A control system that combines binding and alarm functions

Abstract

This invention discloses a control system and method that integrates binding and alarm functions, comprising at least one micromotor sensor, at least one dual-channel combined circuit, a source selection circuit, a frequency selection circuit, an alarm circuit, a protection circuit, a demodulation circuit, a low-pass filter, a correction circuit, a binding matching circuit, a pulse width modulation circuit, a power drive circuit, and a power supply. This invention can receive and transmit dual-channel micromotor signals with various speed ratios, while also providing binding signal transmission and mismatch angle alarm protection functions. It improves the real-time performance and security of electromechanical signal transmission and offers good maintainability.

Description

Technical Field

[0001] This invention belongs to the field of ship navigation equipment, specifically relating to a control system that combines binding and alarm functions. Background Technology

[0002] In the maritime field, a platform compass is a navigation device that ensures the safe navigation of ships. Once the device is operating stably, it can output attitude and bearing information. Currently, the method of receiving attitude and bearing information via a micro-motor and then transmitting it via a transmission chain is still in use. During user interface debugging and maintenance, this is achieved by rotating a gear chain using a crank, which is inconvenient and inefficient. Furthermore, when the electromechanical transmission malfunctions, the transmission system may become uncontrollable, resulting in a "runaway" phenomenon that damages mechanical transmission components. If this situation is not detected and addressed promptly, it can pose a significant safety hazard to other electromechanical users operating under the same transmission chain.

[0003] Currently, when a malfunction occurs, manual intervention is required to promptly shut down the transmission system or cut off the power to the entire device. When the equipment is in operation, it requires 24-hour human monitoring. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art. By using an alarm circuit, a protection circuit, and a binding matching circuit, it enables the reception and transmission of dual-channel micro motor signals with various speed ratios. It also has binding signal transmission and mismatch angle alarm protection functions, which can improve the real-time performance and security of electromechanical signal transmission.

[0005] To achieve the above-mentioned objectives, this invention provides a control system that integrates binding and alarm functions, comprising at least one micromotor sensor, at least one dual-channel combined circuit, a source selection circuit, a frequency selection circuit, an alarm circuit, a protection circuit, a demodulation circuit, a low-pass filter, a correction circuit, a binding matching circuit, a pulse width modulation circuit, a power drive circuit, and a power supply. The signal output terminal of the micromotor sensor is connected to the input terminal of the source selection circuit through the dual-channel combined circuit. The output terminal of the source selection circuit is connected to the input terminal of the frequency selection circuit. The output terminal of the frequency selection circuit is connected to the input terminal of the alarm circuit and the first input terminal of the protection circuit, respectively. The output terminal of the alarm circuit is connected to the protection circuit. The second input terminal is connected to the input terminal of the protection circuit, which is connected to the input terminal of the demodulation circuit. The demodulation circuit is connected to a reference voltage. The output terminal of the demodulation circuit is connected to the input terminal of the low-pass filter. The output terminal of the low-pass filter is connected to the input terminal of the correction circuit. The output terminal of the correction circuit is connected to the input terminal of the binding matching circuit. The output terminal of the binding matching circuit is connected to the input terminal of the pulse width modulation circuit. The output terminal of the pulse width modulation circuit is connected to the input terminal of the power drive circuit. The output terminal of the power drive circuit is connected to the drive terminal of the external actuator motor. The output shaft of the actuator motor is connected to the transmission chain. The micro-motor sensor is mounted on the transmission chain.

[0006] Furthermore, the micro motor sensor includes two sensors, namely a first micro motor sensor and a second micro motor sensor. The signal output terminal of the first micro motor sensor is connected to the input terminal of a dual-channel combined circuit, and the signal output terminal of the second micro motor sensor is connected to the input terminal of another dual-channel combined circuit.

[0007] Furthermore, the first micromotor sensor is a synchro, and the second micromotor sensor is a rotary transformer, both of which output coarse channel signals and fine channel signals, respectively.

[0008] Furthermore, the source selection circuit is used to manually select one of the synchro output signal and the rotary transformer output signal after being combined by the dual-channel combination circuit to transmit to the frequency selection circuit.

[0009] Furthermore, the frequency selection circuit is used to select the AC voltage signal of 400Hz±10Hz from the combined signal and transmit the signal to the alarm circuit and protection circuit.

[0010] Furthermore, the demodulation circuit is used to convert the AC voltage signal into a DC voltage signal through phase-sensitive detection and transmit the DC voltage signal to the low-pass filter; when the input voltage is in phase with the reference voltage, it outputs a positive DC voltage; when the input voltage is out of phase with the reference voltage, it outputs a negative DC voltage.

[0011] Furthermore, the correction circuit is a PID active correction circuit.

[0012] Furthermore, the binding matching circuit is adapted to provide an adjustable first DC signal, which is superimposed with a second DC signal output by the correction circuit to form a DC binding signal. The output value of the DC binding signal is changed by adjusting the value of the first DC signal.

[0013] Furthermore, the binding matching circuit includes an adjustable potentiometer, a binding matching knob, a relay, and a working / binding matching switch; the coil of the relay is connected to +15V through the working / binding matching switch, the two fixed terminals of the adjustable potentiometer are connected to +15V and -15V respectively, the movable terminal is connected to the binding matching knob, and the adjustment output terminal is connected to the inverting input terminal of the calibration circuit through the normally open contact of the relay.

[0014] Furthermore, the pulse width modulation circuit includes a triangular wave generating circuit, which is used to superimpose the DC binding signal with the triangular wave signal output by the triangular wave generating circuit to output a rectangular wave with unequal positive and negative amplitude modulation.

[0015] Furthermore, the triangular wave generating circuit includes a hysteresis comparator and an integrator, which together form a positive feedback loop to generate self-excited oscillation and output a positive and negative symmetrical triangular wave signal.

[0016] Furthermore, the alarm circuit is used to perform real-time dynamic detection of the AC signal sent by the frequency selection circuit. When the mismatch angle of the system is less than 6°, the mismatch voltage is lower than the alarm setting voltage, and the mismatch indicator light goes out; when the mismatch angle is greater than 6°, the mismatch voltage is higher than the alarm setting voltage, and the mismatch indicator light flashes.

[0017] Furthermore, the protection circuit is used to perform real-time dynamic detection of the AC signal sent by the frequency selection circuit. When the mismatch angle of the system is greater than 16°, the mismatch voltage is greater than the protection setting voltage, the protection circuit is in a protection state, and the signal output by the protection circuit is disconnected.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] It can receive and transmit dual-channel micro-motor signals with various speed ratios, and also features binding signal transmission and mismatch angle alarm protection. This improves the real-time performance and security of electromechanical signal transmission, and offers good maintainability. It is simple to implement, low in cost, and can be widely applied in ships using mechanical transmission systems. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of one embodiment of the system of the present invention;

[0021] Figure 2 This is a schematic diagram illustrating the binding and matching principle in one embodiment of the system of the present invention;

[0022] Figure 3 The following is a pulse width modulation waveform diagram in one embodiment of the system of the present invention, wherein (a) is a rectangular wave with equal width output when the DC signal is zero, (b) is a rectangular wave with positive narrow and negative wide output when the DC signal is positive, and (c) is a rectangular wave with positive wide and negative narrow output when the DC signal is negative.

[0023] Figure 4 This is a schematic diagram of the alarm circuit in one embodiment of the system of the present invention. Detailed Implementation

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments. First, it should be noted that the term "binding" as used herein refers to: in the non-operating state of the control system, the simulated presentation of the sensor output signal or detection signal, that is, replacing the sensor's actual measured signal with a binding signal to meet the needs of maintenance and debugging. When manual binding is required, the electrical control line connected to the actuator motor must be disconnected. An external crank is inserted into the coupling. Since the coupling is connected to the gear chain structure, when the crank rotates, the coupling rotates synchronously, thereby driving the gear chain. The gear chain is structurally connected to the actuator motor, and the actuator motor will rotate following the gear chain. The angle of rotation is the binding angle. When the user reverses the excitation of the actuator motor, the actuator motor generates a corresponding shaft angle signal simultaneously with the binding angle. By rotating the external crank, the change in the actuator motor shaft angle signal is realized, thus realizing the function of manually generating a binding signal.

[0025] like Figure 1As shown, one embodiment of the control system of the present invention, which integrates binding and alarm functions, includes at least one micro-motor sensor, at least one dual-channel combined circuit, a source selection circuit, a frequency selection circuit, an alarm circuit, a protection circuit, a demodulation circuit, a low-pass filter, a correction circuit, a binding matching circuit, a pulse width modulation circuit, a power drive circuit, and a power supply. The signal output terminal of the micro-motor sensor is connected to the input terminal of the source selection circuit through the dual-channel combined circuit. The output terminal of the source selection circuit is connected to the input terminal of the frequency selection circuit. The output terminal of the frequency selection circuit is connected to the input terminal of the alarm circuit and the first input terminal of the protection circuit, respectively. The output terminal of the alarm circuit is connected to the second input terminal of the protection circuit. The output terminal of the circuit is connected to the input terminal of the demodulation circuit, which is connected to a reference voltage. The output terminal of the demodulation circuit is connected to the input terminal of the low-pass filter. The output terminal of the low-pass filter is connected to the input terminal of the correction circuit. The output terminal of the correction circuit is connected to the input terminal of the binding matching circuit. The output terminal of the binding matching circuit is connected to the input terminal of the pulse width modulation circuit. The output terminal of the pulse width modulation circuit is connected to the input terminal of the power drive circuit. The output terminal of the power drive circuit is connected to the drive terminal of an external actuator motor for power amplification of the pulse width-modulated signal. The output shaft of the actuator motor is connected to the transmission chain, and the micro-motor sensor is mounted on the transmission chain.

[0026] In one embodiment, such as Figure 1 As shown, the micro motor sensor includes two sensors, namely a first micro motor sensor and a second micro motor sensor. The signal output terminal of the first micro motor sensor is connected to the input terminal of a dual-channel combined circuit, and the signal output terminal of the second micro motor sensor is connected to the input terminal of another dual-channel combined circuit.

[0027] In one embodiment, the first micromotor sensor is a synchro, and the second micromotor sensor is a rotary transformer, both of which output coarse and fine channel signals, respectively. The coarse and fine dual channels are signals with various speed ratios, used to convert the motor shaft angle position signal into a voltage signal of the same frequency but different phase. Supported speed ratios include 1:8, 1:16, 1:32, and 1:36. The dual-channel combination circuit is used to automatically phase-shift, attenuate, select, and combine mismatched signals based on the magnitude of the input coarse and fine dual-channel signals. After impedance matching, the signal is integrated, amplified, and transmitted to the source selection circuit.

[0028] In one embodiment, the source selection circuit is used to transmit one of the synchro output signal and the resolver output signal, which are combined by the dual-channel combination circuit, to the frequency selection circuit by manual selection.

[0029] In one embodiment, the frequency selection circuit is used to select an AC voltage signal of 400Hz±10Hz from the combined signal and transmit the signal to the alarm circuit and protection circuit.

[0030] In one embodiment, the demodulation circuit is used to convert an AC voltage signal into a DC voltage signal through phase-sensitive detection and transmit the DC voltage signal to the low-pass filter; when the input voltage is in phase with the reference voltage, it outputs a positive DC voltage; when the input voltage is out of phase with the reference voltage, it outputs a negative DC voltage.

[0031] In one embodiment, the correction circuit is a PID active correction circuit, which is used to improve the stability and response speed of the system and reduce the steady-state error of the system during the signal transmission control process.

[0032] In one embodiment, the binding matching circuit is adapted to provide an adjustable first DC signal, which is superimposed with a second DC signal output by the correction circuit to form a DC binding signal, and the output value of the DC binding signal is changed by adjusting the value of the first DC signal.

[0033] In one embodiment, such as Figure 2 As shown, the binding matching circuit includes an adjustable potentiometer, a binding matching knob, a relay, and a work / binding matching switch. The coil of the relay is connected to +15V via the work / binding matching switch. The two fixed terminals of the adjustable potentiometer are connected to +15V and -15V respectively, and the movable terminal is connected to the binding matching knob. The adjustment output terminal is connected to the inverting input terminal of the calibration circuit via the normally open contact of the relay. The "work / binding matching" switch is panel-mounted and its model number is KBB-3-2W1D. The binding matching knob and potentiometer are integrated and panel-mounted, and its model number is WX030-5.6K±5%. The relay model number is G6S-2-24VDC. During maintenance and debugging, when a binding signal needs to be sent, switch the "Work / Binding Match" switch to the "Binding Match" position. The +15V DC voltage powers the relay coil through the switch, energizing the relay and opening its normally closed contacts. This cuts off the signal output from the low-pass filter, and the binding matching DC signal is connected to the inverting input of the calibration circuit. Manually coarsely adjusting the binding matching knob changes the sign and magnitude of the binding matching DC signal, thus altering the servo DC motor (i.e.,...). Figure 1 By adjusting the direction and speed of the actuator motor (in the motor), and finely adjusting the rotary binding matching knob, a fixed binding signal matching can be achieved.

[0034] In one embodiment, the pulse width modulation circuit includes a triangular wave generator circuit for superimposing the DC binding signal with a triangular wave signal output by the triangular wave generator circuit to output a rectangular wave with unequal positive and negative pulse widths. Preferably, the triangular wave generator circuit includes a hysteresis comparator and an integrator, which together form a positive feedback loop to generate self-excited oscillation, thereby outputting a symmetrical triangular wave signal. Figure 3 As shown in (a)-(c), when the DC signal is zero, a rectangular wave of equal width is output; when the DC signal is positive, a rectangular wave of positive narrow and negative wide is output; when the DC signal is negative, a rectangular wave of positive wide and negative narrow is output.

[0035] In one embodiment, the alarm circuit is used to perform real-time dynamic detection of the AC signal sent by the frequency selection circuit. When the mismatch angle of the system is less than 6°, the mismatch voltage is lower than the alarm setting voltage, and the mismatch indicator light goes out; when the mismatch angle is greater than 6°, the mismatch voltage is higher than the alarm setting voltage, and the mismatch indicator light flashes.

[0036] In one embodiment, the protection circuit is used to perform real-time dynamic detection of the AC signal sent by the frequency selection circuit. When the mismatch angle of the system is greater than 16°, the mismatch voltage is greater than the protection setting voltage, the protection circuit is in a protection state, the signal output by the protection circuit is disconnected, forcing the equipment to stop tracking and transmitting, thus protecting the transmission control system and the transmission chain in a timely manner.

[0037] like Figure 4 As shown, the output signal processed by the frequency selection circuit is divided into two paths. One path is sent to the alarm circuit. After passing through a transformer, bridge rectifier, and capacitor filter, it is converted into a DC voltage and sent to the negative input of comparator LM339, where it is compared with the set voltage at the positive input of LM339. When the mismatch angle of the system is less than 6°, the mismatch voltage is lower than the alarm set voltage, LM339 outputs a high level to the reset terminal of CD4047, CD4047 resets, and the mismatch indicator light goes out. When the mismatch angle is greater than 6°, the mismatch voltage is higher than the alarm set voltage, LM339 outputs a low level, CD4047 starts oscillating, and the mismatch indicator light flashes. Wherein, T2 is the signal sampling transformer; V17 is the rectifier bridge rectifier, model QL51C; N5 is the comparator, model LM339; N6 is the multivibrator, model CD4047; and V19 is the switching transistor, model 3DK4B.

[0038] When the system mismatch angle is less than 16°, the mismatch voltage is less than the protection circuit's set voltage, and the protection circuit is in normal conduction mode. The other signal processed by the frequency selection circuit is output to the subsequent circuit via the protection circuit, completing the real-time tracking and transmission of the control system. When the system mismatch angle is greater than 16°, the mismatch voltage is greater than the protection circuit's set voltage, and the protection circuit is in protection mode. The signal output by the protection circuit is disconnected, forcing the equipment to stop tracking and transmitting, thus protecting the transmission control system and the drive chain in a timely manner and preventing the "runaway" phenomenon.

[0039] The synchro input is a dual-channel synchro mismatch angle signal, and the rotary transformer input is a dual-channel rotary transformer mismatch angle signal. When the control system is operating normally, after the two host computer motors send their respective control signals, the synchro and rotary transformer generate mismatch signals. Based on the magnitude of the combined mismatch angle signal, a DC control voltage is generated to reduce the mismatch angle. After power amplification by the power drive circuit, this voltage controls the servo DC motor to rotate, simultaneously driving the transmission chain, which in turn drives the dual-channel synchro and dual-channel rotary transformer to rotate, gradually decreasing the mismatch angle signal. When the mismatch angle signal equals zero, the servo DC motor stops rotating. The entire process is a closed-loop control, completing real-time data tracking and transmission based on the magnitude of the mismatch angle. The highest transmission accuracy of this control system can reach 0.03 degrees, and the fastest normal tracking speed can reach 15 degrees / second.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A control system that combines binding and alarm functions, characterized in that, The system includes at least one micromotor sensor, at least one dual-channel combined circuit, a source selection circuit, a frequency selection circuit, an alarm circuit, a protection circuit, a demodulation circuit, a low-pass filter, a calibration circuit, a binding matching circuit, a pulse width modulation circuit, a power drive circuit, and a power supply. The signal output terminal of the micromotor sensor is connected to the input terminal of the source selection circuit through the dual-channel combined circuit. The output terminal of the source selection circuit is connected to the input terminal of the frequency selection circuit. The output terminal of the frequency selection circuit is connected to the input terminal of the alarm circuit and the first input terminal of the protection circuit. The output terminal of the alarm circuit is connected to the second input terminal of the protection circuit. The output terminal of the protection circuit is connected to the input terminal of the demodulation circuit, which is connected to a reference voltage. The output terminal of the demodulation circuit is connected to the input terminal of the low-pass filter. The output terminal of the low-pass filter is connected to the input terminal of the calibration circuit. The output terminal of the calibration circuit is connected to the input terminal of the binding matching circuit. The output terminal of the binding matching circuit is connected to the input terminal of the pulse width modulation circuit. The output terminal of the pulse width modulation circuit is connected to the power drive circuit. The input terminal of the power drive circuit is connected to the drive terminal of an external actuator motor. The output shaft of the actuator motor is connected to a transmission chain. The micro-motor sensor is mounted on the transmission chain. The micro-motor sensor includes two sensors: a first micro-motor sensor and a second micro-motor sensor. The signal output terminal of the first micro-motor sensor is connected to the input terminal of a dual-channel combined circuit, and the signal output terminal of the second micro-motor sensor is connected to the input terminal of another dual-channel combined circuit. The first micro-motor sensor is a synchro, and the second micro-motor sensor is a rotary transformer. Both output coarse channel signals and fine channel signals, respectively. The source selection circuit is used to manually select one of the synchro output signal and the rotary transformer output signal after being combined by the dual-channel combined circuit to transmit to the frequency selection circuit. The binding matching circuit is adapted to provide an adjustable first DC signal. The first DC signal is superimposed with the second DC signal output by the correction circuit to form a DC binding signal. The output value of the DC binding signal is changed by adjusting the value of the first DC signal.

2. The control system that combines binding and alarm functions according to claim 1, characterized in that, The frequency selection circuit is used to select the AC voltage signal of 400Hz±10Hz from the combined signal and transmit the signal to the alarm circuit and protection circuit.

3. The control system that combines binding and alarm functions according to claim 1, characterized in that, The demodulation circuit is used to convert AC voltage signals into DC voltage signals through phase-sensitive detection and transmit the DC voltage signals to the low-pass filter; when the input voltage is in phase with the reference voltage, it outputs a positive DC voltage; when the input voltage is out of phase with the reference voltage, it outputs a negative DC voltage.

4. The control system that combines binding and alarm functions according to claim 1, characterized in that, The correction circuit is a PID active correction circuit.

5. The control system that combines binding and alarm functions according to claim 1, characterized in that, The binding matching circuit includes an adjustable potentiometer, a binding matching knob, a relay, and a working / binding matching switch. The coil of the relay is connected to +15V through the working / binding matching switch. The two fixed terminals of the adjustable potentiometer are connected to +15V and -15V respectively, the movable terminal is connected to the binding matching knob, and the adjustment output terminal is connected to the inverting input terminal of the calibration circuit through the normally open contact of the relay.

6. The control system that combines binding and alarm functions according to claim 1, characterized in that, The pulse width modulation circuit includes a triangular wave generator circuit, which is used to superimpose the DC binding signal with the triangular wave signal output by the triangular wave generator circuit to output a rectangular wave with unequal positive and negative pulse widths.

7. The control system that combines binding and alarm functions according to claim 6, characterized in that, The triangular wave generating circuit includes a hysteresis comparator and an integrator, which together form a positive feedback loop to generate self-excited oscillation and output a positive and negative symmetrical triangular wave signal.

8. The control system that combines binding and alarm functions according to claim 1, characterized in that, The alarm circuit is used to perform real-time dynamic detection of the AC signal sent by the frequency selection circuit. When the mismatch angle of the system is less than 6°, the mismatch voltage is lower than the alarm setting voltage, and the mismatch indicator light goes out; when the mismatch angle is greater than 6°, the mismatch voltage is higher than the alarm setting voltage, and the mismatch indicator light flashes.

9. The control system that combines binding and alarm functions according to claim 1, characterized in that, The protection circuit is used to perform real-time dynamic detection of the AC signal sent by the frequency selection circuit. When the mismatch angle of the system is greater than 16°, the mismatch voltage is greater than the protection setting voltage, the protection circuit is in the protection state, and the signal output by the protection circuit is disconnected.

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