High-reliability hot redundancy turntable angle acquisition system

Abstract

The invention provides a high-reliability hot redundancy rotary table angle acquisition system, and belongs to the field of electromechanical automation. In order to improve the task reliability of rotary table angle acquisition, a full-link health monitoring scheme for angle measurement, decoding and transmission is provided, and the health state of the whole angle measurement device is monitored online in real time; the angle measurement system adopts a hot redundancy design and has an online real-time health judgment function, angle output switching can be automatically completed after a certain branch breaks down, and a health link serves as an angle output link. According to the invention, failure of a system angle acquisition function caused by damage of a certain device of the angle measurement link can be avoided, and the system has good maintainability and testability.

Description

Technical Field

[0001] The invention belongs to the field of electromechanical automation, and in particular relates to a high-reliability thermal redundant turntable angle acquisition system. Background Art

[0002] With the improvement of science and technology, the requirements for radar mission reliability are getting higher and higher. Antenna position information measurement and feedback is an important part of radar function realization. On the one hand, the radar servo system needs antenna position feedback to realize the radar positioning function, so as to achieve target tracking; on the other hand, the radar system also needs antenna position feedback to realize target angle measurement.

[0003] The radar antenna is fixedly installed on the turntable, so the measurement of the antenna position information is actually the measurement of the turntable angle. Due to the complex and harsh working environment of the radar, and the meshing installation between the encoder and the turntable of the measured object through a gear set, problems such as assembly and structural aging and wear may cause the structural connection between the encoder and the measured object to become loose, resulting in the position information fed back by the encoder not being able to correctly reflect the true angle of the measured object. In addition, due to human or natural environmental factors, some devices such as encoders and decoding modules may fail or be damaged. The electromagnetic interference problem during radar operation cannot be ignored. The high-frequency analog signal transmission between the encoder and the decoding module, and the field bus data transmission between the decoding module and the host computer are facing high tests. Any problem in the above links will cause the turntable angle acquisition function to fail. High-reliability angle acquisition design has become the top priority in the design of radar servo systems. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention proposes a turntable angle acquisition system. The system adopts a redundant design and can monitor the health status of the entire link of the turntable angle acquisition system online in real time. When a link angle acquisition fails, it automatically switches to a healthy link to achieve redundant hot backup and improve the task reliability of turntable angle acquisition.

[0005] A high-reliability hot-redundant turntable angle acquisition system of the present invention comprises a main control display module, an A-channel field bus, a B-channel field bus, an A decoding module, a B decoding module, an A synchronous gear train, a B synchronous gear train, a turntable, a reduction box, a motor, a driver, and a motor speed feedback bus; wherein the A-channel field bus, the A decoding module, and the A synchronous gear train form a turntable angle acquisition link A, and the B-channel field bus, the B decoding module, and the B synchronous gear train form a turntable angle acquisition link B.

[0006] The A synchronous gear train includes a double-spring anti-backlash gear, a gear combination, and a rotary transformer; the A synchronous gear train is installed on the outside of the turntable, and the rotary transformer and the gear combination are connected to the turntable through the double-spring anti-backlash gear. The angular position of the turntable is converted into an analog sine and cosine signal through the A synchronous gear train and sent to the A decoding module.

[0007] The structure of the B synchronous gear train is exactly the same as that of the A synchronous gear train. The B synchronous gear train is also installed on the outside of the turntable. The angular position of the turntable is converted into analog sine and cosine signals through the B synchronous gear train and sent to the B decoding module.

[0008] The main control display module, the motor speed feedback bus, the driver, the motor, the reduction box and the turntable are connected in sequence.

[0009] The A decoding module includes an A zero point input module, an A axis angle conversion module, an A angle code and speed output module, an A high frequency excitation module, and an A health monitoring module; the analog sine and cosine signals from the A synchronous gear train are converted into digital signals reflecting the relative position of the turntable through the A decoding module; wherein, the A zero point input module of the A decoding module receives the zero point information from the main control display module, and the A axis angle conversion module converts the analog sine and cosine signals into digital signals reflecting the absolute position of the turntable, and after deducting the zero point information obtained by the zero point input, a digital signal reflecting the relative angular position of the turntable is obtained, and the A link turntable angle is The speed of the turntable is obtained by taking the derivative of the degree collection result. The A angle code and speed output module sends the A link turntable angle collection result and the turntable speed to the main control display module through the A field bus at a fixed period; the A high-frequency excitation module provides excitation to the rotating transformer of the A synchronous gear train; the A health monitoring module is used to monitor the health status of the A decoding module in real time and send the monitored results to the main control display module through the A field bus at a fixed period. The health monitoring content includes monitoring the working voltage of the A decoding module, monitoring the fault of the shaft angle conversion circuit, and judging the correctness of the zero-point input command verification.

[0010] The B decoding module includes a B zero point input module, a B axis angle conversion module, a B angle code and speed output module, a B high-frequency excitation module, and a B health monitoring module. It has the same structure as the A decoding module. The analog sine and cosine signals from the B synchronous gear train are converted into digital signals reflecting the relative position of the turntable through the B decoding module. The B decoding module transmits the B link turntable angle acquisition results, turntable speed and real-time health monitoring status of the B decoding module to the main control display module through the B field bus at a fixed period.

[0011] The main control display module includes a status output display unit, a hot redundant switching control unit, an A angle data health monitoring unit, a B angle data health monitoring unit, an A-channel data transceiver unit, and a B-channel data transceiver unit; the A-channel data transceiver unit completes reading the A-link turntable angle acquisition result, turntable speed and real-time health monitoring status of the A decoding module sent by the A decoding module from the A-channel field bus, and transmits this information to the A-channel angle data health monitoring unit. The A-channel data transceiver unit also sends the zero point configuration information to the A decoding module through the A-channel field bus; the B-channel data transceiver unit completes reading the B-link turntable angle acquisition result, turntable speed and real-time health monitoring status of the B decoding module sent by the B decoding module from the B-channel field bus, and transmits this information to the B-channel angle data health monitoring unit. The B-channel data transceiver unit also sends the zero point configuration information to the B decoding module through the B-channel field bus.

[0012] The beneficial effects of the present invention are

[0013] The present invention adopts a hot redundancy design and has an online real-time health judgment function. After a branch fails, the angle output switching can be automatically completed, and the healthy link is used as the angle output link to improve the system mission reliability. The system has good maintainability and testability. The rotating transformer is installed in a turntable external plug-in manner. Combined with the health monitoring status display, the fault location can be quickly completed, which is convenient for repair and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a system composition diagram of the present invention.

[0015] Figure 2 This is a hot redundancy switching strategy flow chart.

[0016] Figure 3 This is a flowchart of the voting strategy for the voter.

[0017] Among them, 1. main control module; 101. status output display unit; 102. hot redundant switching control unit; 103. A-channel angle data health monitoring unit; 104. B-channel angle data health monitoring unit; 105. A-channel data transceiver unit; 106. B-channel data transceiver unit; 2. A-link field bus; 3. B-link field bus; 4. A decoding module; 401. A zero point input module; 402. A axis angle conversion module; 403. A angle code and speed output module; 404. A high frequency excitation module; 405. A health monitoring module; 5. B decoding module; 501. B zero point input module; 502. B axis angle conversion module; 503. B angle code and speed output module; 504. B high frequency excitation module; 505. B health monitoring module; 6. A synchronous gear train; 7. B synchronous gear train; 8. turntable; 9. motor speed feedback bus; 10. driver; 11. motor; 12. reduction box. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] A highly reliable thermally redundant turntable angle acquisition system of the present invention, such as Figure 1 As shown, it includes: a main control display module, A-way field bus, B-way field bus, A decoding module, B decoding module, A synchronous gear train, B synchronous gear train, turntable, reduction box, motor, driver, and motor speed feedback bus; among them, A-way field bus, A decoding module, and A synchronous gear train can form a turntable angle acquisition link A, and B-way field bus, B decoding module, and B synchronous gear train can form a turntable angle acquisition link B.

[0020] The A synchronous gear train includes a double-spring anti-backlash gear, a gear combination, and a rotary transformer. The A synchronous gear train is installed on the outside of the turntable, wherein the rotary transformer and the gear combination are connected to the turntable through the double-spring anti-backlash gear. The gear combination makes the turntable and the rotary transformer have a speed ratio of 1:1. The angular position of the turntable is converted into an analog sine and cosine signal with a speed ratio of 1:1 by the A synchronous gear train, and the signal is sent to the A decoding module. The B synchronous gear train has the same structure as the A synchronous gear train. The B synchronous gear train is also installed on the outside of the turntable, but the installation position is different. The angular position of the turntable is converted into an analog sine and cosine signal with a speed ratio of 1:1 by the B synchronous gear train, and the signal is sent to the B decoding module.

[0021] The A decoding module includes an A zero point input module, an A axis angle conversion module, an A angle code and speed output module, an A high frequency excitation module, and an A health monitoring module. The analog sine and cosine signals from the A synchronous gear train are converted into digital signals reflecting the relative position of the turntable through the A decoding module. The zero point input module of the A decoding module receives the zero point information from the main control module; the A axis angle conversion module converts the analog sine and cosine signals into digital signals reflecting the absolute position of the turntable, and after deducting the zero point information obtained by the zero point input, a digital signal reflecting the relative angle position of the turntable is obtained. This signal is the A link turntable angle acquisition result P A , collect the result P of the turntable angle of link A A Take the derivative to get the speed n of the turntable A ; Angle code and speed output will A link turntable angle acquisition result P A And turntable speed n AIt is sent to the main control module via the A field bus at a fixed cycle; the A high-frequency excitation module provides excitation to the rotating transformer of the A synchronous gear train; the A health monitoring module is used to monitor the health status of the A decoding module in real time and send the monitored results to the main control module via the A field bus at a fixed cycle. The health monitoring content includes monitoring the working voltage of the A decoding module, monitoring the shaft angle conversion circuit faults, and judging the correctness of the zero-point input command verification.

[0022] The B decoding module is identical to the A decoding module, except for the ID. The analog sine and cosine signals from the B synchronous gear train are converted into digital signals reflecting the relative position of the turntable by the B decoding module. This signal is the B link turntable angle acquisition result P B The B decoding module converts the B link turntable angle collection result P B , turntable speed n B The real-time health monitoring status of the B decoding module is transmitted to the main control display module through the B field bus at a fixed period.

[0023] The zero point input of the A decoding module and the zero point input of the B decoding module realize the A link turntable angle acquisition result P converted by the A decoding module A The B decoding module converts the B link turntable angle acquisition result P B Zero point alignment.

[0024] The message sent by the A decoding module to the main control display module via the A field bus contains a check field; the message sent by the B decoding module to the main control display module via the B field bus also contains a check field.

[0025] The turntable is dragged by a motor connected to a reduction gearbox. The motor is controlled by a closed-loop speed drive of the driver. An encoder is installed at the tail of the motor. The driver obtains the real-time speed of the motor based on the encoder solution and sends the motor speed to the main control display module through the motor speed feedback bus.

[0026] A-way fieldbus, B-way fieldbus and motor speed feedback bus are CAN bus communications, and A-way fieldbus and B-way fieldbus are independent of each other.

[0027] The main control module includes a status output display unit, a hot redundant switching control unit, an A-channel angle data health monitoring unit, a B-channel angle data health monitoring unit, an A-channel data transceiver unit, and a B-channel data transceiver unit; the A-channel data transceiver unit completes the reading of the A-link turntable angle acquisition result P sent by the A decoding module from the A-channel field bus A , turntable speed n AThe A-channel data transceiver unit also sends the zero point configuration information to the A-channel decoding module through the A-channel field bus; the B-channel data transceiver unit completes the reading of the B-link turntable angle acquisition result P sent by the B-channel decoding module from the B-channel field bus. B , turntable speed n B and the real-time health monitoring status of the B decoding module, and transmits this information to the B angle data health monitoring unit. The B data transceiver unit also sends the zero point configuration information to the B decoding module through the B field bus.

[0028] The zero point configuration information message sent by the A-channel data transceiver unit carries a check field, and the zero point configuration information message sent by the B-channel data transceiver also carries a check field.

[0029] The A-way angle data health monitoring unit monitors the health status of the field bus and A decoding module in real time, and sends the monitoring results to the hot redundant switching control unit. The monitoring strategy of the A-way angle data health monitoring unit is as follows:

[0030] (1) Real-time monitoring of the number of bus messages received from the decoding module within a certain period of time, when the number of messages deviates from the reasonable value, an alarm message is issued and a bus fault is identified;

[0031] (2) monitor in real time each bus message received from the decoding module and check the check field in the message. If the check result fails, it is determined that the bus is faulty;

[0032] (3) Real-time monitoring of the health status of the decoding module feedback. When the working voltage from the decoding module exceeds or falls below the set value, or the shaft angle conversion circuit fails or the zero point input command verification error occurs, the decoding module is deemed to have failed.

[0033] The B-way angle data health monitoring unit has the same structure and health monitoring strategy as the A-way angle data health monitoring unit. The B-way angle data health monitoring unit monitors the health status of the B-way field bus and the B decoding module in real time, and sends the monitoring results to the hot redundancy switching control unit.

[0034] The hot redundant switching control unit compares the health monitoring results from the A-link angle data health monitoring unit and the B-link angle data health monitoring unit. If both links are healthy, the position information and speed information obtained from the two links are sent to the voter for voting, and the final angle output link is selected according to the voting results; if one link is healthy and the other link is faulty, the healthy link is switched to the angle output link, and the faulty link information is reported to the status output display, and maintenance suggestions are given; if both links are faulty, the information of the two faulty links is reported to the status output display, and maintenance suggestions are given.

[0035] The hot redundant switching control unit reads the motor speed from the motor speed feedback bus, i 总 is the total speed ratio between the motor and the turntable, n L is the turntable speed converted from the motor speed, n H is the motor speed, then the relationship between the turntable speed and the motor speed is

[0036] The voting device converts the turntable speed n from the A decoding module A , the turntable speed n from the B decoding module B And the turntable speed n obtained by converting the motor speed L Perform a consensus vote and determine the output link based on the voting results. The voting strategy is as follows: Select ε n is the speed error threshold; when the disk speed n from the decoding module A A and the disk speed n from decoding module B B The absolute value of the difference is less than ε n When the angle codes of the two links A and B are both credible, the rotation speed n of the large disk from the decoding modules A and B is A 、n B The absolute value of the difference is greater than ε n When the position information from decoding module A or B is considered to be problematic, n A 、n B And the disk speed n converted from the motor speed L The difference is calculated respectively. The smaller the absolute value of the difference is, the more reliable the speed obtained by the link is. The angle code of the link is determined to be reliable. Correspondingly, the other link is considered to have a problem, and its corresponding error counter is also increased by 1. Finally, the error counter values ​​of the two links A and B are compared, and the angle code obtained by the link with the smaller error counter value is output as the final result.

[0037] The present invention is not limited to the above specific implementations, and the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made to the above implementations based on the technical essence of the present invention shall be included in the protection scope of the present invention.

Claims

1. A highly reliable thermally redundant turntable angle acquisition system, characterized in that: It includes a main control display module, A-channel field bus, B-channel field bus, A decoding module, B decoding module, A synchronous gear train, B synchronous gear train, turntable, reduction box, motor, driver, and motor speed feedback bus; wherein, A-channel field bus, A decoding module, and A synchronous gear train form a turntable angle acquisition link A, and B-channel field bus, B decoding module, and B synchronous gear train form a turntable angle acquisition link B; The A synchronous gear train includes a double-spring anti-backlash gear, a gear combination, and a rotary transformer; the A synchronous gear train is installed on the outside of the turntable, the rotary transformer and the gear combination are connected to the turntable through the double-spring anti-backlash gear, and the angular position of the turntable is converted into an analog sine and cosine signal through the A synchronous gear train and sent to the A decoding module; The B synchronous gear train has the same structure as the A synchronous gear train. The B synchronous gear train is also installed outside the turntable. The B synchronous gear train converts the angular position of the turntable into analog sine and cosine signals and sends them to the B decoding module. The main control display module, the motor speed feedback bus, the driver, the motor, the reduction box and the turntable are connected in sequence.

2. The high-reliability thermally redundant turntable angle acquisition system according to claim 1, characterized in that: The A decoding module includes an A zero point input module, an A axis angle conversion module, an A angle code and speed output module, an A high frequency excitation module, and an A health monitoring module; the analog sine and cosine signals from the A synchronous gear train are converted into digital signals reflecting the relative position of the turntable by the A decoding module; wherein the A zero point input module of the A decoding module receives the zero point information from the main control display module, the A axis angle conversion module converts the analog sine and cosine signals into digital signals reflecting the absolute position of the turntable, and after deducting the zero point information obtained by the zero point input, a digital signal reflecting the relative angle position of the turntable is obtained, and the A link turntable is The angle acquisition result is derived to obtain the speed of the turntable. The A angle code and speed output module sends the A link turntable angle acquisition result and the turntable speed to the main control display module through the A field bus at a fixed period; the A high-frequency excitation module provides excitation to the rotary transformer of the A synchronous gear train; the A health monitoring module is used to monitor the health status of the A decoding module in real time and send the monitored results to the main control display module through the A field bus at a fixed period. The health monitoring content includes monitoring the working voltage of the A decoding module, monitoring the shaft angle conversion circuit fault, and judging the correctness of the zero-point input instruction verification; The B decoding module includes a B zero point input module, a B shaft angle conversion module, a B angle code and speed output module, a B high-frequency excitation module, and a B health monitoring module. It has the same structure as the A decoding module. The analog sine and cosine signals from the B synchronous gear train are converted into digital signals reflecting the relative position of the turntable through the B decoding module. The B decoding module transmits the B link turntable angle acquisition results, turntable speed and real-time health monitoring status of the B decoding module to the main control display module through the B field bus at a fixed period.

3. The high-reliability thermally redundant turntable angle acquisition system according to claim 2, characterized in that: The zero point input modules of the A decoding module and the B decoding module perform zero point alignment on the A link turntable angle acquisition result obtained by the A decoding module and the B link turntable angle acquisition result obtained by the B decoding module.

4. The high-reliability thermally redundant turntable angle acquisition system according to claim 3, characterized in that: The message sent by the A decoding module to the main control display module via the A field bus and the B decoding module via the B field bus contains a check field.

5. The high-reliability thermally redundant turntable angle acquisition system according to claim 1, characterized in that: The turntable is dragged by a motor connected via a reduction gearbox. The motor is controlled by a closed-loop speed drive of a driver. An encoder is installed at the tail of the motor. The driver obtains the real-time speed of the motor based on the encoder and sends the motor speed to the main control display module through a motor speed feedback bus.

6. The high-reliability thermally redundant turntable angle acquisition system according to claim 1, characterized in that: The A-way fieldbus, the B-way fieldbus and the motor speed feedback bus are CAN bus communications, and the A-way fieldbus and the B-way fieldbus are independent of each other.

7. The high-reliability thermally redundant turntable angle acquisition system according to claim 1, characterized in that: The main control display module includes a status output display unit, a hot redundant switching control unit, an A angle data health monitoring unit, a B angle data health monitoring unit, an A-channel data transceiver unit, and a B-channel data transceiver unit; the A-channel data transceiver unit completes reading the A-link turntable angle acquisition result, turntable speed and real-time health monitoring status of the A decoding module sent by the A decoding module from the A-channel field bus, and transmits this information to the A-channel angle data health monitoring unit, and the A-channel data transceiver unit also sends the zero point configuration information to the A decoding module through the A-channel field bus; The B-channel data transceiver unit completes reading the B-link turntable angle acquisition results, turntable speed and real-time health monitoring status of the B decoding module from the B-channel field bus, and passes this information to the B-channel angle data health monitoring unit. The B-channel data transceiver unit also sends the zero point configuration information to the B decoding module through the B-channel field bus.

8. The high-reliability thermally redundant turntable angle acquisition system according to claim 7, characterized in that: The zero point configuration information message sent by the A-channel data transceiver unit and the B-channel data transceiver unit carries a check field.

9. A high-reliability thermally redundant turntable angle acquisition system according to any one of claims 1 to 8, characterized in that: The A-way angle data health monitoring includes real-time monitoring of the health status of the A-link field bus and the A decoding module, and sending the monitoring results to the hot redundant switching control unit. The monitoring strategy is specifically as follows: (1) Real-time monitoring of the number of bus messages received from decoding module A within a certain period of time. When the number of messages deviates from the reasonable value, an alarm message is issued and a bus fault is identified; (2) monitor in real time each bus message received from the A decoding module, and check the check field in the message. If the check result fails, it is determined that the bus is faulty; (3) Real-time monitoring of the health status of the A decoding module feedback. When the working voltage from the A decoding module exceeds or falls below the set value, or the shaft angle conversion circuit fails or the zero point input command verification error occurs, the decoding module is deemed to have failed; The B-road angle data health monitoring strategy is the same as the A-road angle data health monitoring strategy.

10. The high-reliability thermally redundant turntable angle acquisition system according to claim 9, characterized in that: The hot redundant switching control unit compares the health monitoring results from the A-link angle data health monitoring unit and the B-link angle data health monitoring unit. If both links are healthy, the position information and speed information obtained from the two links are sent to the voter for voting, and the final angle output link is selected according to the voting result; if one link of the two links is healthy and the other link is faulty, the healthy link is switched to the angle output link, and the faulty link information is reported to the status output display unit; If both links fail, information about the two failed links is reported to the status output display unit.

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