CN107992093B - Instruction simulator applied to testing helicopter antenna - Google Patents
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Abstract
本发明涉及一种应用于测试直升机天线的指令模拟器，包括：底盘、固定在所述底盘上的主控模块、固定在所述底盘上的步进电机、检测所述步进电机转动角度的第一角度转盘、固定在所述底盘上的圆周电位器、检测所述圆周电位器的第二角度转盘以及给所述主控模块、所述步进电机和所述圆周电位器供电的电源模块；所述主控模块具有位置伺服模式和速度伺服模式；所述主控模块上设有模式切换装置，所述模式切换装置用来使所述主控模块在位置伺服模式和速度伺服模式之间切换。上述应用于测试直升机天线的指令模拟器，本身体积小，方便携带；能够通过按键简单地实现速度伺服模式与位置伺服模式之间的切换。
The invention relates to an instruction simulator applied to test a helicopter antenna, comprising: a chassis, a main control module fixed on the chassis, a stepper motor fixed on the chassis, a motor for detecting the rotation angle of the stepper motor A first angle turntable, a circular potentiometer fixed on the chassis, a second angle turntable for detecting the circular potentiometer, and a power supply module for supplying power to the main control module, the stepper motor and the circular potentiometer ; The main control module has a position servo mode and a speed servo mode; the main control module is provided with a mode switching device, and the mode switching device is used to make the main control module between the position servo mode and the speed servo mode switch. The above-mentioned command simulator used for testing the helicopter antenna is small in size and convenient to carry; it can simply switch between the speed servo mode and the position servo mode by pressing a button.
Description
技术领域technical field
本发明涉及直升机技术领域，特别是涉及应用于测试直升机天线的指令模拟器。The invention relates to the technical field of helicopters, in particular to an instruction simulator used for testing helicopter antennas.
背景技术Background technique
目前，直升机大多采用的是卫星通信，为了获得良好的通信信号，这就要求通信天线能够在直升机进行快速航行与旋转时都能准确指向地球同步卫星。然而，机载通信天线安装后，难以确保对准卫星的准确度，直接使用机载天线试飞测试的方式代价较高。因此，如何进行高效的天线校准是目前存在的问题。At present, most helicopters use satellite communication. In order to obtain a good communication signal, it is required that the communication antenna can accurately point to the geostationary satellite when the helicopter is rapidly sailing and rotating. However, after the airborne communication antenna is installed, it is difficult to ensure the accuracy of the satellite alignment, and the direct use of the airborne antenna for flight test is expensive. Therefore, how to perform efficient antenna calibration is an existing problem.
发明内容SUMMARY OF THE INVENTION
为了克服天线校准过程带来的问题，以及降低天线校准所带来的消耗。本发明提供一种机载卫星通信天线的指令伺服模拟装置，该装置不仅可以实现直升机转动位置模拟，还能实现直升机的转动速度模拟。从而避免了直接使用直升机调试机载卫星准确度。In order to overcome the problems caused by the antenna calibration process and reduce the consumption caused by antenna calibration. The invention provides a command servo simulation device of an airborne satellite communication antenna, which can not only realize the simulation of the rotation position of the helicopter, but also realize the simulation of the rotation speed of the helicopter. This avoids the direct use of helicopters to debug the accuracy of the airborne satellites.
一种应用于测试直升机天线的指令模拟器，包括：An instruction simulator for testing helicopter antennas, including:
底盘、固定在所述底盘上的主控模块、固定在所述底盘上的步进电机、检测所述步进电机转动角度的第一角度转盘、固定在所述底盘上的圆周电位器、检测所述圆周电位器的第二角度转盘以及给所述主控模块、所述步进电机和所述圆周电位器供电的电源模块；A chassis, a main control module fixed on the chassis, a stepping motor fixed on the chassis, a first-angle turntable that detects the rotation angle of the stepping motor, a circular potentiometer fixed on the chassis, a detection a second angle turntable of the circular potentiometer and a power supply module for supplying power to the main control module, the stepping motor and the circular potentiometer;
所述主控模块具有位置伺服模式和速度伺服模式；The main control module has a position servo mode and a speed servo mode;
在位置伺服模式下，所述主控模块采集所述圆周电位器的滑动端的A/D采样值，所述主控模块根据所述A/D采样值计算所述圆周电位器的第一旋转角度，所述主控模块驱动所述步进电机旋转跟所述第一旋转角度相同的角度；In the position servo mode, the main control module collects the A/D sampling value of the sliding end of the circular potentiometer, and the main control module calculates the first rotation angle of the circular potentiometer according to the A/D sampling value , the main control module drives the stepping motor to rotate at the same angle as the first rotation angle;
在速度伺服模式下，所述主控模块采集所述圆周电位器的滑动端的A/D采样值，所述主控模块根据所述A/D采样值计算所述圆周电位器的第二旋转角度，所述主控模块驱动根据所述圆周电位器的第二旋转角度计算对应所述步进电机的目标转速，所述主控模块驱动所述步进电机以与上述计算得到的目标转速相同的速度旋转；In the speed servo mode, the main control module collects the A/D sampling value of the sliding end of the circular potentiometer, and the main control module calculates the second rotation angle of the circular potentiometer according to the A/D sampling value , the main control module drives to calculate the target rotational speed corresponding to the stepping motor according to the second rotation angle of the circular potentiometer, and the main control module drives the stepping motor to be the same as the target rotational speed obtained by the above calculation. speed rotation;
所述主控模块上设有模式切换装置，所述模式切换装置用来使所述主控模块在位置伺服模式和速度伺服模式之间切换。The main control module is provided with a mode switching device, and the mode switching device is used for switching the main control module between the position servo mode and the speed servo mode.
上述应用于测试直升机天线的指令模拟器，本身体积小，方便携带；能够通过按键简单地实现速度伺服模式与位置伺服模式之间的切换。The above-mentioned command simulator used for testing the helicopter antenna is small in size and convenient to carry; it can simply switch between the speed servo mode and the position servo mode by pressing a button.
在另外的一个实施例中，所述步进电机通过一减速器连接所述第一角度转盘。In another embodiment, the stepper motor is connected to the first angle turntable through a reducer.
在另外的一个实施例中，所述圆周电位器是无极导电塑料圆周电位器。In another embodiment, the circular potentiometer is a non-polar conductive plastic circular potentiometer.
在另外的一个实施例中，所述主控模块是STM32F407ZGT6微控制器。In another embodiment, the main control module is an STM32F407ZGT6 microcontroller.
在另外的一个实施例中，所述电源模块给所述主控模块提供5V直流电压，所述电源模块给所述步进电机提供12V直流电压，所述电源模块给所述圆周电位器提供3.3V直流电压。In another embodiment, the power module provides 5V DC voltage to the main control module, the power module provides 12V DC voltage to the stepper motor, and the power module provides 3.3V DC voltage to the circular potentiometer V DC voltage.
在另外的一个实施例中，所述模式切换装置为一按键。In another embodiment, the mode switching device is a button.
在另外的一个实施例中，所述主控模块上设有显示器。In another embodiment, a display is provided on the main control module.
在另外的一个实施例中，所述主控模块上设有与上位机连接的无线模块。In another embodiment, the main control module is provided with a wireless module connected to the upper computer.
在另外的一个实施例中，其特征在于，所述无线模块是蓝牙模块。In another embodiment, the wireless module is a Bluetooth module.
在另外的一个实施例中，其特征在于，所述无线模块是wifi模块。In another embodiment, the wireless module is a wifi module.
附图说明Description of drawings
图1为本申请实施例提供的一种应用于测试直升机天线的指令模拟器的结构示意图。FIG. 1 is a schematic structural diagram of an instruction simulator applied to test a helicopter antenna according to an embodiment of the present application.
图2为本申请实施例提供的一种应用于测试直升机天线的指令模拟器的工作流程图。FIG. 2 is a working flowchart of an instruction simulator applied to test a helicopter antenna provided by an embodiment of the present application.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
参阅图1，一种应用于测试直升机天线的指令模拟器，包括：Referring to Figure 1, a command simulator applied to test helicopter antennas includes:
底盘100、固定在所述底盘上的主控模块200、固定在所述底盘上的步进电机300、检测所述步进电机转动角度的第一角度转盘400、固定在所述底盘上的圆周电位器600、检测所述圆周电位器的第二角度转盘700以及给所述主控模块、所述步进电机和所述圆周电位器供电的电源模块(图中未示出)；The chassis 100, the
所述主控模块具有位置伺服模式和速度伺服模式；The main control module has a position servo mode and a speed servo mode;
在位置伺服模式下，所述主控模块采集所述圆周电位器的滑动端的A/D采样值，所述主控模块根据所述A/D采样值计算所述圆周电位器的第一旋转角度，所述主控模块驱动所述步进电机旋转跟所述第一旋转角度相同的角度；In the position servo mode, the main control module collects the A/D sampling value of the sliding end of the circular potentiometer, and the main control module calculates the first rotation angle of the circular potentiometer according to the A/D sampling value , the main control module drives the stepping motor to rotate at the same angle as the first rotation angle;
在速度伺服模式下，所述主控模块采集所述圆周电位器的滑动端的A/D采样值，所述主控模块根据所述A/D采样值计算所述圆周电位器的第二旋转角度，所述主控模块驱动根据所述圆周电位器的第二旋转角度计算对应所述步进电机的目标转速，所述主控模块驱动所述步进电机以与上述计算得到的目标转速相同的速度旋转；In the speed servo mode, the main control module collects the A/D sampling value of the sliding end of the circular potentiometer, and the main control module calculates the second rotation angle of the circular potentiometer according to the A/D sampling value , the main control module drives to calculate the target rotational speed corresponding to the stepping motor according to the second rotation angle of the circular potentiometer, and the main control module drives the stepping motor to be the same as the target rotational speed obtained by the above calculation. speed rotation;
所述主控模块上设有模式切换装置1000，所述模式切换装置用来使所述主控模块在位置伺服模式和速度伺服模式之间切换。A
上述应用于测试直升机天线的指令模拟器，本身体积小，方便携带；能够通过按键简单地实现速度伺服模式与位置伺服模式之间的切换。The above-mentioned command simulator used for testing the helicopter antenna is small in size and convenient to carry; it can simply switch between the speed servo mode and the position servo mode by pressing a button.
在另外的一个实施例中，所述步进电机通过一减速器800连接所述第一角度转盘。In another embodiment, the stepper motor is connected to the first angle turntable through a
在另外的一个实施例中，还包括与所述步进电机的旋转轴连接的编码器500。In another embodiment, an
在另外的一个实施例中，所述圆周电位器是无极导电塑料圆周电位器。In another embodiment, the circular potentiometer is a non-polar conductive plastic circular potentiometer.
在另外的一个实施例中，所述主控模块是STM32F407ZGT6微控制器。In another embodiment, the main control module is an STM32F407ZGT6 microcontroller.
在另外的一个实施例中，所述电源模块给所述主控模块提供5V直流电压，所述电源模块给所述步进电机提供12V直流电压，所述电源模块给所述圆周电位器提供3.3V直流电压。In another embodiment, the power module provides 5V DC voltage to the main control module, the power module provides 12V DC voltage to the stepper motor, and the power module provides 3.3V DC voltage to the circular potentiometer V DC voltage.
在另外的一个实施例中，所述模式切换装置为一按键。In another embodiment, the mode switching device is a button.
在另外的一个实施例中，所述主控模块上设有显示器900。In another embodiment, a
在另外的一个实施例中，所述主控模块上设有与上位机连接的无线模块1100。In another embodiment, the main control module is provided with a wireless module 1100 connected to the upper computer.
在另外的一个实施例中，其特征在于，所述无线模块是蓝牙模块。In another embodiment, the wireless module is a Bluetooth module.
在另外的一个实施例中，其特征在于，所述无线模块是wifi模块。In another embodiment, the wireless module is a wifi module.
下面介绍本发明的一个具体应用场景：A specific application scenario of the present invention is introduced below:
为了有效的模拟直升机飞行模式，本发明采用位置伺服以及速度伺服两种模式。两种模式由封装在主控模块上的按键，实现模式切换。按键切换功能是通过按键扫描方式来实现的：通过单片机不停地扫描按键状态，观察按键是否按下。若检测到按键按下后，则切换运行模式。In order to effectively simulate the helicopter flight mode, the present invention adopts two modes of position servo and speed servo. The two modes are switched by the buttons encapsulated on the main control module. The key switching function is realized by the key scanning method: the state of the key is continuously scanned by the microcontroller to observe whether the key is pressed. If it is detected that the button is pressed, the operation mode is switched.
参阅图2，为本申请实施例提供的一种应用于测试直升机天线的指令模拟器的工作流程图。Referring to FIG. 2 , it is a working flowchart of an instruction simulator applied to test a helicopter antenna provided by an embodiment of the present application.
为了使模拟器具有位置伺服功能，底盘上固定有无极导电塑料圆周电位器，通过在无极导电塑料圆周电位器两端加上5V直流电，并用杜邦线将无极导电塑料圆周电位器的滑动端与主控模块的AD采样口连接。主控模块内置的12位模拟/数字转换器对无极导电塑料圆周电位器的滑动端进行AD采样，对采样获得的数字信号进行算法分析，解算无极导电塑料圆周电位器旋钮的旋转角度信息。主控模块根据所获得信息输出固定频率的PWM波控制步进电机转动相同角度。In order to make the simulator have the function of position servo, a non-polar conductive plastic circular potentiometer is fixed on the chassis. By adding 5V direct current to both ends of the non-polar conductive plastic circular potentiometer, and using a DuPont wire to connect the sliding end of the non-polar conductive plastic circular potentiometer with the main The AD sampling port of the control module is connected. The built-in 12-bit analog/digital converter of the main control module performs AD sampling on the sliding end of the electrodeless conductive plastic circular potentiometer, and performs algorithm analysis on the digital signal obtained by sampling to solve the rotation angle information of the electrodeless conductive plastic circular potentiometer knob. The main control module outputs a fixed frequency PWM wave according to the obtained information to control the stepping motor to rotate at the same angle.
为了使模拟器具有速度伺服功能，同上述位置伺服功能类似，通过主控模块解算无极导电塑料圆周电位器旋钮的旋转角度信息，然后主控模块根据所获得信息输出不同频率的PWM波从而控制步进电机以不同速度转动。In order to make the simulator have the speed servo function, similar to the above position servo function, the main control module calculates the rotation angle information of the electrodeless conductive plastic circular potentiometer knob, and then the main control module outputs PWM waves of different frequencies according to the obtained information to control Stepper motors rotate at different speeds.
为了使模拟器具有无线通信功能，主控模块上固定有能够与笔记本、手机等上位机配对的无线通讯装置，该无线通信装置采用的是HC05蓝牙模块，风格设计简单，体积尺寸紧凑，指示灯清楚明亮，能够实现10M以内无线数据传输。In order to enable the simulator to have wireless communication function, the main control module is fixed with a wireless communication device that can be paired with upper computers such as notebooks and mobile phones. Clear and bright, capable of wireless data transmission within 10M.
为了使模拟器具有实时显示功能，主控模块上固定有能够实现字符显示的显示器，该显示器采用是1602液晶显示器，显示方便，字迹清晰，价格相对便宜，能够同时显示16×2即32个字符。In order to make the simulator have real-time display function, a display capable of displaying characters is fixed on the main control module. The display adopts a 1602 liquid crystal display, which is convenient for display, clear in writing and relatively cheap, and can display 16 × 2 or 32 characters at the same time. .
整个模拟器采用28V直流电源适配器供电，由于电路中的不同电路模块所需要的工作电压和电流容量不同，因此电源模块应该包含多个稳压电路，将电压转换成各个所需要的电压。主要包括：5V电压，主要为主控模块以及步进电机编码器提供电源，电压要求稳定、噪声小；12V电压，主要为步进电机提供驱动电源；3.3V电压，主要为无极导电塑料圆周电位器提供电源，电压要求稳定。The entire simulator is powered by a 28V DC power adapter. Since different circuit modules in the circuit require different working voltages and current capacities, the power supply module should contain multiple voltage regulator circuits to convert the voltage into each required voltage. Mainly include: 5V voltage, mainly to provide power for the main control module and stepper motor encoder, with stable voltage and low noise; 12V voltage, mainly to provide driving power for stepper motors; 3.3V voltage, mainly for the electrodeless conductive plastic circular potential The device provides power, and the voltage is required to be stable.
该发明本身体积小，方便携带；能够通过按键简单地实现速度伺服模式与位置伺服模式之间的切换；系统本身自带的蓝牙无线通讯模块可以很容易实现与手机或电脑等上位机进行数据传输；主控模块上安装的1602液晶显示器能够实时显示步进电机的位置与速度等信息；就直接使用直升机对天线进行校准，本发明价格低廉且测试代价几乎为零，收益较大。The invention itself is small in size and easy to carry; it can simply switch between the speed servo mode and the position servo mode by pressing a button; the Bluetooth wireless communication module that comes with the system can easily realize data transmission with a host computer such as a mobile phone or a computer ; The 1602 liquid crystal display installed on the main control module can display the information such as the position and speed of the stepping motor in real time; just directly use the helicopter to calibrate the antenna, the invention is low in price, the test cost is almost zero, and the benefit is large.
最后介绍一下本发明各组成部分的装置型号。Finally, the device model of each component of the present invention is introduced.
步进电机选用MS36二相四线行星减速步进电机减速比为1:14，采用TB6560AFG步进电机驱动芯片驱动步进电机，细分数选择1，即200脉冲，步进电机转动一圈。The stepping motor adopts MS36 two-phase four-wire planetary deceleration stepping motor with a reduction ratio of 1:14, and adopts TB6560AFG stepping motor driver chip to drive the stepping motor.
ADC使用STM32F407ZGT6芯片自带的12位模拟数字转换器(ADC)(所述主控模块采集所述圆周电位器的滑动端的A/D采样值就是通过12位模拟数字转换器实现的)，分辨率为12位，212＝4096，参考电压为3.3V。即将参考电压进行了4096个细分。若电位器电压为3.3V，则对应的AD采样值为4096，若电位器电压为0，则对应的AD采样值为0。圆周电位器使用WDD35D4型。阻值为5K线性变化，因此在1号，2号引脚上接3。3V电压，3号引脚电压在0-3.3V线性变化(根据转动角度)。因此AD采样值从0-4096呈线性变化。角度模式：计算输出脉冲数＝AD采样值*14*200/4096。其中14为步进电机减速比，200为步进电机转动一周所需要的脉冲数。因为有步进电机减速器，原本转动一周需要200脉冲，变为转动一周需要2800个脉冲。转动的角度正比于脉冲数量，比例关系为360/2800。即一个脉冲步进电机转动约0.1286°。速度模式：目标速度脉冲数＝AD采样值*最大目标脉冲数/4096。最大目标脉冲数与所要求的最大速度(频率)成正比(可以更改)。此处设定最大目标脉冲数设定为1000。The ADC uses the 12-bit analog-to-digital converter (ADC) that comes with the STM32F407ZGT6 chip (the main control module collects the A/D sampling value of the sliding end of the circular potentiometer through the 12-bit analog-to-digital converter), and the resolution It is 12 bits, 2 12 =4096, and the reference voltage is 3.3V. The reference voltage is about to be subdivided by 4096. If the potentiometer voltage is 3.3V, the corresponding AD sampling value is 4096; if the potentiometer voltage is 0, the corresponding AD sampling value is 0. The circular potentiometer uses WDD35D4 type. The resistance value changes linearly at 5K, so connect the 3.3V voltage on the No. 1 and No. 2 pins, and the voltage on the No. 3 pin changes linearly at 0-3.3V (according to the rotation angle). So the AD sample value varies linearly from 0-4096. Angle mode: Calculate the number of output pulses = AD sample value * 14 * 200/4096. Among them, 14 is the reduction ratio of the stepping motor, and 200 is the number of pulses required for one rotation of the stepping motor. Because there is a stepper motor reducer, it originally required 200 pulses for one rotation, but 2800 pulses for one rotation. The angle of rotation is proportional to the number of pulses, with a proportional relationship of 360/2800. That is, a pulse stepper motor rotates about 0.1286°. Speed mode: target speed pulse number = AD sampling value * maximum target pulse number/4096. The maximum number of target pulses is proportional to the required maximum speed (frequency) (can be changed). Here, the maximum target pulse number is set to 1000.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.
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