Signal simulator and simulation method

Abstract

The present invention relates to signal simulation, and in particular to a signal simulator and simulation method, wherein the data receiving unit receives parameters set by a test control unit; a signal one digital-to-analog converter and a signal two digital-to-analog converter are respectively provided between the timer cascade module and the signal one data buffer and the signal two data buffer; the signal one digital-to-analog converter and the signal two digital-to-analog converter are both connected to a servo; a control operation unit receives the periodic trigger excitation of the servo and controls the timer cascade module to output signal one and signal two with a phase difference; the servo performs corresponding actions based on signal one and signal two, and outputs a flip trigger excitation to the control operation unit; the control operation unit controls the timer cascade module to swap signal one and signal two based on the flip trigger excitation. Compared with the existing method of using an analog circuit to output analog signals for testing, the present invention has higher accuracy and anti-interference ability of digital signals and does not require other test equipment for monitoring.

Description

Technical Field

[0001] The present invention relates to signal simulation, and in particular to a signal simulator and a simulation method. Background Art

[0002] Unmanned underwater vehicles (UUVs) are devices that can navigate autonomously or remotely underwater and are widely used in ocean exploration, resource exploration, military reconnaissance, and other fields. As a key actuator component of UUVs, steering gear plays a vital role in motion control and mission execution.

[0003] In order to ensure that the unmanned underwater vehicle can accurately reach the target location when performing a mission, it is usually necessary to test the steering gear of the unmanned underwater vehicle to ensure that the underwater vehicle can successfully complete the mission.

[0004] At present, during the servo testing process, it is often necessary to use analog circuits to generate corresponding test signals to test the servo. Moreover, the signal output by the analog circuit has low accuracy and weak anti-interference ability, and the signal emitted also requires other test equipment to monitor. Summary of the Invention

[0005] The purpose of the present invention is to solve the technical problems in the existing servo test process, that is, the signal output by the analog circuit has low accuracy and weak anti-interference ability, and the emitted signal needs to be monitored by other test equipment, and to provide a signal simulator and simulation method.

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] A signal simulator comprises a signal modulation output unit and a test control unit connected thereto;

[0008] The signal modulation output unit includes a control operation unit, and a data receiving unit, a signal one data buffer, a signal two data buffer and a timer cascade module connected thereto;

[0009] The data receiving unit is connected to the test control unit and receives parameters set by the test control unit;

[0010] A signal 1 digital-to-analog converter and a signal 2 digital-to-analog converter are respectively provided between the timer cascade module and the signal 1 data buffer and the signal 2 data buffer; the signal 1 digital-to-analog converter and the signal 2 digital-to-analog converter are both connected to the steering gear through the signal attenuation module;

[0011] The control operation unit receives the periodic trigger excitation of the servo and controls the timer cascade module to output signal one and signal two with a phase difference; after signal one and signal two are attenuated by the signal attenuation module, the servo performs corresponding actions according to signal one and signal two, and outputs a flip trigger excitation to the control operation unit; the control operation unit controls the timer cascade module to interchange signal one and signal two according to the flip trigger excitation.

[0012] Furthermore, the parameters include signal type, and amplitude, frequency and phase difference corresponding to the signal type;

[0013] Signal types include rectangular, trapezoidal, or sinusoidal.

[0014] Furthermore, the timer cascade module includes a timer T1 connected to the control operation unit, and a timer T2 and a timer T3 connected to the timer T1;

[0015] Timer T2 is connected to the signal-to-digital converter via timer T4;

[0016] Timer T3 is connected to the signal 2 digital-to-analog converter through timer T5;

[0017] The cascade relationship of the timer T1, timer T2, timer T3, timer T4 and timer T5 is:

[0018] After timer T1 starts, it is closed for a period of time t1, and timer T2 and timer T3 are triggered to start at the same time;

[0019] Timer T2 is immediately turned off after starting, and timer T4 is triggered to start at the same time; timer T4 writes the data in the signal-data buffer into the signal-digital-analog converter every interval t3, and turns off timer T4 after the data is completely written;

[0020] After timer T3 is started, it is closed for an interval of t2, and at the same time, timer T5 is triggered to start; timer T5 writes the data in the signal 2 data buffer to the signal 2 digital-to-analog converter every interval of t3, and closes timer T5 after the data is completely written.

[0021] Furthermore, the signal attenuation module includes a digital-to-analog converter, an amplifier, and an isolation transformer connected in sequence;

[0022] The input end of the digital-to-analog converter is connected to the signal one digital-to-analog converter and the signal two digital-to-analog converter for receiving signal one and signal two; the output end of the isolation transformer is connected to the steering gear;

[0023] The digital-to-analog converter converts signal one and signal two into analog current signals, which are amplified by the amplifier and stepped down and attenuated by the isolation transformer before being output to the servo.

[0024] A signal simulation method comprises the following steps:

[0025] S1. Set the signal type required for the servo test, as well as the corresponding amplitude, frequency and phase difference through the test control unit;

[0026] S2. Control the computing unit to pre-fill the signal point data into the signal 1 data buffer and the signal 2 data buffer respectively according to the signal type set in step S1;

[0027] S3, the control calculation unit configures timer T2 and timer T3 according to the phase difference set in step S1:

[0028] Timer T2 timing or , where is the phase difference between signal one and signal two, is the period of signal 1 and signal 2;

[0029] Timer T3 timing or ;

[0030] S4, the control calculation unit configures timer T4 and timer T5 according to the frequency set in step S1:

[0031] Timer T4 and timer T5 write the data in the signal 1 data buffer and the signal 2 data buffer into the signal 1 digital-to-analog converter and the signal 2 digital-to-analog converter respectively at a frequency of 1 / t3;

[0032] After the data is written, the data in the signal one data buffer and the signal two data buffer are transmitted to the servo through the signal one digital-to-analog converter and the signal two digital-to-analog converter;

[0033] S5, the control computing unit receives the periodic triggering excitation of the servo and controls the timer cascade module to output signal 1 and signal 2 with a phase difference;

[0034] The servo receives signal 1 and signal 2 and performs corresponding actions. At the same time, the servo generates periodic flip trigger excitation and transmits it to the control operation unit;

[0035] S6. The control operation unit exchanges signal one and signal two according to the flip trigger excitation control timer cascade module, realizes the phase flip of signal one and signal two, and completes the signal simulation of the servo test.

[0036] Furthermore, in step S1, the signal type includes a rectangular signal, a trapezoidal signal or a sinusoidal signal.

[0037] Furthermore, step S2 is specifically as follows:

[0038] If the signal type set in step S1 is a rectangular signal, the control operation unit fills the signal 1 data buffer and the signal 2 data buffer with continuous positive and negative amplitude data as pre-filled signal point data;

[0039] If the signal type set in step S1 is a trapezoidal signal, the signal 1 data buffer and the signal 2 data buffer are divided into a rising edge portion, a holding portion and a falling edge portion;

[0040] The control operation unit fills the rising edge data into the rising edge part of the signal 1 data buffer and the signal 2 data buffer respectively. As pre-filled signal point data;

[0041] in, , when n is 0, ;

[0042] Where, and Respectively represent the values ​​of the pre-filled signal point data at the nth point and the n-1th point of the signal; is the rising edge step data, , is the maximum value of the amplitude, The amplitude increases from 0 to the maximum value duration;

[0043] The control operation unit fills the holding part of the signal 1 data buffer and the signal 2 data buffer with the holding data respectively. As pre-filled signal point data;

[0044] The control operation unit fills the falling edge data into the falling edge part of the signal 1 data buffer and the signal 2 data buffer respectively. As pre-filled signal point data;

[0045] in, Where, For falling edge step data, , The amplitude is from the maximum value The time it takes to drop to 0;

[0046] If the signal type set in step S1 is a sinusoidal signal, the control operation unit fills the signal 1 data buffer and the signal 2 data buffer with sinusoidal signal data. As pre-filled signal point data;

[0047] in, Where, is the sine coefficient of the data point at a certain moment.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. The signal simulator and simulation method provided by the present invention, by setting a signal modulation output unit and a signal attenuation module, the signal modulation output unit serves as a digital signal source and outputs signal one and signal two with a phase difference, which are converted into analog signals by the signal attenuation module and attenuated to form an analog signal for testing the servo; compared with the existing use of analog circuits to output analog signals for testing, the digital signal has stronger accuracy and anti-interference ability, and the amplitude, frequency and phase difference of signal one and signal two can be set by the test control unit, which helps to improve the accuracy and controllability of the output signal, and the output signal can be intuitively displayed by the test control unit, and no other test equipment is required for monitoring.

[0050] 2. The signal simulator and simulation method provided by the present invention, by setting up a signal attenuation module, which is composed of a digital-to-analog converter, an amplifier and an isolation transformer, can convert signal one and signal two in the form of digital signals into analog current signals, which are then amplified by the amplifier and attenuated by the isolation transformer and output to the servo; so as to simulate the transmission attenuation state of long-distance signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic structural diagram of an embodiment of the present invention;

[0052] Figure 2 This is a schematic block diagram of the structure of a signal modulation output unit in an embodiment of the present invention;

[0053] Figure 3 Schematic diagram of signal 1 and signal 2 having a phase difference in an embodiment of the present invention;

[0054] Figure 4 Schematic diagram of the circuit structure of the signal attenuation module in an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of a control interface of a test control unit in an embodiment of the present invention;

[0056] Figure 6 is a flow chart of an embodiment of a signal simulation method of the present invention;

[0057] Figure 7 This is a schematic diagram of signal one and signal two under trigger excitation and flip trigger excitation in an embodiment of the signal simulation method of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0059] like Figure 1 As shown, a signal simulator includes a signal modulation output unit and a test control unit connected thereto;

[0060] The test control unit is an industrial computer used to set test parameters. Its control interface is as follows: Figure 5 shown.

[0061] like Figure 2 As shown, the signal modulation output unit includes a control operation unit, and a data receiving unit, a signal one data buffer, a signal two data buffer and a timer cascade module connected thereto;

[0062] The data receiving unit is connected to the test control unit and receives parameters set by the test control unit; the parameters include signal type, and amplitude, frequency and phase difference corresponding to the signal type;

[0063] A signal one digital-to-analog converter and a signal two digital-to-analog converter are respectively provided between the timer cascade module and the signal one data buffer and the signal two data buffer; the signal one digital-to-analog converter and the signal two digital-to-analog converter are both connected to the servo through the signal attenuation module;

[0064] The control operation unit receives the periodic triggering excitation of the servo and controls the timer cascade module to output signal one and signal two with a phase difference; signal one and signal two are used to drive the servo, and can also be used to determine the direction of the servo; signal one and signal two with a phase difference are as follows: Figure 3 As shown; after signal one and signal two are attenuated by the signal attenuation module, the servo performs corresponding actions according to signal one and signal two, and outputs a flip trigger excitation to the control operation unit; the control operation unit controls the timer cascade module to interchange signal one and signal two according to the flip trigger excitation.

[0065] like Figure 2 As shown, the signal types include rectangular signals, trapezoidal signals or sinusoidal signals.

[0066] The timer cascade module includes a timer T1 connected to the control operation unit, and a timer T2 and a timer T3 connected to the timer T1;

[0067] Timer T2 is connected to the signal-to-digital converter via timer T4;

[0068] Timer T3 is connected to the signal 2 digital-to-analog converter through timer T5;

[0069] The cascade relationship among timer T1, timer T2, timer T3, timer T4, and timer T5 is:

[0070] After timer T1 starts, it is closed for a period of time t1, and timer T2 and timer T3 are triggered to start at the same time;

[0071] Timer T2 is immediately turned off after starting, and timer T4 is triggered to start at the same time; timer T4 writes the data in the signal-data buffer into the signal-digital-analog converter every interval t3, and turns off timer T4 after the data is completely written;

[0072] After timer T3 is started, it is closed for an interval of t2, and at the same time, timer T5 is triggered to start; timer T5 writes the data in the signal 2 data buffer to the signal 2 digital-to-analog converter every interval of t3, and closes timer T5 after the data is completely written.

[0073] like Figure 4 As shown, the signal attenuation module includes a digital-to-analog converter, an amplifier, and an isolation transformer connected in sequence;

[0074] The input end of the digital-to-analog converter is connected to the signal one digital-to-analog converter and the signal two digital-to-analog converter for receiving signal one and signal two; the output end of the isolation transformer is connected to the steering gear;

[0075] The digital-to-analog converter converts signal one and signal two into analog current signals, which are amplified by the amplifier and stepped down and attenuated by the isolation transformer before being output to the servo.

[0076] The digital-to-analog converter uses a DAC digital-to-analog conversion chip, model AD7111A, which is used to convert the digital signal in the data buffer into the analog signal actually used.

[0077] The amplifier uses an operational amplifier, model OP37GSZ-REEL7.

[0078] At the same time, the inductor model in the circuit is ACSR0906C102NT, which is used for signal isolation.

[0079] like Figure 6 As shown, the signal simulation method based on the above signal simulator is:

[0080] S1. Set the signal type required for the servo test, as well as the corresponding amplitude, frequency and phase difference through the test control unit;

[0081] Signal types include rectangular, trapezoidal, or sinusoidal.

[0082] S2. Control the computing unit to pre-fill the signal point data into the signal 1 data buffer and the signal 2 data buffer respectively according to the signal type set in step S1;

[0083] If the signal type set in step S1 is a rectangular signal, the control operation unit fills the signal 1 data buffer and the signal 2 data buffer with continuous positive and negative amplitude data as pre-filled signal point data;

[0084] If the signal type set in step S1 is a trapezoidal signal, the signal 1 data buffer and the signal 2 data buffer are divided into a rising edge portion, a holding portion and a falling edge portion;

[0085] The control operation unit fills the rising edge data into the rising edge part of the signal 1 data buffer and the signal 2 data buffer respectively. As pre-filled signal point data;

[0086] in, , when n is 0, ;

[0087] Where, and Respectively represent the values ​​of the pre-filled signal point data at the nth point and the n-1th point of the signal; is the rising edge step data, , is the maximum value of the amplitude, The amplitude increases from 0 to the maximum value duration;

[0088] The control operation unit fills the holding part of the signal 1 data buffer and the signal 2 data buffer with the holding data respectively. As pre-filled signal point data;

[0089] The control operation unit fills the falling edge data into the falling edge part of the signal 1 data buffer and the signal 2 data buffer respectively. As pre-filled signal point data;

[0090] in, Where, For falling edge step data, , The amplitude is from the maximum value The time it takes to drop to 0;

[0091] If the signal type set in step S1 is a sinusoidal signal, the control operation unit fills the signal 1 data buffer and the signal 2 data buffer with sinusoidal signal data. As pre-filled signal point data;

[0092] in, Where, is the sine value coefficient of the data point at a certain moment;

[0093] S3, the control calculation unit configures timer T2 and timer T3 according to the phase difference set in step S1:

[0094] Timer T2 timing or , where is the phase difference between signal one and signal two, is the period of signal 1 and signal 2;

[0095] Timer T3 timing or ;

[0096] S4, the control calculation unit configures timer T4 and timer T5 according to the frequency set in step S1:

[0097] Timer T4 and timer T5 write the data in the signal 1 data buffer and the signal 2 data buffer into the signal 1 digital-to-analog converter and the signal 2 digital-to-analog converter respectively at a frequency of 1 / t3;

[0098] After the data is written, the data in the signal one data buffer and the signal two data buffer are transmitted to the servo through the signal one digital-to-analog converter and the signal two digital-to-analog converter;

[0099] S5, the control computing unit receives the periodic triggering excitation of the servo and controls the timer cascade module to output signal 1 and signal 2 with a phase difference;

[0100] The servo receives signal 1 and signal 2 and performs corresponding actions. At the same time, the servo generates periodic flip trigger excitation and transmits it to the control operation unit;

[0101] S6. The control operation unit exchanges signal one and signal two according to the flip trigger excitation control timer cascade module, realizes the phase flip of signal one and signal two, and completes the signal simulation of the servo test.

[0102] like Figure 7 The figure shows the schematic diagram before and after the flipping of signal one and signal two.

[0103] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention shall be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A signal simulator, characterized in that: It includes a signal modulation output unit and a test control unit connected thereto; The signal modulation output unit includes a control operation unit, and a data receiving unit, a signal one data buffer, a signal two data buffer and a timer cascade module connected thereto; The data receiving unit is connected to the test control unit and receives parameters set by the test control unit; A signal 1 digital-to-analog converter and a signal 2 digital-to-analog converter are respectively provided between the timer cascade module and the signal 1 data buffer and the signal 2 data buffer; the signal 1 digital-to-analog converter and the signal 2 digital-to-analog converter are both connected to the steering gear through the signal attenuation module; The control operation unit receives the periodic trigger excitation of the servo and controls the timer cascade module to output signal one and signal two with a phase difference; after signal one and signal two are attenuated by the signal attenuation module, the servo performs corresponding actions based on signal one and signal two, and outputs a flip trigger excitation to the control operation unit; the control operation unit controls the timer cascade module to swap signal one and signal two based on the flip trigger excitation; The timer cascade module includes a timer T1 connected to the control operation unit, and a timer T2 and a timer T3 connected to the timer T1; Timer T2 is connected to the signal-to-digital converter via timer T4; Timer T3 is connected to the signal 2 digital-to-analog converter through timer T5; The cascade relationship of the timer T1, timer T2, timer T3, timer T4 and timer T5 is: After timer T1 starts, it is closed for a period of time t1, and timer T2 and timer T3 are triggered to start at the same time; Timer T2 is immediately turned off after starting, and timer T4 is triggered to start at the same time; timer T4 writes the data in the signal-data buffer into the signal-digital-analog converter every interval t3, and turns off timer T4 after the data is completely written; After timer T3 is started, it is closed for an interval of t2, and at the same time, timer T5 is triggered to start; timer T5 writes the data in the signal 2 data buffer to the signal 2 digital-to-analog converter every interval of t3, and closes timer T5 after the data is completely written.

2. The signal simulator according to claim 1, wherein: The parameters include signal type, and amplitude, frequency and phase difference corresponding to the signal type; Signal types include rectangular, trapezoidal, or sinusoidal.

3. The signal simulator according to claim 1, wherein: The signal attenuation module includes a digital-to-analog converter, an amplifier, and an isolation transformer connected in sequence; The input end of the digital-to-analog converter is connected to the signal one digital-to-analog converter and the signal two digital-to-analog converter for receiving signal one and signal two; the output end of the isolation transformer is connected to the steering gear; The digital-to-analog converter converts signal one and signal two into analog current signals, which are amplified by the amplifier and stepped down and attenuated by the isolation transformer before being output to the servo.

4. A signal simulation method based on the signal simulator according to claim 1, characterized in that: The steps include: S1. Set the signal type required for the servo test, as well as the corresponding amplitude, frequency and phase difference through the test control unit; S2. Control the computing unit to pre-fill the signal point data into the signal 1 data buffer and the signal 2 data buffer respectively according to the signal type set in step S1; S3, the control calculation unit configures timer T2 and timer T3 according to the phase difference set in step S1: Timer T2 timing , the timing of timer T3 , where is the phase difference between signal one and signal two, is the period of signal 1 and signal 2; Alternatively, the timing of timer T2 , the timing of timer T3 ; S4, the control calculation unit configures timer T4 and timer T5 according to the frequency set in step S1: Timer T4 and timer T5 write the data in the signal 1 data buffer and the signal 2 data buffer into the signal 1 digital-to-analog converter and the signal 2 digital-to-analog converter respectively at a frequency of 1 / t3; After the data is written, the data in the signal one data buffer and the signal two data buffer are transmitted to the servo through the signal one digital-to-analog converter and the signal two digital-to-analog converter; S5, the control computing unit receives the periodic triggering excitation of the servo and controls the timer cascade module to output signal 1 and signal 2 with a phase difference; The servo receives signal 1 and signal 2 and performs corresponding actions. At the same time, the servo generates periodic flip trigger excitation and transmits it to the control operation unit; S6. The control operation unit exchanges signal one and signal two according to the flip trigger excitation control timer cascade module, realizes the phase flip of signal one and signal two, and completes the signal simulation of the servo test.

5. The signal simulation method according to claim 4, wherein: In step S1 , the signal type includes a rectangular signal, a trapezoidal signal or a sinusoidal signal.

6. The signal simulation method according to claim 5, characterized in that: Step S2 is specifically as follows: If the signal type set in step S1 is a rectangular signal, the control operation unit fills the signal 1 data buffer and the signal 2 data buffer with continuous positive and negative amplitude data as pre-filled signal point data; If the signal type set in step S1 is a trapezoidal signal, the signal 1 data buffer and the signal 2 data buffer are divided into a rising edge portion, a holding portion and a falling edge portion; The control operation unit fills the rising edge data into the rising edge part of the signal 1 data buffer and the signal 2 data buffer respectively. As pre-filled signal point data; in, , When it is 0, ; Where, and Respectively represent the values ​​of the pre-filled signal point data at the nth point and the n-1th point of the signal; is the rising edge step data, , is the maximum value of the amplitude, The amplitude increases from 0 to the maximum value duration; The control operation unit fills the holding part of the signal 1 data buffer and the signal 2 data buffer with the holding data respectively. As pre-filled signal point data; The control operation unit fills the falling edge data into the falling edge part of the signal 1 data buffer and the signal 2 data buffer respectively. As pre-filled signal point data; in, Where, For falling edge step data, , The amplitude is from the maximum value The time it takes to drop to 0; If the signal type set in step S1 is a sinusoidal signal, the control operation unit fills the signal 1 data buffer and the signal 2 data buffer with sinusoidal signal data. As pre-filled signal point data; in, Where, is the sine coefficient of the data point at a certain moment.

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