CN111610746B - Control system of planetary sampling machine - Google Patents
Control system of planetary sampling machine Download PDFInfo
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- CN111610746B CN111610746B CN202010395940.0A CN202010395940A CN111610746B CN 111610746 B CN111610746 B CN 111610746B CN 202010395940 A CN202010395940 A CN 202010395940A CN 111610746 B CN111610746 B CN 111610746B
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- 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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
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- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/15—Plc structure of the system
- G05B2219/15106—High speed limited function sub plc together with slow speed general
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- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention belongs to the technical field of planetary sampling control, and particularly relates to a planetary sampling machine control system. The system comprises a system substrate, a motor power supply, a 24V switching power supply, a motor driver, a PLC, a torque rotating speed transducer and a system speed regulating plate, wherein the motor power supply, the 24V switching power supply, the motor driver, the PLC, the torque rotating speed transducer and the system speed regulating plate are arranged on the system substrate; the torque speed transmitter receives a signal of a dynamic torque rotating speed sensor arranged on a prototype structure and then sends the signal to the upper computer; the motor power supply is used for providing power for the motor driver; the 24V switching power supply is used for providing 24V direct current voltage for the PLC5 and the torque rotating speed transmitter. The invention is used for controlling the planetary sampling machine, carrying out satellite soil sampling simulation, verifying the feasibility of the scheme and providing experimental contrast and theoretical basis for deep space exploration sampling in the future.
Description
Technical Field
The invention belongs to the technical field of planetary sampling control, and particularly relates to a planetary sampling machine control system.
Background
Planetary exploration is mainly to emit probes to large planets outside the earth to observe the secrets of their geological structure, surface shape, surrounding environment and the like of satellites. To achieve these objectives, three flight methods are currently employed, the first being to fly alongside the destination star; secondly, the satellite works around the destination satellite to become the satellite; third, through their surrounding atmosphere, onto which to land. Landing is in turn divided into hard landing (i.e. collision) and soft landing (deceleration by rocket braking or parachute deceleration). Future developments will also have auto-sampling returns and man-vehicle interplanetary flights.
In recent years, it has been found that extremely rich titanium is present on the moon by the flying of the moon. Through other observations, an orbit was found to intersect the earth's orbit as an asteroid with nearly pure subway-nickel ore. Twenty asteroids have been found to be in orbit with the earth's orbit. Scientists estimate that further observations will likely find more than a thousand of such asteroids. Therefore, a control system of a planetary sampling prototype capable of performing satellite soil sampling simulation and verifying the feasibility of a scheme is urgently needed.
Disclosure of Invention
In view of the above problems, the invention aims to provide a control system of a planet sampling machine, which is used for controlling the planet sampling machine, simulating planet soil sampling, verifying the feasibility of a scheme and providing experimental contrast and theoretical basis for deep space exploration sampling in the future.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a control system of a planetary sampling machine comprises a system substrate, a motor power supply, a 24V switching power supply, a motor driver, a PLC, a torque rotating speed transmitter and a system speed regulating plate, wherein the motor power supply, the 24V switching power supply, the motor driver, the PLC, the torque rotating speed transmitter and the system speed regulating plate are arranged on the system substrate;
the system speed regulation plate and the motor driver are connected with the PLC;
the system speed regulating plate is used for inputting a rotating speed signal to the PLC;
the motor driver is used for outputting three-phase voltages to drive a brushless motor on an external structure;
the PLC is used for receiving a rotating speed signal provided by the system speed regulating plate, converting the rotating speed signal into a signal which can be identified by the motor driver and sending the signal to the motor driver;
the torque speed transmitter receives a signal of a dynamic torque rotating speed sensor arranged on a prototype structure and then sends the signal to the upper computer;
the motor power supply is used for providing power for the motor driver;
the 24V switching power supply is used for providing 24V direct current voltage for the PLC and the torque rotating speed transmitter.
The PLC comprises a PLC24V power interface, a PLC input port and a PLC output port, wherein the PLC24V power interface is connected with the 24V switching power supply; the PLC input port is connected with the system speed regulation plate; and the PLC output port is connected with the motor driver.
The 24V switching power supply comprises a 24V switching power supply wiring terminal, the 24V switching power supply wiring terminal comprises a single-phase 220V power supply input terminal and a plurality of direct-current output terminals, and the plurality of direct-current output terminals are respectively connected with a PLC24V power supply interface of the PLC and the torque rotating speed transmitter and output 24V direct-current voltage.
The motor driver comprises a motor driver 60V direct current voltage input terminal, a motor driver three-phase voltage output terminal, a motor speed feedback terminal and a control signal input terminal, wherein the motor driver 60V direct current voltage input terminal is connected with the motor power supply; the motor driver three-phase voltage output terminal and the motor speed feedback terminal are connected with the brushless motor; the control signal input terminal is connected with the PLC output port, the motor driver receives a control signal sent by the PLC, controls the rotating speed of the brushless motor on the prototype structure, receives a speed signal fed back by the brushless motor, and transmits the speed signal to the PLC to form closed-loop control.
The system speed regulating plate is provided with a signal output port of the system speed regulating plate, a stepless speed regulating knob, a stepping acceleration button, a stepping deceleration button and a stepping speed regulating and stepless speed regulating mode switching button, wherein the stepping acceleration button and the stepping deceleration button are used for realizing stepping acceleration and deceleration of the motor, and the stepping speed regulating and stepless speed regulating mode switching button is used for realizing mode switching; the stepless speed regulating knob generates analog signals to realize the stepless speed regulating function; and the signal output port of the system speed regulation plate is connected with the PLC input port.
The motor power supply comprises a 220V single-phase alternating current input end and a 60V direct current output end of the motor power supply, wherein the 220V single-phase alternating current input end of the motor power supply is connected with an external power supply, and 220V single-phase alternating current is input; the 60V direct current output end outputs 60V direct current and is connected with the motor driver.
The torque speed transmitter comprises a torque speed transmitter connection upper computer port and a torque speed transmitter connection sensor port, wherein the torque speed transmitter connection upper computer port is connected with the upper computer, and the torque speed transmitter connection sensor port is connected with the dynamic torque speed sensor.
The invention has the advantages that:
1. the invention can realize stepping and stepless speed regulation of the sampling motor.
2. The speed regulating motor can realize closed-loop control to ensure that the motor rotation speed is the same.
3. The invention has simple control and speed regulation by means of the knob and the key.
4. The invention has better universality and is not limited to the structure, so that the design of the structure of the sampling system is not influenced.
Drawings
FIG. 1 is a schematic diagram of a control system of a planetary sampling machine according to the present invention;
FIG. 2 is a schematic diagram of a motor power supply according to the present invention;
FIG. 3 is a schematic diagram of a 24V switching power supply according to the present invention;
FIG. 4 is a schematic diagram of a motor driver according to the present invention;
FIG. 5 is a schematic diagram of a torque and speed transmitter according to the present invention;
FIG. 6 is a schematic diagram of a system speed plate according to the present invention;
fig. 7 is a schematic structural view of the PLC.
In the figure: 1 is a motor power supply, 2 is a 24V switching power supply, 3 is a motor driver I, 4 is a torque rotating speed transducer I, 5 is a PLC,6 is a system speed regulating plate, 7 is a torque rotating speed transducer II, 8 is a motor driver II, 9 is a system substrate, 18 is a 220V single-phase alternating-current input end of the motor power supply, 19 is a 60V direct-current output end, 20 is a 24V switching power supply wiring terminal, 21 is a 60V direct-current voltage input end of the motor driver, 22 is a three-phase voltage output terminal of the motor driver, 23 is a motor speed feedback terminal, 24 is a control signal input terminal, 25 is a torque rotating speed transducer connected with an upper computer port, 26 is a torque rotating speed transducer connected with a sensor port, 27 is a system speed regulating plate signal output port, 28 is a stepless speed regulating knob, 29 is a stepping acceleration button, 30 is a stepping speed reducing button, 31 is a stepping speed regulating and stepless speed regulating mode switching button, 32 is a PLC24V power interface, 33 is a PLC input port, and 34 is a PLC output port.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the control system of the planetary sampling machine provided by the invention comprises a system substrate 9, a motor power supply 1, a 24V switching power supply 2, a motor driver, a PLC5, a torque rotation speed transmitter and a system speed regulation plate 6, wherein the motor power supply 1, the 24V switching power supply 2, the motor driver, the PLC5, the system speed regulation plate 6 and the motor driver are arranged on the system substrate 9; the system speed regulating plate 6 is used for inputting a rotating speed signal to the PLC 5; the motor driver is used for outputting three-phase voltages to the brushless motor arranged on the prototype structure; the PLC5 receives a rotating speed signal provided by the system speed regulating plate 6, converts the rotating speed signal into a signal which can be identified by the motor driver and sends the signal to the motor driver, and the motor driver controls the stepping speed regulation or stepless speed regulation of the brushless motor; the torque speed transmitter receives a signal of a dynamic torque rotating speed sensor arranged on a prototype structure and then sends the signal to the upper computer; the motor power supply 1 is used for providing power for a motor driver; the 24V switching power supply 2 is used for providing 24V direct current voltage for the PLC5 and the torque rotating speed transmitter.
As shown in fig. 2, the motor power supply 1 comprises a motor power supply 220V single-phase ac input end 18 and a 60V dc output end 19, wherein the motor power supply 220V single-phase ac input end 18 is connected with an external power supply to input 220V single-phase ac; the 60V dc output 19 outputs 60V dc and is connected to a motor driver.
The motor power supply 1 provides 60V direct current voltage for the motor driver, the 220V single-phase alternating current input end 18 of the motor power supply is a mains supply access point, and the alternating current 220V is converted into 60V direct current through the 60V direct current output end 19 through internal circuit conversion.
As shown in fig. 7, the PLC5 includes a PLC24V power interface 32, a PLC input port 33, and a PLC output port 34, wherein the PLC24V power interface 32 is connected with the 24V switching power supply 2; the PLC input port 33 is connected with the system speed regulation plate 6; the PLC output port 34 is connected to a motor driver.
As shown in fig. 3, the 24V switching power supply 2 includes a 24V switching power supply connection terminal 20, and the 24V switching power supply connection terminal 20 includes a single-phase 220V power supply input terminal and a plurality of dc output terminals, wherein the single-phase 220V power supply input terminal is connected in parallel with the motor power supply 220V single-phase ac input terminal 18 and is connected with an external power supply; the plurality of dc output terminals are connected to the PLC24V power interface 32 and the torque rotation speed transmitter, respectively, and output 24V dc voltage.
As shown in fig. 4, the motor driver includes a motor driver 60V dc voltage input terminal 21, a motor driver three-phase voltage output terminal 22, a motor speed feedback terminal 23, and a control signal input terminal 24, wherein the motor driver 60V dc voltage input terminal 21 is connected to the 60V dc output terminal 19 of the motor power supply 1; the motor driver three-phase voltage output terminal 22 and the motor speed feedback terminal 23 are connected with the brushless motor; the control signal input terminal 24 is connected with the PLC output port 34, and the motor driver receives the control signal sent by the PLC5, controls the rotating speed of the brushless motor on the prototype structure, and simultaneously receives the speed signal fed back by the motor and transmits the speed signal to the PLC5 to form closed-loop control.
As shown in fig. 6, the system speed regulation plate 6 is provided with a system speed regulation plate signal output port 27, a stepless speed regulation knob 28, a step acceleration button 29, a step deceleration button 30 and a step speed regulation and stepless speed regulation mode switching button 31, wherein the step acceleration button 29 and the step deceleration button 30 are used for realizing the step acceleration and deceleration of the motor, and the step speed regulation and stepless speed regulation mode switching button 31 is used for realizing the switching of the step speed regulation and stepless speed regulation functional modes; the stepless speed regulating knob 28 is a knob type potentiometer, and generates an analog signal to realize the stepless speed regulating function of the motor; the system speed board signal output port 27 is connected to the PLC input port 33.
As shown in fig. 5, the torque speed transmitter 3 includes a torque speed transmitter connection upper computer port 25 and a torque speed transmitter connection sensor port 26, wherein the torque speed transmitter connection upper computer port 25 is connected with the upper computer, and the torque speed transmitter connection sensor port 26 is connected with the dynamic torque speed sensor and the 24V switching power supply 2.
The torque rotation speed transducer is connected with a sensor port 26 and is connected with an input signal and a power supply voltage of the torque sensor, and the torque rotation speed transducer is connected with an upper computer port 25 to output a signal which can be identified by an upper computer and is converted through a 485 chip in the transducer.
In the embodiment of the invention, the PLC5 is the core of the whole control system, the PLC5 is LK-3U-PLC, and is a domestic PLC produced by the field control technology, the PLC is provided with 4 paths of AD and two paths of DA, stepless speed regulation of the motor can be realized through the DA, the PLC controls the stepping acceleration and deceleration of the motor by generating high-speed PWM, and the motor is provided with a sensor to realize closed-loop speed regulation so as to ensure that the rotating speed of the motor reaches the requirement.
In the embodiment of the invention, the control system of the planetary sampling machine is applied to the planetary sampling machine which adopts double-motor driving and ensures the same motor rotation speed, and aims to control the rotation speed of the sampling machine. Wherein the motor driver comprises a motor driver I3 and a motor driver II 8; the torque rotating speed transmitter comprises a torque rotating speed transmitter I4 and a torque rotating speed transmitter II 7, which correspond to the two groups of motors respectively.
The invention provides a control system of a planetary sampling machine, which has the working principle that:
the motor power supplies power to the motor driver, the 24V switching power supplies power to the PLC and the torque rotating speed transmitter, the system speed regulating plate inputs speed regulating signals to the PLC, the PLC is used as a main controller to receive and process the speed regulating signals, the speed regulating signals are transmitted to the motor driver, and the motor driver outputs three-phase voltages to drive the brushless motor.
The invention is a control part of a planetary sampling machine, and the feasibility of the design scheme of the planetary sampling equipment is further analyzed by adjusting the rotating speed and testing the rotating speed and the torque of the motor under different conditions.
The invention fully considers the requirements of cost and function in the initial stage of design, completes the design of the control system under the condition of low cost, has simple operation method, can realize the rotating speed control requirement of the motor, and ensures the same rotating speed of the motor by adopting double motor driving in view of the requirement of sampling conditions, thereby ensuring the maximum precision by adopting feedback control.
The planetary sampling machine is used for a planetary sampling machine, aims to control the rotating speed of the machine, and feeds back dynamic torque and rotating speed through a sensor so as to analyze the feasibility of designing the planetary sampling equipment and possible problems and risks in the planetary sampling equipment, and plays an important role in the subsequent design of the planetary sampling equipment.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The planetary sampling machine control system is characterized by comprising a system substrate (9), a motor power supply (1), a 24V switching power supply (2), a motor driver, a PLC (5), a torque rotation speed transmitter and a system speed regulation plate (6), wherein the motor power supply (1), the 24V switching power supply (2), the motor driver, the PLC (5) and the system speed regulation plate (6) are arranged on the system substrate (9);
the system speed regulation plate (6) and the motor driver are connected with the PLC (5);
the system speed regulation plate (6) is used for inputting a rotating speed signal to the PLC (5);
the motor driver is used for outputting three-phase voltages to drive a brushless motor on an external structure;
the PLC (5) is used for receiving a rotating speed signal provided by the system speed regulation plate (6), converting the rotating speed signal into a signal which can be identified by the motor driver and sending the signal to the motor driver;
the torque rotating speed transmitter receives a signal of a dynamic torque rotating speed sensor arranged on a prototype structure and then sends the signal to the upper computer;
the motor power supply (1) is used for providing power for the motor driver;
the 24V switching power supply (2) is used for providing 24V direct current voltage for the PLC (5) and the torque rotating speed transmitter.
2. The planetary sampling press control system according to claim 1, characterized in that the PLC (5) comprises a PLC24V power interface (32), a PLC input port (33) and a PLC output port (34), wherein the PLC24V power interface (32) is connected with the 24V switching power supply (2); the PLC input port (33) is connected with the system speed regulation plate (6); the PLC output port (34) is connected with the motor driver.
3. The planetary sampling press control system according to claim 2, wherein the 24V switching power supply (2) includes a 24V switching power supply terminal (20), the 24V switching power supply terminal (20) includes a single-phase 220V power supply input terminal and a plurality of direct current output terminals, and the plurality of direct current output terminals are respectively connected with a PLC24V power supply interface (32) of the PLC (5) and the torque rotation speed transmitter, and output 24V direct current voltages.
4. The planetary sampling press control system according to claim 2, characterized in that the motor driver comprises a motor driver 60V dc voltage input terminal (21), a motor driver three-phase voltage output terminal (22), a motor speed feedback terminal (23) and a control signal input terminal (24), wherein the motor driver 60V dc voltage input terminal (21) is connected to the motor power supply (1); the motor driver three-phase voltage output terminal (22) and the motor speed feedback terminal (23) are connected with the brushless motor; the control signal input terminal (24) is connected with the PLC output port (34), and the motor driver receives a control signal sent by the PLC (5) to control the rotating speed of the brushless motor on the prototype structure, and simultaneously receives a speed signal fed back by the brushless motor and transmits the speed signal to the PLC (5) to form closed loop control.
5. The planetary sampling machine control system according to claim 2, wherein a system speed regulation plate signal output port (27), a stepless speed regulation knob (28), a step acceleration button (29), a step deceleration button (30) and a step speed regulation and stepless speed regulation mode switching button (31) are arranged on the system speed regulation plate (6), the step acceleration button (29) and the step deceleration button (30) are used for realizing motor step acceleration and deceleration, and the step speed regulation and stepless speed regulation mode switching button (31) is used for realizing mode switching; the stepless speed regulating knob (28) generates analog signals to realize the stepless speed regulating function; and the signal output port (27) of the system speed regulation plate is connected with the PLC input port (33).
6. The planetary sampling prototype control system according to claim 1, characterized in that the motor power supply (1) comprises a motor power supply 220V single-phase ac input (18) and a 60V dc output (19), wherein the motor power supply 220V single-phase ac input (18) is connected to an external power supply, inputting 220V single-phase ac; the 60V direct current output end (19) outputs 60V direct current and is connected with the motor driver.
7. The planetary sampling press control system according to claim 1, characterized in that the torque rotation speed transmitter comprises a torque rotation speed transmitter connection upper computer port (25) and a torque rotation speed transmitter connection sensor port (26), wherein the torque rotation speed transmitter connection upper computer port (25) is connected with an upper computer, and the torque rotation speed transmitter connection sensor port (26) is connected with the dynamic torque rotation speed sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010395940.0A CN111610746B (en) | 2020-05-12 | 2020-05-12 | Control system of planetary sampling machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010395940.0A CN111610746B (en) | 2020-05-12 | 2020-05-12 | Control system of planetary sampling machine |
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| CN111610746B true CN111610746B (en) | 2023-06-27 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001322600A (en) * | 2000-05-16 | 2001-11-20 | Sumitomo Heavy Ind Ltd | Planet probe |
| CN104104283A (en) * | 2014-07-15 | 2014-10-15 | 江西方迪科技有限公司 | Brushless DC (Direct current) motor driver |
| KR101936847B1 (en) * | 2018-06-08 | 2019-01-11 | 조안나 | BLDC motor system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10317218B2 (en) * | 2016-07-12 | 2019-06-11 | David Byron Douglas | Planetary surveillance system |
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2020
- 2020-05-12 CN CN202010395940.0A patent/CN111610746B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001322600A (en) * | 2000-05-16 | 2001-11-20 | Sumitomo Heavy Ind Ltd | Planet probe |
| CN104104283A (en) * | 2014-07-15 | 2014-10-15 | 江西方迪科技有限公司 | Brushless DC (Direct current) motor driver |
| KR101936847B1 (en) * | 2018-06-08 | 2019-01-11 | 조안나 | BLDC motor system |
Non-Patent Citations (3)
| Title |
|---|
| 一种嵌入式月面巡视器移动***模拟器设计;杨洁;张志;李志平;邢伟;;空间控制技术与应用(第01期);全文 * |
| 基于刷扫和研磨的复合式小行星取样器取样过程仿真与分析;董成成;张军;陆希;黄帆;倪江生;黄繁章;江朝军;;上海航天(中英文)(第01期);全文 * |
| 轴向敲击式钻取采样装置方案研究;张元勋;谢更新;熊辉;;载人航天(第02期);全文 * |
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