A locking mechanism control method based on a single photosensor

Abstract

The application provides a single photoelectric sensor-based locking mechanism control method, relates to the technical field of inertia testing, and contains two working procedures of loosening and locking, and two working states of power-on and calibration. The preprocessing is that the photoelectric sensor is installed at the middle position of the locking stroke, and the state representation of the photoelectric sensor is set; when the locking device is on both sides of the photoelectric sensor, the photoelectric sensor is in a high level and a low level state to represent a loosening signal and a locking signal; the corresponding representation signal of the level state is modified through configuration; and the photoelectric sensor comprises a transmitting end and a receiving end. Two photoelectric sensors at the loosening and locking ends are replaced by one photoelectric sensor, the production efficiency is improved, and an effective method is provided for batch production of the indexing locking mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial test, in particular to a locking mechanism control method based on a single photoelectric sensor. BACKGROUND

[0002] The double-axis rotation locking mechanism is an online self-calibration device of a missile-borne inertial unit, combined with an inertial unit to form a three-self inertial unit, having two rotating shafts and two locking devices. The rotating shafts can rotate in the heading direction and the roll direction to perform online self-calibration of the inertial unit. The locking devices can be locked and unlocked, and when unlocked, the rotating shafts are allowed to rotate for calibration, and when locked, the attitude of the inertial unit is fixed. The reliability of the locking device directly affects the working performance of the inertial unit. Unreliable locking may cause the inertial unit to loosen in the missile, affecting the navigation accuracy, and in severe cases, affecting the normal launch of the missile. Unreliable unlocking may cause mechanical interference during the rotation calibration of the inertial unit, and in severe cases, may cause mechanical jamming. Therefore, reliable locking and unlocking are key links.

[0003] Whether the locking device can be reliably locked / unlocked, the control method is crucial. At present, photoelectric sensors are installed at the locking end and the unlocking end of each locking device to indicate the state, but due to the small locking stroke and the small area of the locking end and the unlocking end, the machining tolerance and assembly error of the parts easily cause the photoelectric sensor to fail to trigger normally, and the inertial unit cannot obtain the current locking state, especially when the system is powered on, which will affect the launch process of the missile, resulting in launch failure. SUMMARY

[0004] In view of the above technical problems, the present application provides a locking mechanism control method based on a single photoelectric sensor, which includes a pretreatment, an unlocking / locking working process, and a power-on / calibration working state.

[0005] The pretreatment is to install a photoelectric sensor in the middle position of the locking stroke, set the state of the photoelectric sensor, and the state indicates that when the locking device is on both sides of the photoelectric sensor, the photoelectric sensor is in a high level and a low level state to represent an unlocking signal and a locking signal. The corresponding representation signal is modified by configuration. The photoelectric sensor includes a transmitting end and a receiving end photoelectric sensor, which detects the moving position of the locking device through the transmitting end and the receiving end, and judges the locking state.

[0006] Further, the unlocking working process is: U1: the locking device moves to unlock; U2: the receiving end of the photoelectric sensor receives the unlocking signal; U3: the locking motor completes a short time of unlocking and stalls; U4: enables the heading motor and the roll motor to move until it stops at a pre-defined zero position.

[0007] The locking working process is: L1: locking device movement locking; L2: receiving end of the photoelectric sensor receives the locking signal; L3: locking motor completes short-time locking block; L4: closing the heading motor and the roll motor, and the heading motor and the roll motor stop working.

[0008] Further, the power-on working state comprises four steps:

[0009] Step S1, when powered on, first read the photoelectric sensor state of the two locking devices, if both locking devices are locking signal entering locking state S2, otherwise enter loosening state S3.

[0010] Step S2, the two locking devices execute the locking process in turn, and enter the locking standby state S4 after the process is completed.

[0011] Step S3, the two locking devices execute the loosening process in turn, and execute the locking process after the heading motor and the roll motor are stably positioned, and then enter the locking standby state S4.

[0012] Step S4, at this time, only the loosening instruction can be executed to enter the calibration working state B1, and other motion instructions are not responded.

[0013] The steps for judging the position of the heading motor and the roll motor include,

[0014] Step S301, obtaining a predefined zero position, obtaining the movement time difference of the heading motor and the roll motor moving to the zero position in the initialization period, and initializing the state parameters.

[0015] Step S302, adjusting the initialization state of the heading motor and the roll motor, and detecting the movement time difference of the heading motor and the roll motor from the zero position when in the working state.

[0016] Step S303, detecting the moving position of the heading motor and the roll motor, and determining the stable state information of the heading motor and the roll motor, when the stable state information of the heading motor and the roll motor does not change in the detection period, confirming that the heading motor and the roll motor are stably positioned.

[0017] Further, the calibration working state comprises two steps:

[0018] B1: the two locking devices execute the loosening process in turn, and remain in this state after the heading motor and the roll motor are stably positioned; at this time, the heading motor and the roll motor can normally receive the instruction to rotate for inertial measurement unit calibration, and after the end, wait for receiving the locking instruction to enter B2.

[0019] B2: the two locking devices execute the locking process in turn, and enter step S4 after the locking is completed.

[0020] The beneficial effects of this invention compared with the prior art are as follows: This invention replaces the two photoelectric sensors at the loosening and locking ends with a single photoelectric sensor, and sets up corresponding control processes and methods. While reducing the requirements for photoelectric installation and part machining accuracy, it improves the locking / loosening reliability of the locking device, increases production efficiency, and provides an effective method for the mass production of indexable locking mechanisms. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the release process of the present invention.

[0022] Figure 2 This is a schematic diagram of the locking process of the present invention.

[0023] Figure 3 This is a flowchart illustrating the power-on operating state of the present invention.

[0024] Figure 4 This is a schematic diagram of the process for calibrating the working status of the present invention.

[0025] Figure 5 This is a schematic diagram of the installation of the photoelectric sensor of the present invention. Detailed Implementation

[0026] Example: A locking mechanism control method based on a single photoelectric sensor includes two workflows: preprocessing and loosening / locking, and two working states: power-on / calibration.

[0027] Preprocessing is as follows: Figure 5 As shown, the photoelectric sensor is installed at the middle position of the locking stroke. The representation state of the photoelectric sensor is set. The representation state indicates that when the locking device is on both sides of the photoelectric sensor, the photoelectric sensor is in a high-level and low-level state, representing the release signal and the locking signal, respectively. The representation signal corresponding to the level state can be modified by configuration. The photoelectric sensor includes a transmitter and a receiver.

[0028] like Figure 1 As shown, the release process is as follows: U1: The locking device moves to release; U2: The receiving end of the photoelectric sensor receives the release signal; U3: The locking motor completes a short-term release stall; U4: Enable the yaw motor and roll motor to move until they reach the predefined zero position and stop.

[0029] like Figure 2 As shown, the locking process is as follows: L1: The locking device moves to lock; L2: The receiving end of the photoelectric sensor receives the locking signal; L3: The locking motor completes a short-term locking stall; L4: The yaw motor and roll motor are turned off and stop working.

[0030] like Figure 3 As shown, the power-on operating state includes four steps:

[0031] Step S1, first read the photoelectric sensor state of the two locking devices when power on, if both locking devices are locked signal into the locking state S2, otherwise into the release state S3.

[0032] Step S2, two locking devices in turn execute the locking process, after the process is completed, enter the locking standby state S4.

[0033] Step S3, two locking devices in turn execute the release process, after the heading, roll motor is stable in place, execute the locking process, then enter the locking standby state S4.

[0034] Step S4, at this time only the release instruction can be executed to enter the calibration working state B1, other motion instructions are not responded.

[0035] The steps for judging the position of the heading motor and the roll motor include,

[0036] Step S301, get the predefined zero position, get the movement time difference of the heading motor and the roll motor moving to the zero position in the initialization period, initialize the state parameters;

[0037] Step S302, adjust the initialization state of the heading motor and the roll motor, detect the movement time difference of the heading motor and the roll motor from the zero position when they are in working state;

[0038] Step S303, detect the moving position of the heading motor and the roll motor, determine the stable state information of the heading motor and the roll motor, when the stable state information of the heading motor and the roll motor does not change in the detection period, confirm that the heading motor and the roll motor are stable in place.

[0039] In the above steps, if the stable state information of the heading motor and the roll motor does not change in a specific detection period, it can be confirmed that they have been stable in place. This step requires the system to have high accuracy and stability, to timely discover and handle any abnormal situation that may affect the motor position judgment, and to ensure the stable operation and accurate position control of the motor.

[0040] As shown in the figure, the calibration working state contains 2 steps: Figure 4

[0041] B1: two locking devices in turn execute the release process, after the heading, roll motor is stable in place, maintain this state; At this time, the heading, roll motor can normally receive the instruction to rotate for inertial measurement unit calibration, after the end, wait to receive the locking instruction to enter B2;

[0042] B2: two locking devices in turn execute the locking process, after the locking is completed, enter step S4.

[0043] ​The working principle of the embodiment is that the indexing locking mechanism is first pretreated, the locking photoelectric and loosening photoelectric are replaced by one photoelectric switch installed in the middle of the locking stroke, and then the equipment is powered on to enter the power-on working state. In the power-on working state, the indexing locking mechanism returns the locking device according to the photoelectric sensor information, so that the indexing locking mechanism enters the locking standby state, and waits for the user instruction. Then, after receiving the loosening instruction, the indexing locking mechanism enters the calibration working state, at this time, the heading and roll direction rotation instructions can be accepted to calibrate the inertial measurement unit. After the calibration process is completed, the locking instruction is received, the locking device is controlled to lock and return, and the indexing locking work is completed.

[0044] The above is only an example and description of the present application, and those skilled in the art can make various modifications or supplements to the described specific embodiments or use similar ways to replace, as long as it does not deviate from the invention or exceed the scope defined by the present claims, which shall belong to the protection scope of the present application.

Claims

1. A single photosensor-based lock mechanism control method, characterized by: The two workflows include pretreatment, loosening and locking, and the two working states include power-on and calibration; The pretreatment is that an optical sensor is installed at a middle position of the locking stroke, and a state of the optical sensor is set, which indicates that the optical sensor is in a high level and a low level state to represent a loosening signal and a locking signal when the locking device is on both sides of the optical sensor; The corresponding state signal is modified by configuration; the optical sensor includes a transmitting end and a receiving end, and the optical sensor detects the moving position of the locking device through the transmitting end and the receiving end to determine the locking state; The loosening workflow is that U1: the locking device moves to loosen; U2: the receiving end of the optical sensor receives a loosening signal; U3: the locking motor completes short-time loosening stall; U4: the heading motor and the roll motor are enabled to move until they stop at a predefined zero position; The locking workflow is that L1: the locking device moves to lock; L2: the receiving end of the optical sensor receives a locking signal; L3: the locking motor completes short-time locking stall; L4: the heading motor and the roll motor are disabled, and the heading motor and the roll motor stop working; The power-on working state includes four steps: Step S1: when powered on, the states of the optical sensors of the two locking devices are first read, and if both of the two locking devices are locking signals, the locking state S2 is entered, otherwise, the loosening state S3 is entered; Step S2: the two locking devices execute the locking process in sequence, and after the process is completed, the locking standby state S4 is entered; Step S3: the two locking devices execute the loosening process in sequence, and after the heading motor and the roll motor are stably positioned, the locking process is executed, and then the locking standby state S4 is entered; Step S4: at this time, only the loosening instruction can be executed to enter the calibration working state B1, and other movement instructions are not responded; The calibration working state includes two steps: B1: the two locking devices execute the loosening process in sequence, and after the heading motor and the roll motor are stably positioned, the state is maintained; at this time, the heading motor and the roll motor can normally receive instructions to rotate for inertial measurement unit calibration, and after the end, the locking instruction is received to enter B2; B2: the two locking devices execute the locking process in sequence, and after the locking is completed, the step S4 is entered.

2. The single photosensor-based locking mechanism control method of claim 1, wherein: The steps for judging the positions of the heading motor and the roll motor include, Step S301: a predefined zero position is obtained, and the movement time difference of the heading motor and the roll motor moving to the zero position is obtained in an initialization period to initialize state parameters; Step S302: the initialization states of the heading motor and the roll motor are adjusted, and the movement time difference of the heading motor and the roll motor from the zero position when in the working state is detected; Step S303: the moving positions of the heading motor and the roll motor are detected to determine the stable state information of the heading motor and the roll motor, and when the stable state information of the heading motor and the roll motor does not change in a detection period, it is confirmed that the heading motor and the roll motor are stably positioned.

Images