Circuit, system and method for airborne photoelectric pod camera motor limiting system

Abstract

The invention relates to the technical field of airborne photoelectric pod camera motor limiting protection, in particular to a circuit, a system and a method for an airborne photoelectric pod camera motor limiting system. The circuit for the airborne photoelectric pod camera motor limiting system comprises a main controller; the normal-phase AND gate unit is connected with the normal-phase PWM output end of the main controller and the output end of the normal-phase Hall unit; the inverted AND gate unit is connected with the inverted PWM output end of the main controller and the output end of the inverted Hall unit; the decoding unit is connected with the output end of the normal phase AND gate unit and the output end of the reverse phase AND gate unit; and the direct current motor driving unit is connected with two output ends of the decoding unit. According to the technical scheme, electric limiting protection can be carried out on the motor in the downtime state of the main controller, so that the motion part of the motor is braked at the electric limiting position, and collision damage caused by the motor is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of airborne optoelectronic pod camera motor limit protection, and in particular to a circuit, system and method for an airborne optoelectronic pod camera motor limit system. Background Art

[0002] In motor control equipment, the protection of limit position is a vital component. Traditional limit protection measures mainly include three types: mechanical limit, electric limit and software limit. Among them, 1. Mechanical limit: through hardware structure collision and other measures, the moving parts are blocked to stop the motor; 2. Electric limit: through Hall elements, travel switches, photoelectric switches and other devices to feedback the limit information of the moving position, through the control of the single-chip microcomputer, the motor is stopped; 3. Software limit: through the single-chip microcomputer to read the position information such as the potentiometer value or the encoder value, according to the previous calibration information feedback position limit information, after completing the information comparison, the motor is controlled to stop rotating. In the existing technical solutions, these three measures are generally combined with each other. However, once the microcontroller fails, both the electrical limit control and the software limit control will fail, and the motor can only be stopped by the collision of the mechanical limit, which will cause irreversible damage to the entire system. For this reason, improvements are made in the prior art by superimposing an independent microcontroller or FPGA programmable logic chip, but such circuits usually have low stability, complex logic structure and high cost, so such solutions are not suitable for high-performance cameras on airborne optoelectronic pods.

[0003] It should be noted that high-performance cameras belong to the category of precision instruments. Once the equipment fails in the case of a single-chip computer, the moving parts collide at the mechanical limit, which mainly brings the following three hidden dangers: 1. Collision loss of expensive equipment. Components such as infrared detection movements and lenses are expensive and fragile, so excessive collisions will be transmitted to the movement and lenses, seriously affecting their service life; 2. Affecting the optical axis consistency of the optical payload equipment of the airborne optoelectronic pod. The airborne optoelectronic pod contains different load detectors such as medium-wave infrared, short-wave infrared, near-infrared, visible light and laser. Before the whole machine joint test, the equipment needs to be calibrated for a more complex optical axis consistency. Excessive limit mechanical collisions of different loads will cause the consistency of the visual axis center of each load to deviate from the original position, causing the equipment to lose optical axis consistency and need to be recalibrated; 3. After stopping at the mechanical structure position, the motor's torque exists consistently, that is, it is blocked in the mechanical structure for a long time, which is easy to burn the motor.

[0004] Based on this, technical personnel in this field urgently need a new, simpler, more stable, and lower power consumption motor limit protection measure to be suitable for airborne optoelectronic pod cameras. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defects existing in the above-mentioned prior art, thereby providing a circuit, system and method for an airborne optoelectronic pod camera motor limit system.

[0006] The circuit for the motor limit system of the airborne optoelectronic pod camera includes: Main controller; A positive phase AND gate unit connected to the positive phase PWM output terminal of the main controller and the positive phase Hall unit output terminal; An inverting AND gate unit connected to an inverting PWM output terminal of a main controller and an inverting Hall unit output terminal; A decoding unit connected to the output end of the positive phase AND gate unit and the output end of the negative phase AND gate unit; And a DC motor driving unit connected to the two output terminals of the decoding unit.

[0007] Preferably, it further comprises: a positive phase comparison unit, a positive phase voltage dividing unit, a negative phase comparison unit and a negative phase voltage dividing unit; The positive phase Hall unit, the positive phase comparison unit, the positive phase voltage dividing unit and the positive phase AND gate unit are sequentially connected with each other; The inverting Hall unit, the inverting comparison unit, the inverting voltage dividing unit and the inverting AND gate unit are connected in sequence.

[0008] Preferably, the positive phase voltage dividing unit and the negative phase voltage dividing unit have the same circuit structure; The positive phase voltage dividing unit is composed of a first resistor and a second resistor; The 5V voltage output terminal of the positive phase comparison unit is connected in series with the first resistor and the second resistor to ground; The positive phase AND gate unit connected to the 3.3V voltage is connected in parallel with the main controller and then connected in series with the second resistor to ground.

[0009] A limit system for an airborne optoelectronic pod camera motor, including a circuit for the limit system for an airborne optoelectronic pod camera motor, and further comprising: Power supply unit, industrial computer, serial port unit, lens potentiometer, motor and medium wave infrared lens; The power supply unit is respectively connected to the serial port unit, the positive phase AND gate unit, the negative phase AND gate unit, the decoding unit, the DC motor drive unit, the positive phase comparison unit, the negative phase comparison unit, the lens potentiometer, the positive phase Hall unit and the negative phase Hall unit; The industrial computer is connected to the main controller via the serial port unit; The output end of the lens potentiometer is connected to the main controller; The positive phase motor output control terminal and the reverse phase motor output control terminal of the DC motor drive unit are both connected to the motor; The positive phase motor control terminal and the reverse phase motor control terminal of the motor are connected to the medium wave infrared lens.

[0010] Preferably, the industrial computer is connected to the main controller via a serial port unit, specifically: The industrial computer is connected to the serial port unit via a first full-duplex connection; The serial port unit is connected to the main controller via a second full-duplex connection.

[0011] The limiting method for an airborne optoelectronic pod camera motor is implemented based on a limiting system for an airborne optoelectronic pod camera motor, and includes: Applied to the braking limit process when the main controller is down: When the main controller is down: the main controller outputs both positive-phase PWM signal and negative-phase PWM signal: Obtain limit signals from the positive phase Hall unit and the negative phase Hall unit in real time, and obtain PWM signals from the main controller; When the positive phase limit signal is at a high level and the negative phase limit signal is at a low level, the positive phase AND gate unit and the negative phase AND gate unit jointly control the motor to reverse and escape from the positive phase limit until the positive phase limit signal is at a high level and the negative phase limit signal is at a high level; the positive phase AND gate unit outputs a high level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level, and the motor is controlled to be in a braking state; When the negative phase limit signal is at a high level and the positive phase limit signal is at a low level, the motor is controlled to reverse and escape from the negative phase limit; until the negative phase limit signal is at a high level and the positive phase limit signal is at a high level; the negative phase AND gate unit outputs a high level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level, and the control motor is in a braking state.

[0012] Preferably, the process is also included when the main controller is in the limit protection state: When the main controller is in the limit protection state: the medium-wave infrared lens is in the limit position, and the motor is in the protection state; the medium-wave infrared lens is in the limit position specifically manifested as: at the same time, only one of the reverse-phase PWM signal and the reverse-phase limit signal is high level, and only one of the positive-phase PWM signal and the positive-phase limit signal is high level; Obtain limit signals from the positive phase Hall unit and the negative phase Hall unit in real time, and obtain PWM signals from the main controller; The main controller outputs a PWM signal to the corresponding AND gate unit in the corresponding phase. The corresponding AND gate unit outputs a low level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level to control the motor to be in a braking state.

[0013] Preferably, the process is also included when the motor and the main controller are both in normal state: When the motor and the main controller are both in normal state, there are two situations: one is that the positive phase AND gate unit and the negative phase AND gate unit output only one high level, and the other is that the positive phase AND gate unit and the negative phase AND gate unit output both low levels; When only the positive phase AND gate unit outputs a high level, the positive phase output terminal of the decoding unit outputs a high level, the negative phase output terminal outputs a low level, the positive phase output terminal of the DC motor driving unit outputs a high level, and the negative phase output terminal outputs a low level, and the motor is controlled to rotate forward; When only the inverting AND gate unit outputs a high level, the inverting output terminal of the decoding unit outputs a high level, the positive output terminal outputs a low level, the inverting output terminal of the DC motor driving unit outputs a high level, and the positive output terminal outputs a low level, and the motor is controlled to reverse; When the outputs of the positive-phase AND gate unit and the negative-phase AND gate unit are both low level, the decoding unit outputs a high level, and the DC motor driving unit outputs a low level, and the control motor is in a braking state.

[0014] The technical solution of the present invention has the following advantages: The technical solution of the present invention can protect the motor from electrical limit when the main controller is down, so that the moving part of the motor is braked at the electrical limit to prevent it from causing collision damage. In the present invention, by using components such as comparator chips, AND gate chips, decoder chips and DC motor driver chips, a combination logic circuit module is formed, so that the braking ability at the limit is independent of the main controller, so that the DC motor can be actively braked at the limit position. Even in the non-limiting position, when the main controller has problems during the operation of the motor, the motor can be finally converted to a braking state by using the combination logic circuit control, so that a stable control closed loop can be achieved to prevent the structural parts from causing collision damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 The circuit schematic diagram of the motor limit system for the airborne optoelectronic pod camera of the present invention; Figure 2 It is the principle block diagram of the positive phase voltage divider unit; Figure 3 The schematic diagram of the position limiting system for the motor of the airborne optoelectronic pod camera of the present invention; Figure 4 This is a flow chart of the method of embodiment 4 of the present invention. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0018] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] Example 1 like Figure 1 This embodiment discloses a circuit for an airborne optoelectronic pod camera motor limit system, including: Main controller; A positive phase AND gate unit connected to the positive phase PWM output terminal of the main controller and the positive phase Hall unit output terminal; An inverting AND gate unit connected to an inverting PWM output terminal of a main controller and an inverting Hall unit output terminal; A decoding unit connected to the output end of the positive phase AND gate unit and the output end of the negative phase AND gate unit; And a DC motor driving unit connected to the two output terminals of the decoding unit.

[0022] It also includes: a positive phase comparison unit, a positive phase voltage division unit, a negative phase comparison unit and a negative phase voltage division unit; The positive phase Hall unit, the positive phase comparison unit, the positive phase voltage dividing unit and the positive phase AND gate unit are sequentially connected with each other; The inverting Hall unit, the inverting comparison unit, the inverting voltage dividing unit and the inverting AND gate unit are connected in sequence.

[0023] Among them, the positive phase voltage dividing unit and the negative phase voltage dividing unit have the same circuit structure; like Figure 2 The positive phase voltage dividing unit is composed of a first resistor and a second resistor; The 5V voltage output terminal of the positive phase comparison unit is connected in series with the first resistor and the second resistor to ground; The positive phase AND gate unit connected to the 3.3V voltage is connected in parallel with the main controller and then connected in series with the second resistor to ground.

[0024] The inverting voltage dividing unit is composed of a third resistor and a fourth resistor; The 5V voltage output terminal of the inverting comparison unit is connected in series with the third resistor and the fourth resistor to ground; The inverting AND gate unit connected to the 3.3V voltage is connected in parallel with the main controller and then connected in series with the fourth resistor to ground.

[0025] In this embodiment, the resistance values ​​of the first resistor and the third resistor are both 5.2KΩ; the resistance values ​​of the second resistor and the fourth resistor are both 10KΩ.

[0026] Example 2 On the basis of Example 1, this embodiment further discloses a limit system for an airborne optoelectronic pod camera motor, including a circuit for the limit system for an airborne optoelectronic pod camera motor, and further including: Power supply unit, industrial computer, serial port unit, lens potentiometer, motor and medium wave infrared lens; The power supply unit is respectively connected to the serial port unit, the positive phase AND gate unit, the negative phase AND gate unit, the decoding unit, the DC motor drive unit, the positive phase comparison unit, the negative phase comparison unit, the lens potentiometer, the positive phase Hall unit and the negative phase Hall unit; The industrial computer is connected to the main controller via the serial port unit; specifically: the industrial computer is connected to the serial port unit via a first full-duplex connection; the serial port unit is connected to the main controller via a second full-duplex connection. In this embodiment, the first full-duplex connection and the second full-duplex connection adopt the model of RS422.

[0027] The output end of the lens potentiometer is connected to the main controller; The positive phase motor output control terminal and the reverse phase motor output control terminal of the DC motor drive unit are both connected to the motor; The positive phase motor control terminal and the reverse phase motor control terminal of the motor are connected to the medium wave infrared lens.

[0028] The specific parameters and models of the components of this system are as follows: Figure 3 The overall block diagram of this system is connected with the circuit board in combination with the specific component parameters and models: 1) Power supply unit: uses DC regulated power supply: 220V to 32V 6A, providing 12V voltage input for the entire system; also includes power management module: mainly includes DC-DC part and LDO part. The DC-DC part uses RM9131E chip to convert 12V power input to 5V power output, and then the LDO part uses RY1117 to convert 5V power input to 3.3V power output; 2) Industrial computer: provides motor drive command input and status feedback display; 3) Main controller: using ARM control chip CS32F405RGT6: 1. Receive and analyze industrial computer instructions, 2. Provide motor drive unit control logic, 3. Read limit signals, 4. Read the lens potentiometer count value that shows the motor motion status; 5. Report system status; 4) Positive phase Hall unit and negative phase Hall unit: Both use Hall components: YS1138 unipolar Hall effect sensor, with an operating voltage of 3.8V~40V, a sampling period of 50ms, an operating point standard Gaussian value of 250Gauss, a release point standard Gaussian value of 200Gauss, a hysteresis of 50Gauss, and an operating temperature of 40℃~150℃. It is a motion module detection unit, fixedly installed at the two limit positions of the medium-wave infrared lens to determine whether the movement of the medium-wave infrared lens has reached the limit position.

[0029] 5) Positive comparison unit and negative comparison unit: using comparator chip AIP74HC85: when two Hall units detect limit, the sampling period of Hall element is as long as 50ms, so the comparator is used to shorten the time to 0.5ms, improving the timeliness of subsequent system judgment; 6) Positive phase voltage divider unit and negative phase voltage divider unit: Because the output level of the positive phase comparison unit and the negative phase comparison unit is 5V, the principle of resistor series voltage division is used here to convert the level to 3.29V. The module is implemented as follows Figure 2 As shown; 7) Positive-phase AND gate unit and negative-phase AND gate unit: Both use the AND gate chip AIP74LVC08: In the AND gate logic chip, the limit detection result is connected with the PWM output of the main controller in an AND logic relationship. When the medium-wave infrared lens reaches the limit position, the limit information fed back by the corresponding Hall element is low level, and the corresponding comparator output is also low level. At this time, no matter what level the PWM output of the main controller is, the corresponding AND gate unit output is low level, and no output is provided for the subsequent drive. Even if the main controller is in a downtime state, the motor is still in a protection state at the limit; 8) Motor: DC motor WKX-CCTS-004, brushed hollow cup planetary reduction motor, rated voltage DC: 12.0 V, rated current: 69mA; 9) DC motor drive unit: It uses a DC motor drive chip RYH8870, including two H-bridge drive circuits, which are used to realize the positive and negative phase drive of the DC motor in this embodiment. The logic end input level is 0~5V, the drive end level is 6~45V, and the maximum drive current is 3.6A, which meets the drive capability of the DC motor of this system.

[0030] 10) Decoding unit: uses decoder chip AIP74LVC139: This chip is introduced to match the DC motor driver chip RYH8870; Example 3 In order to fully introduce the method of this embodiment, the following contents are disclosed before introducing the method of this embodiment; Table 1 DC motor drive unit control logic table

[0031] According to Table 1, three motor movement modes are designed: forward, reverse and braking. At the same time, try to avoid the sliding state, that is, the input does not appear IN1=0 and IN2=0.

[0032] Table 2 Decoding unit control logic table

[0033] Table 3 Motor drive logic table

[0034] In Table 3, it can be broken down into 5 situations; a) Serial numbers 1, 3, 9 and 11 are that the medium-wave infrared lens is at both ends of the limit position at the same time. This state does not exist; b) Serial numbers 7 and 10 indicate that the medium-wave infrared lens is in the limit position and the motor is in the protection state. Even if there is a PWM output in the corresponding direction, the motor is still in the braking state; c) Serial numbers 12, 15 and 16 are in abnormal status of the main controller: d) The remaining serial number states are the normal states of the motor operation, supporting the motor's positive phase, reverse phase and braking states; e) After traversing 16 states, the input of the medium-wave infrared lens will not show the unstable sliding state of the DC motor driver chip RYH8870.

[0035] This embodiment discloses a limiting method for an airborne optoelectronic pod camera motor based on the embodiment 2, which is implemented based on a limiting system for an airborne optoelectronic pod camera motor and includes: Applicable to the braking limit process when the main controller is down: specifically adapted to the situations of sequence numbers 12, 15, and 16; When the main controller is down: the main controller outputs both positive-phase PWM signal and negative-phase PWM signal: Obtain limit signals from the positive phase Hall unit and the negative phase Hall unit in real time, and obtain PWM signals from the main controller; When the positive phase limit signal is at a high level and the negative phase limit signal is at a low level, the positive phase AND gate unit and the negative phase AND gate unit jointly control the motor to reverse and escape from the positive phase limit until the positive phase limit signal is at a high level and the negative phase limit signal is at a high level; the positive phase AND gate unit outputs a high level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level, and the motor is controlled to be in a braking state; When the negative phase limit signal is at a high level and the positive phase limit signal is at a low level, the motor is controlled to reverse and escape from the negative phase limit; until the negative phase limit signal is at a high level and the positive phase limit signal is at a high level; the negative phase AND gate unit outputs a high level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level, and the control motor is in a braking state.

[0036] It also includes a process applied when the main controller is in the limit protection state: specifically adapted to the situations of sequence numbers 7 and 10; When the main controller is in the limit protection state: the medium-wave infrared lens is in the limit position, and the motor is in the protection state; the medium-wave infrared lens is in the limit position specifically manifested as: at the same time, only one of the reverse-phase PWM signal and the reverse-phase limit signal is high level, and only one of the positive-phase PWM signal and the positive-phase limit signal is high level; Obtain limit signals from the positive phase Hall unit and the negative phase Hall unit in real time, and obtain PWM signals from the main controller; The main controller outputs a PWM signal to the corresponding AND gate unit in the corresponding phase. The corresponding AND gate unit outputs a low level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level to control the motor to be in a braking state.

[0037] It also includes the process applied when the motor and the main controller are both in normal state: adapting to the other sequence numbers in d); When the motor and the main controller are both in normal state, there are two situations: one is that the positive phase AND gate unit and the negative phase AND gate unit output only one high level, and the other is that the positive phase AND gate unit and the negative phase AND gate unit output both low levels; When only the positive phase AND gate unit outputs a high level, the positive phase output terminal of the decoding unit outputs a high level, the negative phase output terminal outputs a low level, the positive phase output terminal of the DC motor driving unit outputs a high level, and the negative phase output terminal outputs a low level, and the motor is controlled to rotate forward; When only the inverting AND gate unit outputs a high level, the inverting output terminal of the decoding unit outputs a high level, the positive output terminal outputs a low level, the inverting output terminal of the DC motor driving unit outputs a high level, and the positive output terminal outputs a low level, and the motor is controlled to reverse; When the outputs of the positive-phase AND gate unit and the negative-phase AND gate unit are both low level, the decoding unit outputs a high level, and the DC motor driving unit outputs a low level, and the control motor is in a braking state.

[0038] Example 4 This embodiment further discloses a method for verifying whether braking is performed by using a lens potentiometer when the main controller is in a shutdown state based on embodiments 2 and 3, comprising the following steps: It should be noted that in order to complete the limit protection function of the DC motor of the system in Example 2, taking the focusing lens group in the medium-wave infrared lens as an example, a detailed implementation plan and specific workflow are given here. The process steps are as follows: Figure 4 As shown, the steps work as follows: Step 1: The operator operates the host software of the industrial computer to send a serial port instruction for the medium-wave infrared focusing group lens to move toward the positive phase limit; Step 2, the main controller receives and parses the information in the serial port command; Step 3, after obtaining the medium-wave infrared lens positive phase movement instruction, the main controller performs the following actions; Step 3.1, the main controller outputs a control instruction: set the first channel of the timer to output a corresponding positive PWM signal with a period of 1ms, a frequency of 1Khz, and a duty cycle of 100%, and the second channel of the timer to output a reverse PWM signal with a duty cycle of 0, so that the motor that receives the control instruction starts to rotate forward and pushes the focus group lens to move to the positive phase limit through the guide rail; Step 3.2, the main controller reports the movement state of the focus group lens, the potentiometer value of the position of the focus group lens, and the limit state to the industrial computer through the serial port unit; Step 4, during the rotation of the motor, the main controller detects the limit signal and collects the lens potentiometer count value in real time; Step 5, when the main controller detects that the positive phase limit signal is zero, it indicates that at this moment, the lens has moved to the positive phase limit; simulate the main controller in a downtime state: make the main controller not make any adjustments, observe whether the motor is braked, whether it stays at the mechanical limit or the electrical limit, and report the lens potentiometer information at the same time; Step 6: Feedback to the industrial computer whether the medium-wave infrared lens has moved to the positive electric limit position and whether the potentiometer value has changed; Step 6.1 The motor stops moving and reports that the lens potential count value does not change; Step 6.2 The motor stops without moving, and reports the change in the lens potential count value.

[0039] Through steps 1 to 6, this embodiment moves the focusing lens group in the medium-wave infrared lens assembly to the positive phase limit position according to the host computer instruction, and simulates the main controller motor braking shutdown state at the positive phase limit position; the results show that the focusing lens group can be stably parked at the corresponding electric limit position. At the same time, the operation process of the focusing lens group moving to the reverse phase is similar, and only the duty cycle of the two PWM signal outputs needs to be exchanged.

[0040] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A circuit for an airborne optoelectronic pod camera motor limit system, characterized in that: include: Main controller; A positive phase AND gate unit connected to the positive phase PWM output terminal of the main controller and the positive phase Hall unit output terminal; An inverting AND gate unit connected to an inverting PWM output terminal of a main controller and an inverting Hall unit output terminal; A decoding unit connected to the output end of the positive phase AND gate unit and the output end of the negative phase AND gate unit; And a DC motor driving unit connected to the two output terminals of the decoding unit.

2. The circuit for the motor limit system of the airborne optoelectronic pod camera according to claim 1, characterized in that: Also includes: A positive phase comparison unit, a positive phase voltage division unit, a negative phase comparison unit and a negative phase voltage division unit; The positive phase Hall unit, the positive phase comparison unit, the positive phase voltage dividing unit and the positive phase AND gate unit are sequentially connected with each other; The inverting Hall unit, the inverting comparison unit, the inverting voltage dividing unit and the inverting AND gate unit are connected in sequence.

3. The circuit for the motor limit system of the airborne optoelectronic pod camera according to claim 2, characterized in that: The positive phase voltage dividing unit has the same circuit structure as the negative phase voltage dividing unit; The positive phase voltage dividing unit is composed of a first resistor and a second resistor; The 5V voltage output terminal of the positive phase comparison unit is connected in series with the first resistor and the second resistor to ground; The positive phase AND gate unit connected to the 3.3V voltage is connected in parallel with the main controller and then connected in series with the second resistor to ground.

4. The limiting system for the motor of the airborne optoelectronic pod camera is characterized in that: The circuit for the motor limit system of the airborne optoelectronic pod camera according to claim 3 further comprises: Power supply unit, industrial computer, serial port unit, lens potentiometer, motor and medium wave infrared lens; The power supply unit is respectively connected to the serial port unit, the positive phase AND gate unit, the negative phase AND gate unit, the decoding unit, the DC motor drive unit, the positive phase comparison unit, the negative phase comparison unit, the lens potentiometer, the positive phase Hall unit and the negative phase Hall unit; The industrial computer is connected to the main controller via the serial port unit; The output end of the lens potentiometer is connected to the main controller; The positive phase motor output control terminal and the reverse phase motor output control terminal of the DC motor drive unit are both connected to the motor; The positive phase motor control terminal and the reverse phase motor control terminal of the motor are connected to the medium wave infrared lens.

5. The position limiting system for the airborne optoelectronic pod camera motor according to claim 4, characterized in that: The industrial computer is connected to the main controller through the serial port unit, specifically: The industrial computer is connected to the serial port unit via a first full-duplex connection; The serial port unit is connected to the main controller via a second full-duplex connection.

6. A limiting method for an airborne optoelectronic pod camera motor, characterized in that: The limiting system for the motor of the airborne optoelectronic pod camera according to claim 5 is implemented, comprising: Applied to the braking limit process when the main controller is down: When the main controller is down: the main controller outputs both positive-phase PWM signal and negative-phase PWM signal: Obtain limit signals from the positive phase Hall unit and the negative phase Hall unit in real time, and obtain PWM signals from the main controller; When the positive phase limit signal is at a high level and the negative phase limit signal is at a low level, the positive phase AND gate unit and the negative phase AND gate unit jointly control the motor to reverse and escape from the positive phase limit until the positive phase limit signal is at a high level and the negative phase limit signal is at a high level; the positive phase AND gate unit outputs a high level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level, and the motor is controlled to be in a braking state; When the negative phase limit signal is at a high level and the positive phase limit signal is at a low level, the motor is controlled to reverse and disengage from the negative phase limit until the negative phase limit signal is at a high level and the positive phase limit signal is at a high level; the negative phase AND gate unit outputs a high level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level, and the control motor is in a braking state.

7. The limiting method for the motor of an airborne optoelectronic pod camera according to claim 6, characterized in that: It also includes the process applied when the main controller is in the limit protection state: When the main controller is in the limit protection state: the medium-wave infrared lens is in the limit position, and the motor is in the protection state; the medium-wave infrared lens is in the limit position specifically manifested as: at the same time, only one of the reverse-phase PWM signal and the reverse-phase limit signal is high level, and only one of the positive-phase PWM signal and the positive-phase limit signal is high level; Obtain limit signals from the positive phase Hall unit and the negative phase Hall unit in real time, and obtain PWM signals from the main controller; The main controller outputs a PWM signal to the corresponding AND gate unit in the corresponding phase. The corresponding AND gate unit outputs a low level based on the AND gate logic, the decoding unit outputs a high level, and the DC motor drive unit outputs a low level to control the motor to be in a braking state.

8. The limiting method for the motor of an airborne optoelectronic pod camera according to claim 7, characterized in that: It also includes the process for when the motor and the main controller are both in normal state: When the motor and the main controller are both in normal state, there are two situations: one is that the positive phase AND gate unit and the negative phase AND gate unit output only one high level, and the other is that the positive phase AND gate unit and the negative phase AND gate unit output both low levels; When only the positive phase AND gate unit outputs a high level, the positive phase output terminal of the decoding unit outputs a high level, the negative phase output terminal outputs a low level, the positive phase output terminal of the DC motor driving unit outputs a high level, and the negative phase output terminal outputs a low level, and the motor is controlled to rotate forward; When only the inverting AND gate unit outputs a high level, the inverting output terminal of the decoding unit outputs a high level, the positive output terminal outputs a low level, the inverting output terminal of the DC motor driving unit outputs a high level, and the positive output terminal outputs a low level, and the motor is controlled to reverse; When the outputs of the positive-phase AND gate unit and the negative-phase AND gate unit are both low level, the decoding unit outputs a high level, and the DC motor driving unit outputs a low level, and the control motor is in a braking state.

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