Electric double-cylinder synchronous erecting control system

Abstract

The invention discloses an electric double-cylinder synchronous erecting control system which comprises a control combination, and the control combination obtains angle data of an erecting system through an angle encoder, obtains telescopic limit data of the erecting system through a retracting limiting proximity switch and an extending limiting proximity switch and processes the telescopic limit data. A control instruction is issued to the control box through the touch screen and the panel button, the control box receives the control instruction and outputs a control signal, and the execution mechanism executes a corresponding action and uploads a system state to the panel indicating lamp and the touch screen for display. In the erecting process, the synchronous control algorithm adjusts the positions of the two electric cylinders to be synchronous in real time, and after the position error of the two electric cylinders exceeds a set value, synchronous adjustment is conducted. The erecting control algorithm is designed to have a shake elimination function, shake in the erecting process is avoided, and erecting can be stably and rapidly completed.

Description

Technical Field

[0001] The invention relates to an electric double-cylinder synchronous erection control system. Background Art

[0002] Modern information equipment has put forward higher and higher requirements on the mobility of ground antennas and the accuracy of antenna erection. Antenna mobility refers to the manpower and time consumed by an antenna vehicle to quickly withdraw from a working state in a certain place, transport it to another area, and then deploy it again to restore it to a working state under specified conditions. The mobility of large-scale array antennas and the accuracy of antenna erection will become important indicators in the design of antenna systems, especially in the current information environment, where rapid deployment of antennas and accurate acquisition of information determine the outcome of the competition. Among them, the time it takes for the antenna erection system to flip up and down largely determines the mobility of the antenna, and the accuracy of antenna erection determines the accuracy of information acquisition.

[0003] At present, there are many information equipments in China with erection function, and most of them adopt PLC controllers. Under the requirements of harsh working environment, such as high humidity, dense salt fog, strong vibration, low temperature and high temperature conditions, especially in high and low temperature, many PLCs do not meet the working conditions; on large load devices, erection cylinders are mostly hydraulic cylinders, which are difficult to maintain in oil leakage. Once a failure occurs, it cannot be restored in a short time; the control accuracy of hydraulic cylinders is relatively poor, the response is relatively slow, and it is easy to jitter during movement, affecting the smoothness of antenna erection; when the control panel is in the cabin, observation is not very convenient, and it is easy to fail to stop the equipment in time when it is stuck or exceeds the limit, thereby affecting the erection accuracy, or even failing to complete the erection.

[0004] For example, CN116207476A discloses a radar antenna synchronization control method and related products. The processor obtains information such as the angle and extension length of the antenna through the detection module, and controls the drive module to adjust the error between the cylinders so that the error is less than a predetermined range to achieve synchronous erection of the antenna. However, it uses a hydraulic cylinder, which is difficult to maintain in case of oil leakage. Once a failure occurs, it cannot be restored in a short time. The control accuracy of the hydraulic cylinder is relatively poor, the response is relatively slow, and it is prone to jitter during movement, which affects the smoothness of the antenna erection. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an electric double-cylinder synchronous erection control system.

[0006] The present invention is achieved through the following technical solutions.

[0007] The present invention provides an electric double-cylinder synchronous erection control system, comprising a control combination, wherein the control combination obtains angle data of the erection system through an angle encoder, obtains and processes telescopic limit data of the erection system through a retraction limit proximity switch and an extension limit proximity switch, sends control instructions to a control box through a touch screen and a panel button, the control box receives the control instructions and outputs a control signal, the actuator executes a corresponding action, and uploads the system status to the panel indicator light and the touch screen display.

[0008] The control assembly communicates with the touch screen and the servo motor respectively via the CAN bus, and the communication protocol is the CANOpen protocol.

[0009] The servo motor is equipped with a high-precision multi-turn absolute encoder.

[0010] The control combination includes a PCC controller and a CAN master station module, and the CAN master station module centrally manages the sending and receiving of multiple CAN communication messages.

[0011] The angular encoder is a high-precision multi-turn absolute encoder, which is installed on the servo motor.

[0012] The control combination collects the position information, motor current information, state information of a multi-turn absolute encoder and data of an angle encoder, uses the position information of the servo motor as input information of a synchronous control algorithm of the control software, and participates in the erection system control process.

[0013] The control box assembly is also connected to an indicator light, and different states of the erection system are indicated by different color displays and different frequency changes of the indicator light.

[0014] The touch screen also records, displays and saves operation process data and system status data in real time.

[0015] The control assembly is provided with a synchronous erection control algorithm to ensure that the dual cylinders are not out of sync during the erection process.

[0016] The beneficial effects of the present invention are as follows: 1. The erection control system adopts an electric cylinder as the actuator of the erection, which has a fast response speed and is easy to maintain, and can effectively solve the problems of difficulty in oil leakage, slow response speed and difficult maintenance of hydraulic cylinders. 2. The electrical control system adopts a PCC controller, which has the ability to work in harsh environments, and can effectively solve the problem that many PLCs do not meet the working conditions under high humidity, concentrated salt fog, strong vibration, low temperature and high temperature conditions. Its CAN module adopts a CAN master station module to centrally manage the sending and receiving of multiple CAN communication messages, so that the performance of the CPU can be maximized and the real-time communication rate can be improved, and the real-time performance of the motor control can be improved. 3. The erection control system is designed with a synchronous control algorithm, and the position information of the synchronous control algorithm is derived from a high-precision absolute encoder. Its position information has high reliability, ensures the synchronous action of the dual cylinders, and has an anti-shake function. During the antenna erection process, the erection can be completed quickly and stably to avoid large-scale shaking. 4. During the antenna erection process, the system status information is displayed on the touch screen in real time, which can realize friendly human-computer interaction, and quickly identify the faulty component and solve the fault when the equipment fails. The invention has the advantages of simple structure, flexible control, stable operation, high reliability, easy maintenance and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the control system principle of the present invention.

[0018] Figure 2 Schematic diagram of the electric cylinder for erection.

[0019] Figure 3 Schematic diagram of the relationship between acceleration and velocity during the erection process.

[0020] In the figure: 1-extend limit proximity switch, 2-retract limit proximity switch, 3-integrated servo motor. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0022] The electric dual-cylinder synchronous erection control system provided by the present invention can achieve the ability to erect a large load in a small space, and is designed with a touch screen display control function, which can realize both control and display functions by using the touch screen. Its control core adopts programmable computer controller PCC control technology and modular structure design. The designed control algorithm has a dual-cylinder synchronization function and an anti-shake function to avoid the antenna from shaking during the erection process, so that the antenna can be erected smoothly and quickly. When the control system fails, the control algorithm has multiple levels of protection to ensure that the antenna can be erected and overturned stably and safely. The touch screen stores the system status information in real time during the process, and quickly identifies the faulty component to solve the fault. The PCC module as the control core can be quickly replaced and repaired, and can work normally in harsh environments.

[0023] The present invention provides an electric double-cylinder synchronous erection control system, comprising a control box. The control system adopts a modular design. The control box obtains and processes the angle data of an angular encoder, the information of two integrated servo motors, and the information of an extension and retraction limit proximity switch in real time. The touch screen or panel button sends a control command to the control box, the control box receives the control command and outputs a control signal, the actuator executes a corresponding action, and uploads the system status to the panel indicator light and the touch screen display.

[0024] The integrated servo motor collects information of the extension and retraction limit proximity switches, and the driver directly processes the limit signal to make the motor respond faster. The extension and retraction limit proximity switches are used for electrical limit protection of the electric cylinder.

[0025] The communication mode between the integrated servo motor and the control box is CAN bus, and the communication protocol adopts CANOpen protocol. The CAN module in the control box is a CAN master module, which centrally manages the sending and receiving of multiple CAN communication messages, so that the performance of the CPU can be maximized and the real-time communication rate can be improved.

[0026] The integrated servo motor is equipped with a high-precision multi-turn absolute encoder, and the feedback position information is not affected by power failure and interference, thereby ensuring the reliability of the position information.

[0027] The erection control system adopts a high-precision angle encoder as a detection component. The communication mode between the angle encoder and the control box is CAN bus. The control box calculates the current angle value of the erection device in real time and performs filtering processing.

[0028] The position information, motor current information, state information of the two multi-turn absolute encoders and the data of the angle encoder are fed back to the control box. The position information of the two motors is used as input information of the synchronous control algorithm of the control software and participates in the control process of the erection system.

[0029] The control box panel is provided with an indicator light. During the operation of the erection system, different displays and frequency changes of the indicator light indicate different states of the erection system.

[0030] The control box communicates with the touch screen and uploads the erection process to the touch screen for real-time dynamic display. The touch screen interface dynamically displays the posture information of the erection process.

[0031] The control box communicates with the touch screen, and the touch screen has functions such as setting the erection speed and the erection angle. The touch screen records, displays and saves the operation process data and the system status data in real time, and quickly identifies the faulty component and solves the fault when the equipment fails.

[0032] The control software in the control box is designed with a synchronous erection control algorithm to ensure that the two cylinders are not out of sync during the erection process. The erection process includes an antenna jitter elimination function to avoid antenna jitter during the erection process.

[0033] like Figure 2 As shown, an erection electric cylinder is installed on the antenna base, an integrated servo motor 3 is installed on the erection electric cylinder, and a high-precision angle encoder is installed on the ear shaft of the base. The control box receives the antenna angle information, the erection electric cylinder status information, the extension limit proximity switch 2 and the retraction limit proximity switch 1 status information in real time. The control software of the control box receives the feedback information, and after processing by algorithms, filtering, etc., it judges the current state of the antenna, and determines the action of the erection electric cylinder according to the erection electric cylinder status fed back by the integrated servo motor 3. The function of the limit proximity switch is the electrical limit protection of the leg stroke. When the extension limit proximity switch 2 signal is received, the erection electric cylinder can only be retracted and can no longer be extended; when the retraction limit proximity switch 1 signal is received, the erection electric cylinder can only be extended and can no longer be retracted. The status information during the erection process is uploaded to the panel indicator light and the touch screen display in real time.

[0034] The specific erection process is that when the control box receives the command for automatic erection, it outputs the control command according to Figure 3The curve shown in the figure makes the electric cylinder for erection extend. The state of the antenna is comprehensively judged according to the position information of the electric cylinder for erection fed back by the integrated servo motor and the angle value fed back by the angle encoder, until the angle value of the angle encoder meets the set value and the position information fed back by the integrated servo motor meets the set value at the same time, so as to ensure that the antenna can be erected to the set position and the accuracy of the erection angle, and confirm that the antenna is erected in place. During the erection process, the synchronous control algorithm adjusts the position synchronization of the two electric cylinders in real time, and makes synchronous adjustments after the position error of the two electric cylinders exceeds the set value. The control command can be implemented through the panel buttons on the control box, or it can be controlled through the touch screen, and the state information of the entire erection process and the action process of the electric cylinder for erection are uploaded to the touch screen for display and storage in real time.

Claims

1. An electric double-cylinder synchronous erection control system, characterized in that: The control assembly comprises a control assembly, which obtains angle data of the erection system through an angle encoder, obtains and processes telescopic limit data of the erection system through a retracting limit proximity switch and an extending limit proximity switch, sends control instructions to a control box through a touch screen and a panel button, the control box receives the control instructions and outputs a control signal, the actuator performs corresponding actions, and uploads the system status to the panel indicator light and the touch screen display.

2. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The control assembly communicates with the touch screen and the servo motor respectively via the CAN bus, and the communication protocol is the CANOpen protocol.

3. The electric twin-cylinder synchronous erection control system according to claim 2, characterized in that: The servo motor is equipped with a high-precision multi-turn absolute encoder.

4. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The control combination includes a PCC controller and a CAN master station module, and the CAN master station module centrally manages the sending and receiving of multiple CAN communication messages.

5. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The angular encoder is a high-precision multi-turn absolute encoder, which is installed on the servo motor.

6. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The control combination collects the position information, motor current information, state information of a multi-turn absolute encoder and data of an angle encoder, uses the position information of the servo motor as input information of a synchronous control algorithm of the control software, and participates in the erection system control process.

7. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The control box assembly is also connected to an indicator light, and different states of the erection system are indicated by different color displays and different frequency changes of the indicator light.

8. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The touch screen also records, displays and saves operation process data and system status data in real time.

9. The electric twin-cylinder synchronous erection control system according to claim 1, characterized in that: The control assembly is provided with a synchronous erection control algorithm to ensure that the dual cylinders are not out of sync during the erection process.

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