotes circuit.
Fig. 3-d is that the second driving capability promotes circuit.
Fig. 3-e is that third driving capability promotes circuit.
Fig. 3-f is that the 4th driving capability promotes circuit.
Fig. 3-g is the schematic diagram of optoelectronic switch drive module.
Fig. 3-h is the first relay module schematic diagram.
Fig. 3-i is the second relay module schematic diagram.
Fig. 4 is attitude regulation control method flow chart.
Fig. 5 is the control flow chart of one embodiment of attitude regulation control method.
Specific embodiment
Fig. 1 is attitude regulating mechanism architecture diagram.
Fig. 1 simple displaying component part of underwater glider attitude regulating mechanism, underwater glider attitude regulating mechanism
Including main control module, drive module, attitude detection sliding block, position switch and stepper motor.
It include before controlling the heel stepper motor and control attitude detection sliding block that attitude detection sliding block horizontally slips into motor
The trim stepper motor slided afterwards.Namely step motor control underwater glider heel or trim.
It is as follows that position limit point is set on the limit of sports record position of attitude detection sliding block and key position: front limit point,
Limit point, left limit point, right limit point, middle limit point afterwards.Position switch is respectively provided at each limit point.Position switch packet
Include contact limit switch and contactless limit switch.Contact limit switch is installed on front limit point, rear limit point, left limit
Four site, right limit point extreme positions, contact limit switch is specifically the microswitch in Fig. 1.Contactless limit
Switch is installed on middle limit point, and contactless limit switch is specifically the optoelectronic switch in Fig. 1.
In Fig. 1, the communication switching circuit for also showing master controller and being connected on master controller, communication switching circuit
RS485 level signal is converted by the rs 232 serial interface signal of the Transistor-Transistor Logic level of master controller output.Main control module further includes being connected to master
Clock circuit, program download circuit, power circuit on controller.Power circuit provides operation power supply for master controller；Clock
Circuit provides clock signal for the operation of master controller；Master controller passes through described program download circuit downloading-running program.
Drive module is connected with main control module.Drive module includes high-speed pulse signal conversion circuit, driving capability
Promote the parts such as circuit, optoelectronic switch control circuit and relay module.The not circuit shown in Fig. 1 is that driving capability mentions
Circuit is risen, the driving voltage of master controller output and driving current are promoted, motor driver is input to.Shown in Fig. 1 after
Appliance circuit is relay module, for control driver power supply its must accomplish the high on-off times of low-power consumption,
Drive module further includes high-speed pulse signal conversion circuit, by the voltage magnitude of the pulse signal of master controller output
It improves to drive stepper motor.The also described optoelectronic switch control circuit is contactless limit switch.
Fig. 2-a to Fig. 2-d shows in specific embodiment, the circuit diagram of the various pieces of main control module.
Fig. 2-a is master controller schematic diagram.Wherein master controller is responsible for carrying out communication reception master with underwater glider host
The order of machine, the position of motor is detected by position switch, while controlling attitude regulating mechanism trim motor and heel motor
Rotation.As shown in Fig. 2-a, in the present embodiment, master controller is the ARM microprocessor of model STM32F103ZET6.
In Fig. 2-a, clock circuit is also shown.Clock circuit is no source crystal oscillator, including oikocryst vibration and RTC clock crystalline substance
Vibration.The crystal oscillator element Y1 that oikocryst vibration is 8MHz, both ends are connected to the 23rd pin and the 24th pin of master controller.
The both ends of crystal oscillator element Y1 are also connected, and there are two capacitor C30, C31 of 18pF as its start-oscillation circuit.RTC clock crystal oscillator is
The crystal oscillator element Y2 of 32.768KHZ, both ends are connected to the 8th pin and the 9th pin of master controller, crystal oscillator element Y2 two
End is also connected, and there are two capacitor C4, C5 of 10pF as its start-oscillation circuit.
Fig. 2-b is power circuit principle figure.Power circuit includes the conversion chip of model ADP3338.Its input pin
Input+5V voltage；Its output pin output+3.3V voltage.Power circuit is responsible for+5V power conversion into+3.3V power supply.Simultaneously
It converts and is also in series with a LED D1 at the output pin of chip, when power supply is normal, carry out luminous prompting.
Fig. 2-c is program download circuit schematic diagram.Program download circuit is the JTAG download port CN1 of 20 cores, is corresponded to
Pin be respectively connected to the one zero five pin of master controller, the one zero nine pin, the one one zero pin, the one one seven pin and
One one eight pin.
Fig. 2-d is communication built-up circuit schematic diagram.What master controller exported is the rs 232 serial interface signal of Transistor-Transistor Logic level, is converted to
RS485 level signal, the present invention in communication built-up circuit be model SP3481 conversion chip, as Transistor-Transistor Logic level turn
The reforming unit of RS485 level is communicated by semiduplex mode.As shown in Fig. 2-d, the first pin of conversion chip
The first of master controller U1 the pin and the one one two pin one by one is respectively connected to the 4th pin.The second pin of conversion chip
The one one seven pin and the one one eight pin of master controller are respectively connected to third pin.6th pin of conversion chip and
7th pin is as output end.
As shown in Fig. 2-d, in order to there is better compatibility, connected between the 6th pin of conversion chip and the 7th pin
There is the terminal resistance R27 of 120 Ω.
Fig. 3-a to Fig. 3-d shows in specific embodiment, the circuit diagram of the various pieces of drive module.
Fig. 3-a is the first high-speed pulse signal conversion circuit schematic diagram.Fig. 3-b is the second high-speed pulse signal conversion circuit
Schematic diagram.As shown in Fig. 3-a, Fig. 3-b, high-speed pulse signal conversion circuit all includes two concatenated not circuits.Two height
The input terminal of fast pulse signal conversion circuit is respectively connected to the 46th pin and first three nine-day periods after the winter solstice pin of master controller, and two
The output end of circuit is respectively connected to two motor drivers, and then drives heel stepper motor and trim stepper motor.At this
In embodiment, the concrete model of not circuit is 74H14.
Since master controller output is+3.3V level signal, it is not enough to drive the operation of driver, in order to promote its drive
Kinetic force, the present invention in by way of 74HC14 not circuit is by NOT gate twice come relevant high-speed pulse signal by+
3.3V is converted to+5V.
Fig. 3-c is that the first driving capability promotes circuit, and Fig. 3-d is that the second driving capability promotes circuit, and Fig. 3-e is that third is driven
Kinetic force promotes circuit, and Fig. 3-f is that the 4th driving capability promotes circuit.
Circuit shown in Fig. 3-c~Fig. 3-f includes a triode, and the base stage of triode is right respectively as input terminal
The 77th pin to the 80th pin of master controller should be connected, the collector of triode is all used as output end, direction is believed
Number and enable signal transport to motor driver.
Wherein, circuit shown in circuit and Fig. 3-e shown in Fig. 3-c is for exporting enable signal, electricity shown in Fig. 3-d
Circuit shown in road and Fig. 3-f is for outbound course signal.In the present embodiment, the model 9013 of triode.
For the lower-speed enabling signals and direction signal of master controller output, the present invention is mentioned by way of triode
Rise its driving capability.
Fig. 3-g is the schematic diagram of optoelectronic switch drive module.The contactless limit switch of the present embodiment is specifically used
The optoelectronic position of model Omron EE-SX670P switchs, its power supply is managed by the circuit as shown in Fig. 3-g.Photoelectricity is opened
The core component for closing drive module is the metal-oxide-semiconductor Q5 of model IN7002, and source electrode connects the 92nd pin of master controller,
Gate leve output control signal, and it is transmitted to transistor amplifier, amplified control signal is finally exported to optoelectronic switch.
Fig. 3-h is the first relay module schematic diagram, and Fig. 3-i is the second relay module schematic diagram.Relay module is used
In the power supply of control driver, the power supply of driver must accomplish the high on-off times of low-power consumption.
The invention also discloses a kind of feedback self-check type underwater glider attitude regulation control methods, and Fig. 4 is attitude regulation
Control method flow chart.As shown in figure 4, specifically includes the following steps:
Step 1, regulating device are waited for, and underwater glider host is waited to send order.Order specifically includes:
" arriving head ", " arriving tail portion ", " arriving left part ", " arriving right part ", " arriving middle part ".
Step 2, regulating device receive order, parse the order；If receive unknown instruction, feedback " receives unknown finger
Enable ", i.e., feedback parses mistake, returns to step 1；3 are then entered step after receiving correctly；
Step 3, regulating device monitor sliding block current location, determine its direction of motion.
After receiving right instructions, because the order only indicates the absolute position returned to needed for sliding block, in FIG. 1 it is not specified that it has
The direction of motion of body, in order to determine the direction of movement required for sliding block, system can the current position of self-test sliding block so that it is determined that its
The direction of motion.
In the present invention to the detection of slide position be not in system be arranged the open loop of mark amount by way of record in real time into
Capable, but realized in such a way that external limit real-time closed-loop detects, setting slide position limit point is as follows: front limit point,
Limit point, left limit point, right limit point, middle limit point afterwards can show current slide place when these limit points are triggered
Position；
Step 4, foundation sliding block current location, master controller setting direction signal；
Step 5 opens drive power supply, controls the movement of sliding block；
Step 6 starts overtime timing；
Step 7 simultaneously judges whether time-out；If it times out, informing master controller time-out, it is transferred to step 9, this time-out feedback
Information includes " preceding movement time-out ", " rear movement time-out ", " left movement time-out ", " right movement time-out ", " middle movement time-out "；If
It is not timed-out, then enters step 8.
Step 8 judges whether arrival limit, this limit feedback information specifically includes: " to head ", " having arrived tail portion ",
" having arrived left part ", " having arrived right part ", " having arrived middle part "；If not reaching limit, return step 7 continues to determine whether time-out；
If having arrived at limit, informs that master controller commands are finished, enter step 9；
Step 9, motor power is closed.
Step 6 to step 8 be related overtime timing the step of, the brings reliabilities such as driving device is stuck in order to prevent therefore
Barrier problem, the present invention in the motor movement time force setting one timeout flag, when the motor movement time exceed the setting value
When forcibly close motor power prevent failure from further deteriorating, when motor reach order desired position, that is, relevant limit quilt
Motor stop motion when triggering.
Fig. 5 is the control flow chart of one embodiment of attitude regulation control method.In conjunction with Fig. 4, Fig. 5, the present embodiment packet
Include following steps:
Step 1, regulating device are waited for, and underwater glider host is waited to send order；
(instruction sliding block returns to middle position) order during what step 2, regulating device received that underwater glider host sends return,
Parse the order；3 are then entered step after judgement order is correct；
Step 3, regulating device monitor sliding block current location, determine its direction of motion.
Regulating device judges which limit point sliding block is in by scanning the triggering state of each limit switch.If left
Limit switch is triggered, then sliding block is located at left limit point.If right limit switch is triggered, sliding block is located at right limit point.Such as
Limit switch is triggered in fruit, then sliding block is located at middle limit point, i.e. middle position.
Sliding block also will appear not the above-mentioned location point the case where, and in a kind of unknown location status, if there is this
The state of sample, the present invention determine method by a kind of strong position to obtain it and determine position, are that motor is forced to move downward arrival
After left limit point, that is, its position is determined, has then moved right and return to middle limit point.
Step 4, foundation sliding block current location, master controller setting direction signal；Indication motor is to the right at the left side for sliding block
Movement；When sliding block on the right when indication motor move downward；When sliding block in middle position when do not move then.
The reliability of raising system that can be high in such a way that this real time position closed loop detects.
Step 5 opens drive power supply, according to the movement of the direction signal control sliding block described in step 4；
Step 6 starts overtime timing；
Step 7 simultaneously judges whether time-out；If it times out, informing master controller time-out, it is transferred to step 9；If do not surpassed
When, then enter step 7
Step 8 judges whether to reach limit；If not reaching limit, return step 7 continues to determine whether time-out；Such as
Fruit has arrived at limit, then informs that master controller commands are finished, enter step 9；
Step 9, motor power is closed.
What has been described above is only a preferred embodiment of the present invention, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technical staff directly exports or associates without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Claims (2)
1. a kind of feedback self-check type underwater glider attitude regulation control method, which comprises the following steps:
Step 1, regulating device are waited for, and underwater glider host is waited to send order；
Step 2, regulating device receive order, parse the order；If receive unknown instruction, feedback parsing mistake returns to step
Rapid 1；3 are then entered step after receiving correctly；
The current location of step 3, regulating device monitoring attitude regulation sliding block, determines its direction of motion；Attitude regulation sliding block is worked as
Front position judgment method is as follows: it is as follows that position limit point being arranged on the movement position of attitude detection sliding block: front limit point, rear limit
Site, left limit point, right limit point, middle limit point；Position switch is respectively provided at each limit point；When position switch is touched
When hair, indicate that attitude regulation sliding block is in its corresponding position limit point；
Step 4, the current location according to attitude regulation sliding block, master controller setting direction signal；
Step 5 opens drive power supply, the movement according to direction signal control attitude regulation sliding block；
Step 6 starts overtime timing；
Step 7 judges whether time-out；If it times out, informing master controller time-out, it is transferred to step 9；If be not timed-out,
Enter step 8；
Step 8 judges whether to reach limit point；If not reaching limit point, return step 7 continues to determine whether time-out；Such as
Fruit has arrived at limit point, then informs that master controller commands are finished, enter step 9；
Step 9, motor power is closed.
2. feedback self-check type underwater glider attitude regulation control method as described in claim 1, which is characterized in that described
In step 3, if the current location of attitude regulation sliding block is not at any one position limit point, enters strong position and determined
Journey, i.e. master controller issue control signal, force stepper motor to move downward and reach left limit point, then judge attitude regulation at this time
The current location of sliding block is in left limit point；4 are entered step later, complete subsequent step.
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|---|---|---|---|---|
| CN107861421A (en) * | 2017-11-02 | 2018-03-30 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Based on the mutual rotatable dual redundant control device and method of distributed system principal and subordinate |
| CN107861421B (en) * | 2017-11-02 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Dual-redundancy control device and method based on distributed system master-slave rotation type |
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| CN106516055A (en) | 2017-03-22 |
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