Full-digital current closed-loop automatic lock control unit and radar antenna

Abstract

The utility model discloses a full-digital current closed-loop automatic lock control unit and a radar antenna, and relates to the basic circuit design technology, the full-digital current closed-loop automatic lock control unit comprises a controller, a single-chip microcomputer, a driving circuit and an operational amplifier, the controller is in communication connection with the single-chip microcomputer, and the operational amplifier is in communication connection with the single-chip microcomputer. The controller is used for sending unlocking and locking control instructions used for controlling corresponding orientations and pitching of an orientation motor and a pitching motor of the ship-borne radar to the single-chip microcomputer, so that the single-chip microcomputer outputs orientation PWM signals, pitching PWM signals and drive output enable signals respectively, and then an orientation drive circuit and a pitching drive circuit are controlled. And the driving circuit comprises two paths which are respectively used for controlling the positive and negative rotation of the azimuth motor and the pitching motor, two paths of sampling current output by the driving circuit are amplified by the operational amplifier, and the filtered sampling current is fed back to the singlechip for closed-loop regulation. The full-digital current closed loop is applied, and the reliability and accuracy of the automatic lock are improved.

Description

Technical Field

[0001] The present application relates to the technical field of basic circuit design, and in particular to a fully digital current closed-loop automatic locking control unit and a radar antenna. Background Art

[0002] The shipborne radar servo system, namely the antenna position tracking system, is an important part of the radar, and it plays a key role in detecting and tracking targets. Because the radar antenna will sway longitudinally and transversely, rise and fall, and turn as the ship shakes during the movement of the ship, the azimuth and pitch circuits of the radar each need a locking device installed on the antenna seat to ensure that the radar locks the antenna after power failure to protect the rotating mechanism and maintain the stability of the antenna. Therefore, when the radar is not working, the antenna needs to be self-locked to keep it stable. When working, the antenna locking device needs to be opened to drive the radar antenna to complete search, tracking and other actions by relying on the azimuth and pitch circuits. The traditional manual locking device often requires manual climbing to the high antenna to operate the locking device during navigation, which has poor safety, slow response speed, and high difficulty in operation. Although the upgraded automatic locking device can independently complete the logic control and automatically perform the opening and closing actions, it belongs to the open-loop design of the servo system and cannot handle the lock motor blocking, excessive current burning the motor and other situations that may occur during actual use.

[0003] The existing antenna locking device is divided into manual lock and open-loop automatic lock control unit. The manual lock device has many problems in practical application, with high risk factor and many uncertain factors. In comparison, the automatic lock device avoids manual operation and has a higher degree of automation. However, because it is a current loop open-loop control system with no feedback link, it does not have the function of automatic adjustment, the accuracy is not enough, and it cannot provide overcurrent protection for the motor, so its practicality is poor. Summary of the invention

[0004] The embodiment of the present application provides a fully digital current closed-loop automatic locking control unit and a radar antenna, which uses a fully digital current closed loop to improve the reliability and accuracy of the automatic lock. The control unit of the basic application can be designed to be highly versatile and highly automated, and is suitable for various radar antennas that require opening and locking control.

[0005] The embodiment of the present application provides a fully digital current closed-loop automatic lock control unit, including: a controller, a single-chip microcomputer, a drive circuit, and an operational amplifier, wherein:

[0006] The controller is connected to the single-chip microcomputer for communication, and the controller is used to send an opening and closing control instruction for controlling the azimuth and pitch corresponding to the azimuth motor and the pitch motor of the shipborne radar to the single-chip microcomputer, so that the single-chip microcomputer outputs two-way PWM signals of azimuth and pitch and a drive output enable signal respectively, thereby controlling the two-way drive circuits of azimuth and pitch;

[0007] The driving circuit includes two paths, which are used to control the forward and reverse rotation of the azimuth motor and the pitch motor respectively. The two sampling currents output by the driving circuit are amplified by the operational amplifier, and the filtered sampling currents are fed back to the single-chip microcomputer for closed-loop regulation.

[0008] Optionally, the single chip microcomputer is also used for:

[0009] After receiving the azimuth and pitch control instructions, the PWM signal and the enable signal are sent to the drive circuit, and the forward and reverse rotation of the corresponding motor is controlled by controlling the designated port of the drive circuit to realize the opening and closing functions; and

[0010] The sampling current of the operational amplifier is received, and when the automatic lock is in place, the corresponding micro switch is controlled to execute contact switching, and a signal that the contact is switched in place is generated by the photoelectric isolator and sent to the single chip microcomputer.

[0011] Optionally, it also includes a photoelectric coupler, which is arranged between the single-chip microcomputer and the power supply. When the automatic lock is in place, the corresponding micro switch is automatically locked to switch contacts, and a signal in place is generated by the photoelectric coupler and sent to the single-chip microcomputer.

[0012] Optionally, the driving circuit includes a driving chip HPA800 and its peripheral circuits, and the output ends of the driving chip HPA800 are respectively connected to two ends of the motor;

[0013] The operational amplifier comprises a 7FOP284MF amplifier and its peripheral circuits;

[0014] The single-chip microcomputer is also used to calculate the current error of each cycle through the given current value and the feedback current value, output a real-time PWM signal, and send it to the driver chip HPA800 to drive the motor, and detect the current of the motor. When overcurrent occurs, the single-chip microcomputer controls the PWM and drive enable signal input pins of the driver chip HPA800 to be shut down.

[0015] Optionally, a transceiver SM3490 is arranged between the controller and the single-chip microcomputer, and a bus transceiver SM4245 is arranged between the single-chip microcomputer and the driver chip HPA800.

[0016] Optionally, the single chip microcomputer is a SM8051F330MP single chip microcomputer.

[0017] Optionally, it also includes a power supply module, which includes a 24V power supply and a 5V power supply, wherein the 24V power supply is converted into 12V by a voltage stabilizer 78M12MZ to power a driver chip of the drive circuit, and the 5V power supply is converted into 3.3V by a voltage stabilizer CW29150 to power the microcontroller.

[0018] The embodiment of the present application further provides a radar antenna, comprising the fully digital current closed-loop automatic locking control unit as described above.

[0019] The embodiment of the present application uses a fully digital current closed-loop design on the basis of automatically controlling opening and closing, so as to improve the reliability and accuracy of the automatic lock.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0022] Figure 1 This is an example of the working principle of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0023] Figure 2 This is an example of the overall architecture of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0024] Figure 3 This is an example of the power conversion circuit logic of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0025] Figure 4 This is an example of the principle of the power conversion circuit of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0026] Figure 5 This is an example of the principle of the single-chip control circuit of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0027] Figure 6 This is an example of the detection voltage filtering and amplification principle of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0028] Figure 7This is an example of the driving circuit principle of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0029] Figure 8 This is an example of the principle of the transceiver circuit of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0030] Fig. 9 This is an example of the single chip microcomputer software process of the fully digital current closed-loop automatic lock control unit of the embodiment of the present application;

[0031] Fig.10 Schematic diagram of the SCI data format of the fully digital current closed-loop automatic locking control unit of the embodiment of the present application. DETAILED DESCRIPTION

[0032] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0033] The present application embodiment provides a fully digital current closed-loop automatic lock control unit, such as Figure 1 As shown, it includes: a controller, a single-chip microcomputer, a drive circuit, and an operational amplifier, wherein:

[0034] The controller is connected to the single-chip microcomputer for communication, and the controller is used to send an opening and closing control instruction for controlling the azimuth and pitch corresponding to the azimuth motor and the pitch motor of the shipborne radar to the single-chip microcomputer, so that the single-chip microcomputer outputs two-way PWM signals of azimuth and pitch and a drive output enable signal respectively, thereby controlling the two-way drive circuits of azimuth and pitch;

[0035] The driving circuit includes two paths, which are used to control the forward and reverse rotation of the azimuth motor and the pitch motor respectively. The two sampling currents output by the driving circuit are amplified by the operational amplifier, and the filtered sampling currents are fed back to the single-chip microcomputer for closed-loop regulation.

[0036] Specifically, Figure 1As shown, the automatic lock control unit of the embodiment of the present application is mainly composed of a single-chip microcomputer, a driver chip, an operational amplifier, etc. In some embodiments, the single-chip microcomputer is a SM8051F330MP single-chip microcomputer. The controller and the single-chip microcomputer perform full-duplex communication through the RS422 level format. The controller sends the opening and locking control instructions of the azimuth and pitch to the single-chip microcomputer. The single-chip microcomputer outputs two PWM signals of azimuth and pitch respectively and the drive output enable signal is used to control the two-way driver chip of azimuth and pitch after being isolated and driven by the bus transceiver. The two-way sampling current output by the driver chip is amplified and filtered by the operational amplifier, and the sampling current is fed back to the single-chip microcomputer for closed-loop regulation. At the same time, the driver chip is connected to the two ends of the lock motor A and B. When the opening and locking are detected to be in place, the feedback signal is sent to the single-chip microcomputer through the photoelectric isolator, and the single-chip microcomputer then sends the lock in place signal back to the controller.

[0037] In some embodiments, the single-chip microcomputer is also used to, after receiving azimuth and pitch control instructions, send PWM signals and enable signals to the drive circuit, and control the forward and reverse rotation of the corresponding motor by controlling the designated port of the drive circuit to achieve the opening and closing functions; and, receive the sampling current of the operational amplifier, and when the automatic lock is in place, control the corresponding micro switch to perform contact switching, and generate a contact switching signal through a photoelectric isolator and send it to the single-chip microcomputer.

[0038] In some embodiments, a photoelectric coupler is also included, which is arranged between the single-chip microcomputer and the power supply. When the automatic lock is in place, the corresponding micro switch is automatically locked to switch contacts, and a signal in place is generated by the photoelectric coupler and sent to the single-chip microcomputer.

[0039] like Figure 2 As shown, the automatic lock control unit of the embodiment of the present application adopts a fully digital current closed loop design, and the current loop sensor adopts resistance sampling. When the single-chip microcomputer receives the azimuth and pitch control instructions, the PWM signal and the enable signal are sent to the driver chip through the bus transceiver, and the forward and reverse rotation of the lock motor is controlled by controlling the two current output detection ports SENSE A and SENSE B of the driver chip to realize the opening and closing functions, and the sampling current is sent to the single-chip microcomputer at the same time. When the automatic lock is in place, the corresponding micro switch on the automatic lock switches from the normally closed contact to the normally open contact, the motor is powered off, and the photoelectric isolator generates a signal in place and sends it to the single-chip microcomputer.

[0040] The embodiment of the present application uses a fully digital current closed-loop design on the basis of automatically controlling opening and closing, so as to improve the reliability and accuracy of the automatic lock.

[0041] In some embodiments, a power module is also included, the power module includes a 24V power supply and a 5V power supply, wherein the 24V power supply is converted into 12V by a voltage regulator 78M12MZ to power the driver chip of the driver circuit, and the 5V power supply is converted into 3.3V by a voltage regulator CW29150 to power the microcontroller. Figure 3 , Figure 4 As shown, the automatic lock control unit of the embodiment of the present application is connected to +24V and +5V DC power supplies. +24V is the power supply for the driver chip and the working power supply for the lock motor, and +5V is the working power supply provided to the bus transceiver and the operational amplifier. In addition to receiving external power supply +24V and +5V power supplies, the microcontroller also needs +3.3V power supply, and the driver chip also needs +12V power supply. The control unit uses the stabilized power supply CW29150-3.3v to convert +5V into +3.3V on the board, and uses the stabilized power supply 78M12MZ to convert +24V into +12V.

[0042] The main design circuit of the automatic lock control unit of the embodiment of the present application is a single chip microcomputer and peripheral circuit design, and the lock position signal is logically controlled inside the unit to improve adaptability. Figure 5 As shown, the single-chip microcomputer adopts SM8051F330MP, which is a fully integrated mixed-signal system-on-chip MCU. Its main features include: full-speed on-chip debugging interface, 10-bit current output DAC, enhanced UART, SMBus and enhanced SPI serial port, which can output PWM signal to meet the unit requirements and has great functional improvement compared with the traditional SM9956 single-chip microcomputer.

[0043] The driving circuit of the automatic lock control unit of the present application uses the I / O output PWM signal and enable signal of the single-chip microcomputer to control the PWM and SHDN pins of the driving chip in the azimuth and pitch driving circuits, and the driving chip then drives the motor to perform forward and reverse rotation; the output is sent to the I / O port of the single-chip microcomputer through the operational amplifier, and the sampled current is fed back in real time to complete the current feedback signal acquisition of the driving circuit.

[0044] In some embodiments, the driving circuit includes a driving chip HPA800 and its peripheral circuits, and the output ends of the driving chip HPA800 are respectively connected to the two ends of the motor;

[0045] The operational amplifier comprises a 7FOP284MF amplifier and its peripheral circuits;

[0046] The single-chip microcomputer is also used to calculate the current error of each cycle through the given current value and the feedback current value, output a real-time PWM signal, and send it to the driver chip HPA800 to drive the motor, and detect the current of the motor. When overcurrent occurs, the single-chip microcomputer controls the PWM and drive enable signal input pins of the driver chip HPA800 to be shut down.

[0047] The driving circuit uses the H-bridge motor power driver chip HPA800 as the main device to design the peripheral auxiliary circuit. HPA800 is a pulse width modulation power amplifier with a TTL width modulated square wave input. It is made of thick film technology, bare chip assembly and metal hermetic packaging technology. The maximum power input voltage is 80V and the continuous output current is 10A. The output end of the driver chip is connected to the A and B ends of the lock motor respectively. The current detection circuit uses precision resistors, and the detection voltage is sent to the ADC module of the control circuit for conversion after RC filtering and amplification. The amplifier circuit uses the 7FOP284MF amplifier, which is a precision rail-to-rail input and output dual operational amplifier. The reference voltage at the input end of the operational amplifier is provided by the REF3030 voltage reference. The schematic diagram of the detection voltage after amplification and low-pass filtering is shown in the figure. Figure 6 shown.

[0048] The amplifier circuit is as shown in formula (1):

[0049]

[0050] We get formula (2):

[0051]

[0052] From this, R1 and R2 can be deduced. The filter circuit formulas are shown in equations (3) and (4). Based on the cut-off frequency of 500Hz, the values ​​of R and C can be deduced as follows:

[0053]

[0054] We get formula (7):

[0055] The single-chip microcomputer calculates the current error of each cycle through the given current value and the feedback current value, and outputs the real-time PWM signal after the current loop P and I correction to send it to HPA800 to drive the motor. The internal shutdown uses a precision resistor to detect the voltage. The single-chip microcomputer controls the PWM and drive enable signal input pins of HPA800. When overcurrent occurs, the pin I / O is shut down. The design of the drive circuit is as follows: Figure 7 As shown, the azimuth and pitch driving circuits are consistent.

[0056] In some embodiments, a transceiver SM3490 is provided between the controller and the single-chip microcomputer, and a bus transceiver SM4245 is provided between the single-chip microcomputer and the driver chip HPA800.

[0057] The principle of the transceiver circuit is as follows Figure 8 As shown, the controller and the single-chip computer communicate through the SCI asynchronous serial port, which is a full-duplex serial transmission mode. The low-power transceiver SM3490 is used in the standard systems of serial data interfaces such as RS-485 and RS-422. There are two modules, drive and receive, inside, and the maximum transmission rate is 10Mbps. The single-chip computer and the driver chip use the bus transceiver SM4245 to isolate, drive and amplify the control signals of the azimuth and pitch drive chips.

[0058] The embodiment of the present application further combines the current closed-loop automatic lock control unit software design to illustrate the solution of the present application. The single-chip software process is as follows: Fig. 9 As shown, the core component of the automatic lock control unit is the single-chip microcomputer. The main function of the single-chip microcomputer software is to receive the azimuth and pitch opening and closing control instructions sent by the controller, control the PWM signal and enable signal of the driver chip by controlling the I / O port, drive the lock motor to perform forward and reverse rotation, and at the same time feed back the sampled current to the single-chip microcomputer for current closed-loop control, real-time correction of voltage and PWM duty cycle output, and over-current protection for the opening and closing process; by receiving the azimuth and pitch lock motor in-position status in real time, the in-position signal is returned to the controller. In the specific example, the software is written in C language.

[0059] Compared with the open-loop automatic lock control unit, the main function is to increase the real-time sampling and closed-loop control of the current, feed back the sampled current to the single-chip microcomputer, process the data, subtract the feedback current from the given current in real time to calculate the current error, substitute the current proportional coefficient and integral coefficient, and realize the current closed-loop control through real-time correction of the proportional and integral links to obtain the reference voltage, further obtain the required pulse width value of the PWM control signal, and update it. The motor is protected from possible lock motor stalling and overcurrent. When the current exceeds the set threshold, the PWM enable signal is turned off to protect the motor.

[0060] The controller and the microcontroller communicate through the SCI asynchronous serial port, which is a full-duplex serial transmission mode. The data format of SCI communication adopts NRZ data format, and the communication baud rate is 19200. Fig.10 The 422 communication between the controller and the single-chip microcomputer uses the form of frame header + data bit + checksum to send and receive data.

[0061] The automatic lock control unit of the embodiment of the present application is based on a digital, modular, and miniaturized design, which solves the uncertainty of manual lock human operation, reduces the operational risk factor during navigation and climbing operations, and greatly improves safety and automation. Compared with the existing open-loop automatic lock control unit, the automatic lock control unit of the present application adds a current closed-loop control algorithm, improves the applicability and reliability of the control unit, prevents the motor from being blocked and overcurrent burning the motor or device during actual application, and detects the current feedback value in real time to control the duty cycle, which plays a role in overcurrent protection of the automatic lock motor, greatly increasing the practicality of the automatic lock control unit.

[0062] The embodiment of the present application further provides a radar antenna, comprising the fully digital current closed-loop automatic locking control unit as described above.

[0063] It should be noted that in the embodiments of the present application, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0064] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0065] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A fully digital current closed-loop automatic lock control unit, characterized in that: include: Controller, single chip microcomputer, drive circuit, operational amplifier, among which, The controller is connected to the single-chip microcomputer for communication, and the controller is used to send an opening and closing control instruction for controlling the azimuth and pitch corresponding to the azimuth motor and the pitch motor of the shipborne radar to the single-chip microcomputer, so that the single-chip microcomputer outputs two-way PWM signals of azimuth and pitch and a drive output enable signal respectively, thereby controlling the two-way drive circuits of azimuth and pitch; The driving circuit includes two paths, which are used to control the forward and reverse rotation of the azimuth motor and the pitch motor respectively. The two sampling currents output by the driving circuit are amplified by the operational amplifier, and the filtered sampling currents are fed back to the single-chip microcomputer for closed-loop regulation.

2. The fully digital current closed-loop automatic lock control unit according to claim 1, characterized in that: The single chip microcomputer is also used for: After receiving the azimuth and pitch control instructions, the PWM signal and the enable signal are sent to the drive circuit, and the forward and reverse rotation of the corresponding motor is controlled by controlling the designated port of the drive circuit to realize the opening and closing functions; and The sampling current of the operational amplifier is received, and when the automatic lock is in place, the corresponding micro switch is controlled to execute contact switching, and a signal that the contact is switched in place is generated by the photoelectric isolator and sent to the single chip microcomputer.

3. The fully digital current closed-loop automatic lock control unit according to claim 2, characterized in that: It also includes a photoelectric coupler, which is arranged between the single-chip microcomputer and the power supply. When the automatic lock is in place, the corresponding micro switch is automatically locked to switch the contacts, and the photoelectric coupler generates a signal in place and sends it to the single-chip microcomputer.

4. The fully digital current closed-loop automatic lock control unit according to claim 1, characterized in that: The driving circuit includes a driving chip HPA800 and its peripheral circuits, and the output ends of the driving chip HPA800 are respectively connected to the two ends of the motor; The operational amplifier comprises a 7FOP284MF amplifier and its peripheral circuits; The single-chip microcomputer is also used to calculate the current error of each cycle through the given current value and the feedback current value, output a real-time PWM signal, and send it to the driver chip HPA800 to drive the motor, and detect the current of the motor. When overcurrent occurs, the single-chip microcomputer controls the PWM and drive enable signal input pins of the driver chip HPA800 to be shut down.

5. The fully digital current closed-loop automatic lock control unit according to claim 4, characterized in that: A transceiver SM3490 is arranged between the controller and the single-chip microcomputer, and a bus transceiver SM4245 is arranged between the single-chip microcomputer and the driver chip HPA800.

6. The fully digital current closed-loop automatic lock control unit according to claim 1, characterized in that: The single chip microcomputer is a SM8051F330MP single chip microcomputer.

7. The fully digital current closed-loop automatic lock control unit according to claim 1, characterized in that: It also includes a power supply module, which includes a 24V power supply and a 5V power supply, wherein the 24V power supply is converted into 12V by a voltage-stabilized power supply 78M12MZ to power a driver chip of a driving circuit, and the 5V power supply is converted into 3.3V by a voltage-stabilized power supply CW29150 to power the microcontroller.

8. A radar antenna, characterized in that: It comprises a fully digital current closed-loop automatic locking control unit as described in any one of claims 1 to 7.

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