Launching vehicle tracking follow-up system

Abstract

The utility model discloses a tracking follow-up system of a launching vehicle, which relates to the technical field of tracking follow-up systems, and comprises a walking mechanism controller, four servo motors, four absolute value encoders, a control interface and a single rod, the walking mechanism controller is connected in parallel with CAN buses of the four servo motors and the four absolute value encoders through a CAN1 bus, and the single rod is connected in parallel with the four servo motors and the four absolute value encoders through a CAN2 bus. The four servo motors are respectively a tracking azimuth machine 1, a tracking elevating machine 2, a follow-up elevating machine 3 and a follow-up azimuth machine 4. According to the tracking follow-up system of the launching vehicle, the servo motor is used for replacing a direct-current brush motor, control is more flexible, the problems that the influence of load changes on the rotating speed is large, electric brushes are poor in contact, shutdown is prone to happening, and stability is not enough are solved, and other equipment cannot be disturbed by using the servo motor.

Description

Technical Field

[0001] The utility model relates to the technical field of tracking servo systems, and particularly relates to a tracking servo system for a launcher vehicle. Background Art

[0002] In the existing tracking servo system for a launcher vehicle, a DC brushed motor is used for the motor, and a multi-row wire absolute encoder with a 16-core cable is used for the encoder. The DC brushed motor has many problems. For example, the load change has a great influence on the rotation speed, the control is relatively complex, the brush contact is poor and it is easy to stop and the stability is insufficient, the brush generates electric arcs and interferes with other devices, and the DC brushed motor belongs to an obsolete product and is difficult to maintain and replace. And the multi-row wire encoder has problems such as troublesome installation, debugging, maintenance, and servicing. Moreover, when 4 absolute encoders are used, there are a total of 64 core wires, and the total cable needs to rise and fall with the lifting platform and twist with the turntable. If one core wire has poor contact, the system will break down and it is very difficult to ensure the stability. Therefore, this application proposes a tracking servo system for a launcher vehicle to solve the above problems. Content of the Utility Model

[0003] (1) Technical Problems to be Solved

[0004] In view of the deficiencies of the prior art, the utility model provides a tracking servo system for a launcher vehicle, which solves the technical problems mentioned in the above background.

[0005] (2) Technical Solutions

[0006] To achieve the above purposes, the technical solution adopted by the utility model is: a tracking servo system for a launcher vehicle, the system includes a traveling mechanism controller, four servo motors, four absolute encoders, a control interface and a single lever. The traveling mechanism controller is connected in parallel with the CAN buses of the four servo motors and the four absolute encoders through the CAN1 bus. The four servo motors are respectively a tracking azimuth machine 1, a tracking elevation machine 2, a follow-up elevation machine 3 and a follow-up azimuth machine 4. The four absolute encoders are respectively an absolute encoder 1, an absolute encoder 2, an absolute encoder 3 and an absolute encoder 4. The traveling mechanism controller is connected to the CAN bus of the control interface through the CAN2 bus. The single lever outputs two analog signals to connect to the traveling mechanism controller to respectively control the elevation and azimuth of the tracking system.

[0007] Preferably, 120-ohm resistors are arranged on the CAN buses of the four servo motors and the four absolute encoders.

[0008] Preferably, a 120-ohm resistor is arranged on the CAN bus of the control interface.

[0009] Preferably, the model of the traveling mechanism controller is SF9508.

[0010] Preferably, the speed directions of the four servo motors are all determined by CAN bus standard frame instructions.

[0011] Preferably, the walking mechanism controller converts the analog signals sent by the single rod into digital signals to control and track the speeds of the four servo motors.

[0012] (III) Beneficial effects

[0013] The beneficial effects of the present utility model are as follows:

[0014] For this kind of launcher tracking servo system, by replacing the DC brush motor with a servo motor, the control is more flexible, solving the problems that the load change has a great influence on the rotation speed and the poor contact of the carbon brush is prone to shutdown and the stability is insufficient, and the use of the servo motor will not interfere with other devices;

[0015] For this kind of launcher tracking servo system, by replacing the multi-wire encoder with a CAN bus absolute encoder, the problem that poor contact is prone to occur due to a large number of wire cores, resulting in low stability, is solved, and it is more convenient in installation, debugging, maintenance and servicing. Description of the drawings

[0016] Figure 1 It is a control principle block diagram of the tracking servo system of the present utility model. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0018] Such as Figure 1As shown in the figure, the utility model provides a technical solution: a tracking servo system for a launcher vehicle. The system includes a traveling mechanism controller, four servo motors, four absolute encoders, a control interface, and a single lever. The model of the traveling mechanism controller is SF9508. The traveling mechanism controller is connected in parallel with the CAN buses of the four servo motors and the four absolute encoders through CAN1 bus. 120-ohm resistors are provided on the CAN buses of the four servo motors and the four absolute encoders. The four servo motors are respectively a tracking azimuth machine 1, a tracking elevation machine 2, a follow-up elevation machine 3, and a follow-up azimuth machine 4. The four absolute encoders are respectively an absolute encoder 1, an absolute encoder 2, an absolute encoder 3, and an absolute encoder 4. The traveling mechanism controller is connected to the CAN bus of the control interface through CAN2 bus. A 120-ohm resistor is provided on the CAN bus of the control interface. The single lever outputs two analog signals to connect to the traveling mechanism controller for respectively controlling the elevation and azimuth of the tracking system. The speed and direction of the four servo motors are determined by the CAN bus standard frame instructions. The traveling mechanism controller converts the analog signals sent by the single lever into digital signals to control the speed of the four tracking servo motors.

[0019] Embodiment

[0020] The servo motors are set to be controlled by CAN bus. The speed and direction of the servo motors are determined by the CAN bus standard frame instructions. Each servo motor is set with a corresponding address. The absolute encoders are also set to the CAN control mode. Each code disk is also set with a corresponding address. The CAN buses of the 4 servo motors and the 4 absolute encoders are connected in parallel with the CAN1 bus of the traveling mechanism controller.

[0021] The original product is adopted for the single lever. The single lever outputs two analog signals to respectively control the elevation and azimuth of the tracking system. The traveling mechanism controller converts the analog signals sent by the single lever into digital signals to control the speed of the tracking azimuth machine 1 and the tracking azimuth machine 2.

[0022] The traveling mechanism controller alternately calls the absolute encoders. The encoders respond one by one to report their angles. The 4 absolute encoders are queried and decoded once. The speed of the follow-up elevation machine and the follow-up azimuth machine is jointly determined by the analog signals provided by the single lever and the deviation signals provided by the code disks. The speeds of the 4 servo motors are also assigned one by one. The entire process takes 30 ms. Since a person is in the loop and the resolution of a person's eyes is 25 frames / s, that is, 40 ms, so 30 ms meets the usage requirements.

[0023] CAN2 of the traveling mechanism controller receives the instructions from the master control and sends the angle parameters of the absolute encoders to the master control. After the system is built, it runs stably and is very convenient to operate.

[0024] In the description of the present utility model, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation to the present utility model.

[0025] In the present utility model, unless otherwise clearly specified and defined, for example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A launch vehicle tracking and following system, characterized in that: The system includes a walking mechanism controller, four servo motors, four absolute value encoders, a control interface and a single rod. The walking mechanism controller is connected in parallel with the CAN buses of the four servo motors and the four absolute value encoders through the CAN1 bus. The four servo motors are respectively a tracking azimuth machine 1, a tracking height machine 2, a follow-up height machine 3 and a follow-up azimuth machine 4. The four absolute value encoders are respectively absolute value encoder 1, absolute value encoder 2, absolute value encoder 3 and absolute value encoder 4. The walking mechanism controller is connected to the CAN bus of the control interface through the CAN2 bus. The single rod outputs two analog signals connected to the walking mechanism controller to respectively control the height and azimuth of the tracking system.

2. A launch vehicle tracking and following system according to claim 1, characterized in that: A 120-ohm resistor is provided on the CAN buses of the four servo motors and the four absolute encoders.

3. A launch vehicle tracking and following system according to claim 1, characterized in that: The CAN bus of the control interface is provided with a 120 ohm resistor.

4. A launch vehicle tracking and following system according to claim 1, characterized in that: The model of the walking mechanism controller is SF9508.

5. A launch vehicle tracking and following system according to claim 1, characterized in that: The speed directions of the four servo motors are all determined by the CAN bus standard frame instructions.

6. A launch vehicle tracking and following system according to claim 1, characterized in that: The walking mechanism controller converts the analog signal sent by the single rod into a digital signal, and controls and tracks the speed of four servo motors.

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