CN108528492A - A kind of inertial navigation system transfer car(buggy) - Google Patents
A kind of inertial navigation system transfer car(buggy) Download PDFInfo
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- CN108528492A CN108528492A CN201810328996.7A CN201810328996A CN108528492A CN 108528492 A CN108528492 A CN 108528492A CN 201810328996 A CN201810328996 A CN 201810328996A CN 108528492 A CN108528492 A CN 108528492A
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- lead screw
- navigation system
- inertial navigation
- stepper motor
- vehicle frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0006—Bumpers; Safety devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2202/00—Indexing codes relating to type or characteristics of transported articles
- B62B2202/41—Projectiles, bombs, amunition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2203/00—Grasping, holding, supporting the objects
- B62B2203/60—Positioning, means on a cart for loads
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of inertial navigation system transfer car(buggy)s, including the vehicle frame and supporting part that planar structure is rectangle, supporting part are fixed on the top of vehicle frame, the bottom of vehicle frame are provided with idler wheel, it is characterised in that：The supporting part includes level tray and inertial navigation system Carrier box, and inertial navigation system Carrier box is arranged in the upper surface of level tray；Further include horizontal adjusting mechanism and control mechanism, the horizontal adjusting mechanism includes the lead screw stepper motor positioned at vehicle frame four corners, and the top of each lead screw stepper motor is set with lead screw hangers；Control mechanism is arranged in the lower part of vehicle frame, including switch, Voltage stabilizing module, battery, microcontroller, gyroscope and lead screw stepper motor drive module, and battery is powered by battery main switch, after Voltage stabilizing module to other electronic modules of microcontroller.Light and flexible is designed, it is practical easy-to-use, have the function of data acquisition and pose adjustment.
Description
Technical field
The present invention relates to the technical field of inertial navigation system transhipment, especially a kind of inertial navigation system transfer car(buggy)s.
Background technology
Certain type guided missile is one of main vacant lot precision guided weapon equipment of my army's active service, and inertial navigation system is as certain
The quality of the important component of type guided missile, quality assurance has weaponry precision performance important influence, and to mark
The transhipment of inertial navigation system after the completion of fixed is always a stubborn problem.Certain type guided missile is that China's first generation intermediate range sky is right
Ground guided missile, combat mission task are to avoid enemy's ground air defense firepower, and strike fixes target in (water) face with opposing the high value of depth.
Guided missile uses the guidance system of inertial mid-course guidance and TV-command guidance, inertial navigation system to have higher midcourse guidance
Precision.Certain type inertial navigation system is for the inertial navigation system of this type air-to-ground guided missile Weapon System Development, according to certain type inertial navigation system
Maintenance definition, in Service assurance flow, inertial navigation system after the completion of marking needs to be turned by demarcating region as horizontally as possible
It transports at body.Currently, my army's inertial navigation system turn-over capacity is on the weak side, without preferable inertial navigation system transloading equipment.Certain type
Inertial navigation system belongs to a kind of measuring instrument, it is desirable that " precision is high, reaction is fast, error is small ".Inertial navigation system utilizes installation
The component of acceleration of three accelerometer measures carriers on gyro-stabilized platform, to the acceleration of aware space three-dimensional
Degree carrys out the motion state of comprehensive descision guided missile.But face following two problems in the practical guarantee of inertial navigation system：
(1) inertial navigation system interior design is relatively accurate, and sensing capability is stronger, by extraneous irregular movement influenced compared with
Greatly.Therefore the transhipment as horizontal as possible required after inertial navigation calibration mainly avoids extraneous irregular movement from producing internal precision mechanism
The torque compressing in raw complexity direction influences, caused by precision reduce.
(2) after the completion of the inertial navigation calibration of my army, armrest is embraced or inertial navigation system is transported to about 100 and arrived by simple self-made tool
At the bullet of 200 meters of distances.The support method is too simple, can not meet army conscientiously and ensure regular construction requirements, can not
Achieve the purpose that improve and ensures that effect, quality assurance are relatively low.Currently, my army is transported through after demarcating inertial navigation system, there are no complete
Kind installing is standby, is usually transported to calibrated inertial navigation system at the missile airframe of tens to hundreds of meters of distances, mainly there is two
Kind transporting mode：
(1) equipment is embraced by soldier's both hands to be transported through.Inertial navigation system on detection device after the completion of demarcating, by soldier's both hands
It encircles, walks detection room on foot from detection place and be transported at missile airframe.
(2) pad sponge is transported through on unit self-control flat-plate trolley.The trolley of easy making liner foam-rubber cushion leads to
Lorry is crossed to carry out inertial navigation system at missile airframe by detection.
Either any transporting mode is likely to occur equipment since the distance of transhipment is relatively long in transport process
Fall or instrument by more irregular direction torque disturbance the case where, influence the precision of inertial navigation system.Therefore, my army
Very big deficiency is still had in terms of inertial navigation system transports guarantee, there is an urgent need for find to make up means accordingly.
Invention content
The object of the present invention is to provide a kind of overcome the deficiencies in the prior art, a kind of inertial navigation simple in structure, easy to use
System transfer car(buggy).
To achieve the goals above, the technological means of the invention taken is：
A kind of inertial navigation system transfer car(buggy), including vehicle frame and supporting part, supporting part are fixed on the top of vehicle frame, at the bottom of vehicle frame
Portion is provided with idler wheel, and key is：The supporting part includes level tray and inertial navigation system Carrier box, inertial navigation system Carrier box
It is arranged in the upper surface of level tray；Further include horizontal adjusting mechanism and control mechanism, the horizontal adjusting mechanism includes position
It is set with the lead screw hangers of zigzag, lead screw in the top of the lead screw stepper motor of vehicle frame four corners, each lead screw stepper motor
Be provided on one level board of hangers screw hole and with lead screw stepper motor screw-thread fit, another level board of lead screw hangers with
Level tray is fixed；Control mechanism is arranged in the lower part of vehicle frame, including switch, Voltage stabilizing module, battery, microcontroller, gyroscope and
The output end of lead screw stepper motor drive module, lead screw stepper motor drive module is connected with the input terminal of lead screw stepper motor
It connects, the input terminal of lead screw stepper motor drive module is connected with an output end of microcontroller, the output end and list of gyroscope
One input terminal of piece machine is connected, switch, Voltage stabilizing module and battery output end respectively with an input terminal phase of microcontroller
Connection, battery are powered by battery main switch, after Voltage stabilizing module to other electronic modules of microcontroller.
The idler wheel of the bottom of frame is universal wheel, and tire is pneumatic tire；It is fixed with pushing hands at the rear of vehicle frame,
The bottom of vehicle frame is further fixed on chassis, and lead screw stepper motor is fixed on the upper surface on chassis, reinforcing rib is provided on chassis.
It is fixed between the lead screw hangers and level tray by connecting hangers, connects and be provided with fixation at the top of hangers
Bolt, lead screw hangers and the fixed level board of level tray be provided with screw hole and with the fixing bolt screw-thread fit that connect hangers,
The middle and lower part of connection hangers is provided with fixing hoop, and via and fixing bolt screw-thread fit are provided on fixing hoop.
The inertial navigation system Carrier box includes the outter box of hard structure, and it is slow that flexible protection is arranged in outter box
Structure is rushed, setting holds the profiling cavity of inertial navigation system at the middle part of protective buffering structure.
The motor of the lead screw stepper motor is the toothed gearing electric motor of torsion 30KG, and the output end of motor passes through two pairs
The opposite helical gear in angle of inclination and screw drive, helical gear inclination angle are 150 °, and motor output directly drives leading screw rotation
It adjusts supporting part posture, keeps its moment holding horizontal.
The material of the screw rod of the lead screw stepper motor is the advanced nitrated steel 38CrMoAl with high-wearing feature, mark
Standard is GB/T3077-1999.
The material of the connection hangers is to be closed with excellent mechanical performances, casting character and corrosion proof casting copper
Gold, using 25-6-3-3 aldubras, the trade mark：ZCuZn25Al6Fe3Mn3, standard are GB/T 1176-1987.
The beneficial effects of the invention are as follows：The present invention has following items function：
1, data acquisition function：
Transfer car(buggy) is traveling in different road conditions, by three-axis gyroscope, can be collected in time and be held holding for inertial navigation system
The posture information data in load portion are simultaneously transferred to microcontroller.
2, Level tune function：
Microcontroller is transported according to the collected posture information data of Together, digital gyroscope, reference level calibration data by correlation
Lead screw stepper motor driving unit is outputed signal to after calculation, lead screw stepper motor accordingly operates the carrying for completing to hold inertial navigation system
The attitude regulation in portion.
3, light and flexible is designed：
The lightweight of transfer car(buggy) design is facilitated routine use and carries at any time motor-driven, be convenient for using easy frame structure
The execution of the inter-related tasks such as army's transition guarantee.
4, practical easy-to-use function：
The design simplifies internal module, is designed using reliable connection, reduces failure rate；Using high density battery core, for a long time
Continuation of the journey；Increase inclination maximum, meets severe road conditions；One-touch switch, it is easy to operate.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the assembling schematic diagram of level tray in Fig. 1.
Fig. 3 is the internal structure chart of ATmega128 chips in the present invention.
Fig. 4 is the external TQFP encapsulation figure of ATmega128 chips in the present invention.
Fig. 5 is the wiring schematic diagram of the drive module signal and control signal of motor drive module of the present invention.
Fig. 6 is the wiring schematic diagram of four line stepper motors in the present invention.
Fig. 7 is the wiring schematic diagram of stepper motor drive module in the present invention.
Fig. 8 is the circuit diagram of control system integration unit in the present invention.
Fig. 9 is the control flow schematic diagram of the present invention.
Specific implementation mode
The present invention will be further described in the following with reference to the drawings and specific embodiments.
Specific embodiment, as depicted in figs. 1 and 2, a kind of inertial navigation system transfer car(buggy), including vehicle frame 1 and supporting part, supporting part
It is fixed on the top of vehicle frame 1, the bottom of vehicle frame 1 is provided with idler wheel, the supporting part includes level tray 2 and inertial navigation system
Carrier box 3, inertial navigation system Carrier box 3 are arranged in the upper surface of level tray 2；Further include horizontal adjusting mechanism and control mechanism.
The horizontal adjusting mechanism includes the lead screw stepper motor 4 positioned at 1 four corners of vehicle frame, the top of each lead screw stepper motor 4
All be set with the lead screw hangers 5 of zigzag, be provided on a level board of lead screw hangers 5 screw hole and with 4 spiral shell of lead screw stepper motor
Line coordinates, and another level board and the level tray 2 of lead screw hangers 5 are fixed；Control mechanism is arranged in the lower part of vehicle frame 1, including
Switch, Voltage stabilizing module, battery, microcontroller, gyroscope and lead screw stepper motor drive module, lead screw stepper motor drive module
Output end is connected with the input terminal of lead screw stepper motor 4, the input terminal of lead screw stepper motor drive module and the one of microcontroller
A output end is connected, and the output end of gyroscope is connected with microcontroller input terminal, and battery passes through battery main switch, warp
Transfer car(buggy) other electronic modules power supply is given after Voltage stabilizing module.The design is adopted using gyroscope as the sensor of acquisition posture information
Take the Principle of Communication of serial communication (USART) by posture information data transfer to control core --- microcontroller.When monolithic machine examination
Measuring RXD0 pins has information to pass back, and into interrupt routine is received, after collecting a complete data packet, is counted
It calculates, obtains complete posture information (3 axis deviation angles residing for gyroscope), after receiving the posture information that gyroscope is passed back,
The stepper motor rotation of corresponding four lead screw stepper motors 4 of control, adjustment supporting part posture is until horizontal position.In supporting part
During the entire process of keeping balance, after gyro module collects angle signal, angle signal is sent to microcontroller, monolithic
Angle signal is converted to angle value by machine by processing, sends out pulse signal with corresponding frequency, each pulse signal can make silk
The stepper motor of bar stepper motor 4 rotates an angle, and the stepper motor of lead screw stepper motor 4 is in entire equilibrium process
The overall pulse number that the total angle of rotation is sent out by microcontroller determines, the speed of the stepper motor rotation of lead screw stepper motor 4 by
The frequency of the sent out pulse of microcontroller determines that the direction of the stepper motor rotation of lead screw stepper motor 4 is determined by corresponding to signal level
It is fixed.Microcontroller during the work time, with the posture information of 500Hz frequency automatic decision supporting parts, judges whether supporting part is in
Equilibrium state stops the stepper motor for sending pulse and locked lead screw stepper motor 4 if being in equilibrium state；If place
In non-equilibrium state, then the stepper motor for continuing to send corresponding pulses signal driving lead screw stepper motor 4 rotates to adjust carrying
Portion's posture ensures the attitude stabilization of inertial navigation system by this dynamic adjustment process until supporting part realizes balance.
The overall design parameters of the present invention are as shown in table 1：
1 transfer car(buggy) overall design parameters table of table
1. overall dimensions of a car：1203mm×590mm×1380mm
2. supporting part Cheng Chong≤30kg
The load-bearing of supporting part is mainly the dead weight according to inertial navigation system, the interior design in conjunction with supporting part and mechanical mechanism
Maximum weighted considered to set, the inertial navigation system Carrier box 3 of inertial navigation system supporting part is mainly aluminium alloy face
The protective buffering structure of the anticollision formation of foam elasticity of the included special substance of plate.This two parts overall weight should can in mechanical mechanism
Within maximum capacity on the basis of operation.The excessive other equipment of weight cannot be placed in supporting part, prevented mechanical mechanism
It damages deformation by pressure, influences equipment performance.
3. Tui is into Su Du≤160m/min
After the transfer car(buggy) carries inertial navigation system, it can not be promoted too quickly, too fast promote, and on the one hand can lead
Cause topography variation very fast, the reaction of gyroscope falls behind, and level cannot timely be adjusted, influence quality assurance.On the other hand,
Too fast propulsion will increase the degree of jolting, and have a certain impact to accuracy of instrument.This setting be on the basis of people's normal leg speed,
What the response time of binding transport car gyroscope and the regulating time of lead screw stepper motor considered.
4. battery durable：3 working hours
Battery capacity is combined four lead screw stepping electricity by the design of battery durable mainly according to army's routine use situation
The power of machine 4 is unified to be considered to carry out estimating note.Inertial navigation system is mainly transported to by calibration place and is led by the use of daily army
It plays at comprehensive coverage, by taking certain station as an example, about 120m, it is contemplated that normal leg speed, system work about 1 minute.It considers
Transfer car(buggy) lead screw stepper motor 4, motor driving, microcontroller and gyroscope integrate power consumption, and system works 1 minute and about consumes
0.01kwh, battery durable use 150 times or so for bicycle, and army can use for about one season.
5. 36 ° of maximal regulated inclination angle, so-called inclination maximum refers to that transfer car(buggy) can be when ruling grade rises or declines
Keep the ability of supporting part level.The determination of inclination maximum mainly by be assemblied in lead screw stepper motor 4 lead screw hangers 5 saturation by
The power limit of power and lead screw stepper motor 4, after landform changes, lead screw stepper motor 4 does work so that lead screw is in nut
Interior spinning in and out will have certain torque limitation, prevent 4 power of lead screw stepper motor excessive so that nut stripped thread, will also prevent
It deforms at nut, by mechanism blockage.Therefore it is 36 ° to consider its inclination maximum.
6. full weight：61kg
Mainly calculate transfer car(buggy) in the unloaded state, vehicle all parts gross weight after being added.Used in this vehicle
Original paper is fixed, therefore its quality is fixed.The main variation of quality is to be related to the selection of 1 material of vehicle frame, unsuitable overweight, daily to make
With not light enough, also influence transition guarantee.Also it should not kick the beam, because of the quality limitation of inertial navigation system, it is not possible to cause " nose heave foot
Gently " the problem of.Therefore ensure in chassis 7 material using aluminium alloy it is light, hardness it is big it is indeformable on the basis of, in its underpart plus
Steel loading beam forms reinforcing rib, further increases its pressure withstanding degree, also ensures that complete vehicle quality distribution meets the stabilization of Machine Design
Condition.
7. the response time：15.2ms
Response time is the baud rate setting of the interface according to gyroscope Yu microcontroller and turning for lead screw stepper motor 4
Speed determines.The baud rate that uses is designed as 9600, i.e., interior processing mechanism is per second to handle 9600 bytes.Top
Spiral shell instrument incudes topography variation, and the data of generation are the specific coordinates in three directions.One group of coordinate occupies 144 bytes, and (coordinate is specific
Three after to decimal point).That is, per second can carry out response regulation to 66 different terrains.Specific regulating time root
Depending on the severe degree of topography variation and the rotating speed of lead screw stepper motor 4.
The material selection of the associated mechanical component of the present invention is as described below：
The idler wheel of 1 bottom of vehicle frame is universal wheel, its structure tolerable injury level 360 degree rotation, which increases
The flexibility of transfer car(buggy), enables it to free to advance or retreat in narrow space, meets the requirement ensured under complex environment, and
Its Dimension Types is consistent with my ammunition group existing guarantee equipment castor, facilitates repair to use, tire is pneumatic tire, and tire is adopted
It is designed with inflated wheel, internal diameter 86mm, outer diameter 91.3mm, has preferable shockproof and filter capacity of jolting, tire point interior
The main material of tire and cover tire, cover tire is vulcanized rubber, and ageing-resistant performance is good, not easy to wear, and the main material of the inner tube of a tyre is day
Right glue and butyl rubber have preferable pressure resistance and retarding ageing function；It is fixed with pushing hands 6, the composition of pushing hands 6 at the rear of vehicle frame 1
It is mainly divided into two parts, a part is the plasticity steel bar frame on both sides, and another part is the aluminium alloy steel pipe of 6 handle of pushing hands, 6 liang of pushing hands
The material of the plasticity steel bar frame on side is alloy tool steel (Cr12, standard：GB/T 1299-2000), experience Overheating Treatment is quenched
Fire, hardness are unlikely to deform greatly, and aluminium alloy steel pipe main material is aluminium alloy, and light and surface is disposable, and easy polishing makes to grab
It holds comfortable；It is further fixed on chassis 7 in the bottom of vehicle frame 1, lead screw stepper motor 4 is fixed on the upper surface on chassis 7, is set on chassis 7
It is equipped with reinforcing rib, 7 type of chassis is to add beam bottom disk, i.e., in the lower vertical cross weld reinforcing beam of plane underbody to increase chassis
Intensity, to mitigate car weight, chassis 7 and reinforcing beam are high hardness aluminium alloy material and reinforcing beam is interior hollow, it is ensured that are being ensured
It is transfer car(buggy) loss of weight on the basis of intensity.
Between the lead screw hangers 5 and level tray 2 by connect hangers 8 fix, connection hangers 8 material be with
Excellent mechanical performances, casting character and corrosion proof cast copper alloy (25-6-3-3 aldubras, the trade mark：
ZCuZn25Al6Fe3Mn3, standard：GB/T 1176-1987), the top of connection hangers 8 is provided with fixing bolt, lead screw hangers 5
With 2 fixed level board of level tray be provided with screw hole and with the fixing bolt screw-thread fit that connect hangers 8, connection hangers 8
Middle and lower part is provided with fixing hoop 9, and via and fixing bolt screw-thread fit are provided on fixing hoop 9.
The inertial navigation system supporting part 3 includes the outter box of hard structure, and flexible protection is arranged in outter box
Buffer structure, at the middle part of protective buffering structure, setting holds the profiling cavity of inertial navigation system, and protective buffering structure is put by three kinds
Half soft polyethylene foams of big multiple (NBL10, NBL20, NBL45) bonds, and can effectively reduce transport process
Influence of the shock and vibration to inertial navigation system improves transhipment environment.
Lead screw stepper motor 4 is core of the invention driving part, to adjust the equilibrium state of supporting part.Its work is special
For point to be quick on the draw, job stability is high, is conducive to realize microcontroller control.Operation principle is when microcontroller output signal controls silk
When the stepper motor forward or reverse of bar stepper motor 4, since lead screw is that rectangular thread is connect with driven member, rotation can be turned
It is changed to moving up and down for connection hangers 8.4 torsion of lead screw stepper motor is the toothed gearing electric motor of 30KG, used to reduce
The running noise and raising job stability of guiding systems transfer car(buggy), the output end of motor will directly drive leading screw rotation, and reduce and ring
Between seasonable, improve and adjust efficiency.The material of adjusting screw is advanced nitrated steel (38CrMoAl, standard GB/ with high-wearing feature
T3077-1999).It is as shown in table 2 that leading screw adjusts 4 detail parameters of stepper motor：
2 leading screw stepper motor detail parameters table of table
It is 24V, toothed gearing electric motor of the torsion up to 30KG that stepper motor, which selects rated voltage,.Turn to reduce inertial navigation system
It transports the running noise of vehicle and improves job stability, power supply power supply voltage stabilizing uses Switching Power Supply and has self-protection circuit to realize work(
Rate keeps reaching smooth running with equipment protection.
The associated electrical unit of the present invention is selected as described below：
In the control mechanism of the present invention, the microcontroller, RISC reduced instruction set computers, the tool of Flash built in the microcontroller
Have internal RC oscillators, power on automatically reset, house dog, start-up study function, integrate A/D converter, SPI, PWM,
USART, TWI port and abundant interrupt source, therefore it is preferred that use.Its key property is as follows：
(1) high-performance, low-power consumption AVR 8-bit microprocessors.
(2) advanced risc architecture：It 133 instructions and most of can complete within a clock cycle；32 × 8 is general
Work register and peripheral hardware control register；Full quiescent operation；Performance is up to 16MIPS when working in 16MHz；When only needing two
The hardware multiplier in clock period.
(3) non-volatile program and data storage：The In-System Programmable Flash of 128K bytes can be with 10000 times
Write/erase removes the period |；With independent locking bit, selectable startup code area；By being compiled in the startup program realization system in piece
Journey；Really read one write operation of modification；The EEPROM of 4K bytes；The period can be removed with 100000 write/erases；The inside of 4K bytes
SRAM；The up to external memory space of the optimization of 64K bytes；Locking bit can be programmed to realize software cryptography；It can
To realize in-system programming by SPI.
(4) jtag interface (compatible with 1149.1 standards of IEEE), it then follows the boundary-scan function of JTAG standard；It supports to expand
Debugging in the piece of exhibition；It is realized to Flash, EEPROM, the programming of fuse bit and locking bit by jtag interface.
(5) peripheral hardware feature：Two 8 bit timing devices/counters with independent pre-divider and comparator function；Two
16 bit timing devices/counter with pre-divider, comparing function and capture function；Real-time clock with independent pre-divider
Counter；8 PWM of two-way；6 tunnel resolution ratio may be programmed the PWM of (2 to 16)；Modulator is compared in output；8 10, tunnel ADC；8
Single ended channels；7 differential paths；2 differential paths with programmable-gain (1x, 10x, or 200x)；The two of byte-oriented
Line interface；Two programmable serial USART；It is operable with the SPI serial line interfaces of host/slave mode；With in individual sheets
The programmable watchdog timer of oscillator；Analog comparator in piece.
(6) special processor feature：；Electrification reset and programmable detection of power loss；RC in piece by calibration shakes
Swing device；In piece/piece ex-interruption source；6 kinds of sleep patterns (idle mode, ADC noise suppresseds pattern, battery saving mode, power-down mode,
Standby patterns and the Standby patterns of extension)；The clock frequency of selection can be carried out by software；It can by fuse bit
To select ATmega103 compatibility modes；Overall situation pull-up prohibiting function.
(7) I/O and encapsulation：；53 programmable I/O mouth lines；64 pin TQFP and 64 pin MLF are encapsulated.
(8) operating voltage：5V.
(9) speed class：0-16MHz.
Fig. 3 and Fig. 4 respectively illustrates the internal structure of ATmega128 chips and outside TQFP is encapsulated.ATmeage128 has
Many digital resource interfaces, they will carry out neatly resource point using the crossbar switch decoder of a priority
Match, these resource interfaces all pick out in the ports I/O of this four 8 low sides of P0, P1, P2 and P3, they can be distributed
Some external connecting functions or as a kind of digital peripheral interface, as SMBus or SPI, and can be defined as the common ports I/O.
No matter pin is either to be assigned some digital resource interfaces as common I/O mouths, we, which still can pass through, reads phase
Then corresponding data register obtains the state value of the ports I/O.
In the control mechanism of the present invention, the Posture acquisition sensor is MPU6050, and gyroscope is that one kind can be accurate
Ground measures the sensor of moving object attitude data, its principle is exactly to utilize physical effect, by the small change of measured signal amount
Change is converted into electric signal.The sensor is 9 axis motion sensors, integrated 3 axis MEMS gyroscopes, 3 axis mems accelerometers,
And an expansible digital moving processor DMP, IIC interfaces can be used to connect a third-party digital sensor, extension
The signal of 9 axis can be exported by its IIC or SPI interface later.
The gyro sensor performance parameter is as shown in table 3：
3 gyro sensor MPU6050 performance parameters of table
In use, the main function of gyroscope is that inertial navigation system is being placed on protective buffering structure to the present invention
In middle part profiling cavity, then operates transfer car(buggy) and complete transhipment task, when encountering the road conditions of ground out-of-flatness, detection is measured
Position offset information send microcontroller to, microcontroller controls the stepper motor of lead screw stepper motor 4 according to attitude data information
Rotation, adjustment need the lead screw hangers 5 that lifts, make to be placed on inertial navigation system Carrier box 3 on supporting part always in the horizontal plane
It keeps stablizing, completes the transhipment work of inertial navigation system.
In the control mechanism of the present invention, described its electric parameter of stepper motor drive module is as shown in table 4：
4 stepper motor of table drives electric parameter
| Input voltage | DC9-40V |
| Input current | Recommend Switching Power Supply power 5A |
| Output current | 0.5-4.0A |
| Maximum power dissipation | 160W |
| Subdivision | 1,2/A,2/B,4,8,16,32 |
| Temperature | Operating temperature -10~45 DEG C；- 40 DEG C of storage temperature~70 |
| Humidity | It cannot condense, cannot there is droplet |
| Gas | Forbid having fuel gas and conductive dust |
| Weight | 0.2 kilogram |
Motor drive module input port is as shown in table 5：
5 motor drive module input port of table
Input terminated line explanation：This works uses common-anode, i.e., PUL+, DIR+, EN+ is connected to control respectively
On the power supply of device --- microcontroller, ensure the driving current that 8-15mA are provided to internal drive optocoupler.Pulse input signal is logical
CP- accesses are crossed, direction signal is accessed by DIR-, and enable signal is accessed by EN-.As shown in Figure 5.It is used due to this works
Lead screw motor is four line stepper motors, and motor wiring is as shown in Figure 6.The wiring of stepper motor drive module is as shown in Figure 7.
Stepper motor drive module is the fulcrum of dynamic regulation supporting part, and inertial nevigation apparatus is kept to be balanced in transportational process
One line acting device, main control chip will directly transmit control letter after the posture information that analysis completes that gyro sensor is passed back
Number arrive stepper motor drive module, to realize lead screw stepper motor 4 stepper motor positive and negative rotation, form lead screw hangers 5
Rise and fall are changed the posture for directly contributing supporting part, due to the position change of each lead screw hangers 5 with held stationary
Posture.
Power module：Mainly it is each element circuit normally to work and run, is supplied to the stabilization of low ripple
Voltage.
Battery is the power source of inertial navigation system transfer car(buggy), is to realize control unit to supporting part Posture acquisition, data transmission,
Main control unit operation, stepper motor driving are to make the important guarantee of inertial nevigation apparatus posture held stationary.In the design operation
It is 6-DZM-20 to selected battery size, parameter is：
Rated capacity：48v22.3ah
Weight：7.25kg
Size:181*77*169mm
Cycle-index：400~600 times
The control system composition of the present invention is as described below with operational process：
The control system of the design is that transfer car(buggy) keeps the core of its balance and stability to fill during transporting inertial navigation system
It sets, all modular units are integrated in addition to attitude transducer in control system unit box, and there are each interfaces with even for side
It is connected to attitude transducer and stepper motor.It is ATmega128 microcontrollers to control the core component in integrated box, is powered in transfer car(buggy)
After bringing into operation, microcontroller will initialize all reference datas, i.e. supporting part carries out horizontal alignment, be carried out at the same time cell voltage inspection
It surveys, after self-test, chip is transported through the measurement and calculating of vehicle speed and supporting part posture according to program, is transported in transfer car(buggy)
During inertial navigation system, microcontroller passes through corresponding pid control algorithm reality according to the measurement data that gyro sensor is passed back
When adjustment four stepper motors operating adjust the posture of supporting part so that inertial navigation system can be without departing from transportational process
Equilibrium state.Microcontroller is other than calculating and adjusting required result data to stepper motor in the process, also to turning
The real-time speed of fortune vehicle is monitored, and when transfer car(buggy) movement speed is too fast, it is described maximum to transport regulation beyond inertial navigation system
After speed, microcontroller will send out alarm device instruction, and generating audible and visible alarm by warning system reminds operating personnel's regulation enforcement
Transhipment task ensures the steady transhipment of inertial navigation system.Simultaneously because supporting part still cannot after cause specific causes motor to adjust
It realizes that held stationary, microcontroller detect that deviation has not been able to effectively eliminate in loop control process, then still can trigger acousto-optic
Alarm sends out different alarm signals, reminds operating personnel to adopt an effective measure corresponding mistake, protects inertial navigation system in time.
Specific control system integration element circuit is as shown in figure 8, specific control flow is as shown in Figure 9.
The operating instruction of inertial navigation system transfer car(buggy)：
Transhipment task execution staff should follow following methods using the design：
1, ensuring that cell voltage is normal using this equipment, booting uses.
2, it is turned on the power switch at unit box in transhipment underbody seat domination set.
3, after opening power supply, transfer car(buggy) enters self-test state, and after self-test passes through, the automatic horizontal for starting supporting part is calibrated
Process.
After 4 hear that prompt tone is completed in calibration, you can inertial navigation system is positioned in the profiling cavity of supporting part, expansion transhipment
Task.
5, the bright light signal on control integrated box please be check after encountering different audible and visible alarms, compared following table 6, carried out
Corresponding operation.
6 trouble light of table illustrates and corresponding operating
Claims (8)
1. a kind of inertial navigation system transfer car(buggy), including vehicle frame (1) and supporting part, supporting part that planar structure is rectangle are fixed on vehicle frame
(1) top is provided with idler wheel in the bottom of vehicle frame (1), it is characterised in that：The supporting part include level tray (2) and
Inertial navigation system Carrier box (3), inertial navigation system Carrier box (3) are arranged in the upper surface of level tray (2)；It further include horizontal adjustment machine
Structure and control mechanism, the horizontal adjusting mechanism include the lead screw stepper motor (4) positioned at vehicle frame (1) four corners, Mei Gesi
The top of bar stepper motor (4) is all set with the lead screw hangers (5) of zigzag, is provided on a level board of lead screw hangers (5)
Screw hole and with lead screw stepper motor (4) screw-thread fit, another level board of lead screw hangers (5) is fixed with level tray (2)；Control
Mechanism processed is arranged in the lower part of vehicle frame (1), including switch, Voltage stabilizing module, battery, microcontroller, gyroscope and lead screw stepper motor
The output end of drive module, lead screw stepper motor drive module is connected with the input terminal of lead screw stepper motor (4), lead screw stepping
The input terminal of motor drive module is connected with microcontroller output end, the output end of gyroscope and the one of microcontroller it is defeated
Enter end to be connected, the output end of switch, Voltage stabilizing module and battery is connected with an input terminal of microcontroller respectively, and battery passes through
Battery main switch gives the power supply of other electronic modules of microcontroller after Voltage stabilizing module.
2. a kind of inertial navigation system transfer car(buggy) according to claim 1, it is characterised in that：The rolling of described vehicle frame (1) bottom
Wheel is universal wheel, and tire is pneumatic tire；It is fixed with pushing hands (6) at the rear of vehicle frame (1), it is also fixed in the bottom of vehicle frame (1)
There are chassis (7), lead screw stepper motor (4) to be fixed on the upper surface of chassis (7), chassis is provided with reinforcing rib on (7).
3. a kind of inertial navigation system transfer car(buggy) according to claim 1, it is characterised in that：The lead screw hangers (5) and water
It is fixed by connecting hangers (8) between flat pallet (2), it is provided with fixing bolt, lead screw hangers (5) at the top of connection hangers (8)
With level tray (2) fixed level board be provided with screw hole and with the fixing bolt screw-thread fit that connect hangers (8), connect hangers
(8) middle and lower part is provided with fixing hoop (9), and fixing hoop is provided with via and fixing bolt screw-thread fit on (9).
4. a kind of inertial navigation system transfer car(buggy) according to claim 1, it is characterised in that：The inertial navigation system Carrier box
(3) include hard structure outter box, flexible protective buffering structure is set in outter box, in protective buffering structure
The profiling cavity for holding inertial navigation system is arranged in portion.
5. a kind of inertial navigation system transfer car(buggy) according to claim 1, it is characterised in that：The lead screw stepper motor (4)
Motor be torsion 30KG toothed gearing electric motor, the output end of motor passes through two pairs of angles of inclination opposite helical gear and screw rod
Transmission, helical gear inclination angle are 150 °.
6. a kind of inertial navigation system transfer car(buggy) according to claim 5, it is characterised in that：The lead screw stepper motor (4)
Screw rod material be advanced nitrated steel 38CrMoAl.
7. a kind of inertial navigation system transfer car(buggy) according to claim 1, it is characterised in that：The material of the connection hangers (8)
Material is copper alloy ZCuZn25Al6Fe3Mn3.
8. a kind of inertial navigation system transfer car(buggy) according to claim 1, it is characterised in that：The microcontroller is built-in
The RISC reduced instruction set computers of Flash, with internal RC oscillators, power on automatically reset, house dog, start-up study function, collection
At A/D converter, the microcontroller of SPI, PWM, USART, TWI port and interrupt source.
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| CN201810328996.7A CN108528492B (en) | 2018-04-13 | 2018-04-13 | Inertial navigation system transfer trolley |
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| CN109827558A (en) * | 2019-03-21 | 2019-05-31 | 北京电子工程总体研究所 | A kind of vehicle-mounted north finder |
| CN110884420A (en) * | 2019-11-25 | 2020-03-17 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| CN112356937A (en) * | 2020-10-28 | 2021-02-12 | 港赢科人工智能科技江苏有限公司 | Plant protection unmanned vehicle applicable to various terrains |
| CN114114985A (en) * | 2021-10-21 | 2022-03-01 | 浙江大立科技股份有限公司 | Integrated control system |
| CN114772507A (en) * | 2021-11-15 | 2022-07-22 | 江西赣电电气有限公司 | Transformer silicon steel sheet transfer crane |
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| CN114772507B (en) * | 2021-11-15 | 2023-04-21 | 江西赣电电气有限公司 | Transformer silicon steel sheet transfer crane |
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| CN108528492B (en) | 2020-06-05 |
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