阅读说明：本技术 特种设备天线转台双电机控制系统及其方法 (dual-motor control system and method for antenna turntable of special equipment ) 是由 卢辰 于 2019-07-23 设计创作，主要内容包括：本发明公开了一种特种设备天线转台双电机控制系统,主要包括中央处理单元、与中央处理单元相互连接的人机交互界面、光纤传输单元、第一电机系统、第二电机系统；所述第一电机系统与第二电机系统均由依次连接的一体化伺服电机、减速器、电磁离合器、小齿轮组成,两个小齿轮带动转台大齿轮和天线大盘旋转,完成天线方位转动。还公开了该系统的双电机控制方法。本发明采用单中央处理单元控制双电机,两个一体化伺服电机每12个小时依次交替工作,大大延长了一体化伺服电机的寿命,减少了工作人员的维修频率,进而提高了系统的可靠性,实现了电机的在线切换,有力保障了特种设备天线的24小时连续工作。(the invention discloses a dual-motor control system for an antenna turntable of special equipment, which mainly comprises a central processing unit, a human-computer interaction interface, an optical fiber transmission unit, a first motor system and a second motor system, wherein the human-computer interaction interface is mutually connected with the central processing unit; the first motor system and the second motor system are composed of an integrated servo motor, a speed reducer, an electromagnetic clutch and small gears which are sequentially connected, and the two small gears drive the rotary table large gear and the antenna large disc to rotate so as to complete the rotation of the antenna in the direction. A dual-motor control method of the system is also disclosed. The invention adopts the single central processing unit to control the double motors, and the two integrated servo motors work alternately in turn every 12 hours, thereby greatly prolonging the service life of the integrated servo motors, reducing the maintenance frequency of workers, further improving the reliability of the system, realizing the on-line switching of the motors and powerfully ensuring the 24-hour continuous work of the special equipment antenna.)

1. A special equipment antenna turntable dual-motor control system is characterized by mainly comprising a central processing unit, a human-computer interaction interface, an optical fiber transmission unit, a first motor system and a second motor system, wherein the human-computer interaction interface is mutually connected with the central processing unit;

The first motor system and the second motor system are composed of an integrated servo motor, a speed reducer, an electromagnetic clutch and small gears which are sequentially connected, and the two small gears drive the rotary table large gear and the antenna large disc to rotate so as to complete the rotation of the antenna in the direction.

2. The dual-motor control system for the antenna turntable of special equipment according to claim 1, wherein the integrated servo motors of the first motor system and the second motor system are communicated with the central processing unit through EtherCAT.

3. the dual-motor control system for the antenna turntable of special equipment as claimed in claim 1, wherein the optical fiber transmission unit comprises a first optical fiber converter and a second optical fiber converter, an input end of the first optical fiber converter is connected with the central processing unit through a network cable, an output end of the first optical fiber converter is connected with an input end of the second optical fiber converter through an optical fiber, and an output end of the second optical fiber converter is connected with a remote terminal.

4. The special equipment antenna turntable dual-motor control system as claimed in claim 1, wherein the human-computer interaction interface is provided with an antenna rotation speed setting button, a first integrated servo motor working button, a second integrated servo motor working button, a remote/home control button, an alarm button, a stop button and an integrated servo motor operation parameter display area.

5. The control method of the dual-motor control system of the special equipment antenna turntable based on the claim 1 is characterized by comprising a dual-motor remote control method and a dual-motor local control method:

(1) The double-motor remote control method comprises the following steps:

S101: initializing a system, and determining the working sequence of a first motor system and a second motor system;

S102: supposing that the first motor system works first, the first electromagnetic clutch is electrified, the second electromagnetic clutch is not electrified, and the condition that the first electromagnetic clutch and the second electromagnetic clutch have an electrified state or only one electromagnetic clutch is electrified is ensured;

s103: when the first integrated servo motor works for 12 hours or fails, the system firstly enables the first electromagnetic clutch to be out of the power and disengaged, then enables the second electromagnetic clutch to be in the power and actuation state, so that the second integrated servo motor starts to work, and the first integrated servo motor is in rest or is replaced on line;

S104: when the second integrated servo motor works for 12 hours or fails, repeating the steps S102 and S103;

(2) the double-motor local control method comprises the following steps:

s201: the method comprises the following steps of initializing a system, freely selecting a first motor system or a second motor system to work, and ensuring that only one set of motor system works;

s202: when the first motor system is selected to work, the first electromagnetic clutch is electrified and closed, the second electromagnetic clutch is not electrified and is disconnected, so that the first integrated servo motor works, and the second integrated servo motor has a rest; selecting a second motor system to work in the same way;

S203: and judging whether the dual-motor control system is stopped or not, and if the dual-motor control system is stopped, stopping the first integrated servo motor and the second integrated servo motor so that the first electromagnetic clutch and the second electromagnetic clutch are disconnected.

Technical Field

The invention relates to the technical field of special equipment, in particular to a special equipment antenna turntable dual-motor control system and a special equipment antenna turntable dual-motor control method.

Background

the antenna turntable is an essential important part of mechanical scanning special equipment. The antenna has the main function of bearing the special equipment antenna to do required mechanical scanning action; meanwhile, the antenna turntable is also used as a bearing foundation of the antenna and bears the self weight of the antenna and other loads transmitted by the antenna.

with the increase of tasks executed by special equipment, the 24-hour startup work is a trend, particularly in some regions of Tibet, the workers need to carry oxygen to normally work at an average altitude of more than 5600 m, and higher requirements are provided for the reliability of the special equipment in order to reduce the frequency of the workers going up the mountain to work.

in a traditional dual-machine hot standby redundancy system, two sets of equipment are in a hot machine state, one set of equipment fails, the other set of equipment takes over all tasks immediately, but the investment cost is high, the two sets of equipment work all the time, the service lives of components are shortened, and mutually independent configurations can also influence each other; secondly, by adopting a heartbeat detection and a mirror image mechanism of key data, the switching time of the two CPUs is too long, and the communication between the two CPUs can also fail under the interference of a complex electromagnetic environment, so that the maintenance difficulty is increased, the equipment can also be stopped, serious consequences are brought, and the reliability can be greatly reduced compared with that of theoretical calculation. In addition, the traditional dual-computer hot standby redundancy system adopts an overrunning clutch, when strong wind occurs in the natural environment and the rotating speed of the antenna exceeds the rotating speed of the motor, the overrunning clutch can be disengaged, and at the moment, the antenna is not controlled by the motor and cannot complete the positioning function of the antenna. Meanwhile, the traditional method adopts pulse, analog quantity and digital quantity to control the rotation of the antenna, and the hardware equipment is complex in connection and poor in anti-interference performance and real-time performance.

therefore, it is desirable to provide a novel dual-motor control system for antenna turntable of special equipment and a method thereof to solve the above problems.

Disclosure of Invention

the invention aims to solve the technical problem of providing a dual-motor control system and a dual-motor control method for a special equipment antenna turntable, which can improve the reliability of the system, realize the online switching of motors and powerfully ensure the 24-hour continuous work of the special equipment antenna.

in order to solve the technical problems, the invention adopts a technical scheme that: the dual-motor control system for the antenna turntable of the special equipment mainly comprises a central processing unit, a human-computer interaction interface, an optical fiber transmission unit, a first motor system and a second motor system, wherein the human-computer interaction interface is mutually connected with the central processing unit;

The first motor system and the second motor system are composed of an integrated servo motor, a speed reducer, an electromagnetic clutch and small gears which are sequentially connected, and the two small gears drive the rotary table large gear and the antenna large disc to rotate so as to complete the rotation of the antenna in the direction.

In a preferred embodiment of the present invention, the integrated servo motors of the first motor system and the second motor system are communicated with the central processing unit through EtherCAT.

in a preferred embodiment of the present invention, the optical fiber transmission unit includes a first optical fiber converter and a second optical fiber converter, an input end of the first optical fiber converter is connected to the central processing unit through a network cable, an output end of the first optical fiber converter is connected to an input end of the second optical fiber converter through an optical fiber, and an output end of the second optical fiber converter is connected to the remote terminal.

in a preferred embodiment of the invention, the man-machine interaction interface is provided with an antenna rotating speed setting button, a first integrated servo motor working button, a second integrated servo motor working button, a remote/local control button, an alarm button, a stop button and an integrated servo motor operation parameter display area.

in order to solve the technical problem, the invention adopts another technical scheme that: a control method based on the dual-motor control system of the antenna turntable of the special equipment is provided, and comprises a dual-motor remote control method and a dual-motor local control method:

(1) the double-motor remote control method comprises the following steps:

s101: initializing a system, and determining the working sequence of a first motor system and a second motor system;

S102: supposing that the first motor system works first, the first electromagnetic clutch is electrified, the second electromagnetic clutch is not electrified, and the condition that the first electromagnetic clutch and the second electromagnetic clutch have an electrified state or only one electromagnetic clutch is electrified is ensured;

s103: when the first integrated servo motor works for 12 hours or fails, the system firstly enables the first electromagnetic clutch to be out of the power and disengaged, then enables the second electromagnetic clutch to be in the power and actuation state, so that the second integrated servo motor starts to work, and the first integrated servo motor is in rest or is replaced on line;

S104: when the second integrated servo motor works for 12 hours or fails, repeating the steps S102 and S103;

(2) the double-motor local control method comprises the following steps:

s201: the method comprises the following steps of initializing a system, freely selecting a first motor system or a second motor system to work, and ensuring that only one set of motor system works;

S202: when the first motor system is selected to work, the first electromagnetic clutch is electrified and closed, the second electromagnetic clutch is not electrified and is disconnected, so that the first integrated servo motor works, and the second integrated servo motor has a rest; selecting a second motor system to work in the same way;

s203: and judging whether the dual-motor control system is stopped or not, and if the dual-motor control system is stopped, stopping the first integrated servo motor and the second integrated servo motor so that the first electromagnetic clutch and the second electromagnetic clutch are disconnected.

the invention has the beneficial effects that:

(1) compared with the traditional dual-motor hot standby redundancy system, the dual-motor control system has no main and standby control, and does not need to be switched when the motor fails; the single central processing unit is adopted to control the double motors, and the two integrated servo motors work alternately in turn every 12 hours, so that the service life of the integrated servo motors is greatly prolonged, the maintenance frequency of workers is reduced, the reliability of the system is further improved, the online switching of the motors is realized, and the 24-hour continuous work of the special equipment antenna is powerfully guaranteed;

(2) The invention provides a structure form of a rotary table motor, which adopts an electromagnetic clutch, not only can realize the on-line switching of two motors, but also can realize the positioning and stopping functions of an antenna; meanwhile, the integrated servo motor is adopted for driving, the driver and the motor are integrated, the anti-interference performance is good, the structure is compact, the installation is easy, a case for placing the servo driver is reduced, and the space is saved for special equipment;

(3) The invention realizes the motor control of the central processing unit by using the EtherCAT network protocol, simplifies the system connection, has good anti-interference performance and strong real-time performance, and has full duplex communication, and abandons the mode that the traditional system controls the rotation of the antenna by using pulse, analog quantity and digital quantity;

(4) the invention uses a friendly man-machine interaction interface, adopts remote control/local control switching, and has simple operation and clear antenna running state; meanwhile, the antenna can be operated at the remote terminal, and the remote terminal can communicate with the terminal remotely only through one network cable through the optical fiber.

drawings

FIG. 1 is a block diagram of a dual-motor control system for an antenna turntable of a special equipment according to a preferred embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the human-computer interaction interface;

FIG. 3 is a schematic flow chart of the dual-motor remote control method;

Fig. 4 is a schematic flow chart of the dual-motor local control method.

Detailed Description

the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

Referring to fig. 1, an embodiment of the present invention includes:

a dual-motor control system for an antenna turntable of special equipment mainly comprises a central processing unit, a human-computer interaction interface, an optical fiber transmission unit, a first motor system and a second motor system, wherein the human-computer interaction interface is mutually connected with the central processing unit. The first motor system and the second motor system are composed of an integrated servo motor, a speed reducer, an electromagnetic clutch and small gears which are sequentially connected, and the two small gears drive the rotary table large gear and the antenna large disc to rotate so as to complete the rotation of the antenna in the direction.

Preferably, the integrated servo motors of the first motor system and the second motor system are communicated with the central processing unit through EtherCAT. The motor control of the central processing unit is realized by utilizing an EtherCAT network protocol, the system connection is simplified, the anti-interference performance is good, the real-time performance is strong, the full-duplex communication is realized, and the mode that the traditional system utilizes pulse, analog quantity and digital quantity to control the rotation of the antenna is abandoned.

With reference to fig. 2, in order to enable an operator to better control the antenna and facilitate the operator to know the operation status of the device in real time, the human-computer interface is provided with an antenna rotation speed setting button, a first integrated servo motor operating button, a second integrated servo motor operating button, a remote/home control button, an alarm button, a stop button, and an integrated servo motor operation parameter display area. The integrated servo motor operation parameter display area comprises a first integrated servo motor (shown as a motor A in the figure) operation state lamp, a fault lamp and a current display screen, and further comprises a second integrated servo motor (shown as a motor B in the figure) operation state lamp, a fault lamp and a current display screen. Through a friendly man-machine interaction interface, plug and play, an operator can control the action of the antenna by connecting the touch screen with the network port of the central processing unit by using a network cable. An operator only needs to input the required rotating speed in the rotating speed setting block, and meanwhile, a remote/local control switching function, an integrated motor working function, a positioning setting function, a stopping function and the like are provided, the running state of the motor can be known in real time, and a good use interface is provided for the operator.

The optical fiber transmission unit comprises a first optical fiber converter and a second optical fiber converter, wherein the input end of the first optical fiber converter is connected with the central processing unit through a network cable, the output end of the first optical fiber converter is connected with the input end of the second optical fiber converter through an optical fiber, and the output end of the second optical fiber converter is connected with the remote terminal. When a remote control mode is required to be used, the human-computer interaction interface is switched to the remote control mode, network signals are converted into optical signals through the first optical fiber converter, long-distance transmission is achieved through one optical fiber, the optical signals are converted into the network signals which can be collected by the terminal through the second optical fiber converter, and mutual communication between the remote terminal and the special equipment is achieved. When the antenna of the special equipment performs tasks on mountains with higher altitude, the antenna can be manually operated at a favorable position.

When the integrated motor is used, the rotating speed required to be set is input in the rotating speed setting of the man-machine interface antenna or the rotating speed can be set at the remote terminal by switching to the remote control, after the central processing unit receives a rotating speed instruction, the integrated motor is rapidly controlled to work through an EtherCAT (network cable) communication protocol, and because the EtherCAT (network cable) communication protocol is full-duplex communication, the integrated motor receives the instruction sent by the central processing unit and simultaneously feeds back the relevant information of the motor to the central processing unit. The integrated motor acts according to instructions, is decelerated through the speed reducer, is connected with the pinion through the electromagnetic clutch, and drives the pinion to drive the turntable large gear and the antenna large disc to rotate so as to meet the requirement of antenna azimuth rotation.

Based on the dual-motor control system of the special equipment antenna turntable, a dual-motor control method is further provided, the dual-motor control method comprises a dual-motor remote control method and a dual-motor local control method, control software is compiled by CodeSys programming software, ST language is adopted for compiling, programming is simple, and use is convenient. The following describes the dual-motor remote/present control method, and for simplifying the accompanying drawings, the first is denoted by a, and the second is denoted by B:

(1) in a remote control mode, the system adopts a double-motor remote control method, and comprises the following steps in combination with fig. 3:

s101: initializing a system, and determining the working sequence of a first motor system and a second motor system;

S102: assuming that the first motor system works first, in this embodiment, the system defaults that the first motor system works first, 24V dc voltage is applied to the first electromagnetic clutch, the first electromagnetic clutch is closed, the second electromagnetic clutch is not energized, the second electromagnetic clutch is disengaged, it is necessary to ensure that the first electromagnetic clutch and the second electromagnetic clutch are in a mutual exclusion relationship, only one electromagnetic clutch is in an energized state, the first integrated servo motor starts to work, and the second integrated motor takes a rest;

S103: when the first integrated servo motor works for 12 hours or fails, the system firstly enables the first electromagnetic clutch to be out of the power and disengaged, then enables the second electromagnetic clutch to be in the power and actuation state, so that the second integrated servo motor starts to work, and the first integrated servo motor is in rest or is replaced on line;

s104: when the second integrated servo motor operates for 12 hours or fails, steps S102 and S103 are repeated.

(2) In the local control mode, the system adopts a dual-motor local control method, and comprises the following steps in combination with fig. 4:

S201: the system is initialized, a first motor system or a second motor system is freely selected to work, and protection is arranged in system software to ensure that only one set of motor system works;

S202: when the first motor system is selected to work, the first electromagnetic clutch is electrified and closed, the second electromagnetic clutch is not electrified and is disconnected, so that the first integrated servo motor works, and the second integrated servo motor has a rest; selecting a second motor system to work in the same way;

S203: and judging whether the dual-motor control system is stopped or not, and if the dual-motor control system is stopped, stopping the first integrated servo motor and the second integrated servo motor so that the first electromagnetic clutch and the second electromagnetic clutch are disconnected.

In order to meet the requirement of a special equipment antenna for executing a task in 24 hours and improve the reliability and the real-time performance of a special equipment antenna turntable, the system adopts a double-integrated servo motor driving mode, and two sets of driving devices are installed on an antenna base, so that the antenna base is not divided into a main driving device and a standby driving device, and the switching is not needed when a motor fails. Because the service life of the motor and the driver is far shorter than that of the CPU and other structural components, the invention adopts the single central processing unit to control the double motors, only one CPU is needed, and the two integrated servo motors are switched in turn for 12 hours, namely, the integrated servo motors are operated for 12 hours and have a rest for 12 hours, and 2 servo motors are sequentially alternated, thereby greatly prolonging the service life of the integrated servo motors, reducing the maintenance frequency of workers and effectively ensuring the 24-hour continuous normal operation of the special equipment antenna. In addition, the invention provides a structure form of the turntable motor, and the electromagnetic clutch is adopted, so that the online switching of the two motors can be realized, and the antenna positioning and stopping function can be realized; meanwhile, the integrated servo motor is adopted for driving, the driver and the motor are integrated, the anti-interference performance is good, the structure is compact, the installation is easy, a case for placing the servo driver is reduced, and the space is saved for special equipment.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.