CN101210821A - Coarse-fine data coupling method for double passage shaft angle conversion and measurement - Google Patents
Coarse-fine data coupling method for double passage shaft angle conversion and measurement Download PDFInfo
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- CN101210821A CN101210821A CNA2006101053406A CN200610105340A CN101210821A CN 101210821 A CN101210821 A CN 101210821A CN A2006101053406 A CNA2006101053406 A CN A2006101053406A CN 200610105340 A CN200610105340 A CN 200610105340A CN 101210821 A CN101210821 A CN 101210821A
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Abstract
The invention relates to a method for coarse-fine data coupling in double-channel axial angle conversion and measurement. The method comprises the following steps of: (1) respectively collecting output voltages of coarse and fine channels; (2) performing analog-digital conversion of the output voltages to obtain binary coarse channel data and fine channel data; (3) carrying out logic correction according to the least significant bit of the binary coarse channel data; (4) coupling and outputting the coarse channel data and the fine channel data after logic correction. The invention employs a sine and cosine rotary transformer as a sensor in a coarse channel angle measuring system, and a round induction synchronizer as a sensor in a fine channel angle measuring system. The invention has the advantages of measurement in combined software and hardware mode, high measurement accuracy, high resolution (up to 0.03864 angular second), and simple circuit structure.
Description
Technical field
The present invention relates to a kind of binary channels shaft angle conversion and measuring method.
Background technology
For inertial navigation system, 360 ° of omnidirectional high-accuracy axis angle measurement systems are absolutely necessary, the general now binary channels angle measuring system that adopts adopts electric thick smart binary channels combination to measure, promptly select for use thick, smart two independently passage measure, knowing a little about the angle measurement scope is 0 °～360 °, be proficient in the angle measurement scope and be 0 °～(360/N) °; The binary channels angle measuring system mainly contains dual mode: a kind of is to adopt the sensitive element of multipole/two speed resolver as thick, smart two passage angle measuring systems, single sine and cosine resolver to the utmost point makes to know a little about the angle measurement element, and N makes to be proficient in the angle measurement element to the sine and cosine resolver of the utmost point: another kind is to adopt sine and cosine resolver and the round induction synchrometer sensitive element of thick, smart two the passage angle measuring systems of conduct respectively.These two kinds of angle measuring system chosen angle sensing elements are universal goniometer spare, but in existing shaft angle conversion and the measuring technique, what adopt is to carry out thick smart coupling with hardware circuit (as logical circuit), so circuit structure complexity, volume are big, and measuring accuracy and resolution are subjected to the restriction of hardware circuit.In addition, thick, be proficient in output be sine and cosine analog quantity voltage signal, need through the shaft angle analog to digital conversion circuit to thick, be proficient in and carry out analog to digital conversion; Then with thick smart coupling scheme conversion thick, be proficient in digital quantity and be connected into a binary code numerical value, could improve the precision and the resolution of axis angle measurement like this.But, because the electrical error of angle sensor device, and the precision of thick smart coupled circuit, may make the many meters of lowest order of thick smart two passages or count a number less, thereby bring new error.
Summary of the invention
The object of the invention provide a kind of by coupling data is carried out error correction and proofread and correct the binary channels shaft angle conversion improve measuring accuracy and measure in thick smart coupling process, its solved the circuit structure complexity that adopts logical circuit to carry out thick smart coupling in conversion of background technology binary channels shaft angle and the measuring method to be brought, volume greatly, measuring accuracy and resolution is restricted, the technical matters that is easy to generate new error.
Technical solution of the present invention is:
The method of thick smart coupling in a kind of binary channels shaft angle conversion and the measurement may further comprise the steps:
1] establishing the number of pole-pairs of being proficient in the angle measuring system sensitive element is N, by N=2
iObtain i; If the effective length of thick smart coupling back binary data is the K position;
2] gather output voltage thick, two passage angle measuring system sensitive elements of essence respectively;
3] output voltage that will know a little about the angle measuring system sensitive element carries out analog to digital conversion by the shaft angle analog to digital conversion circuit and obtains at least i+2 position scale-of-two and know a little about track data; The output voltage that to be proficient in the angle measuring system sensitive element carries out analog to digital conversion by the shaft angle analog to digital conversion circuit and obtains K-i position scale-of-two and be proficient in track data;
4] according to knowing a little about the i+1 position and the i+2 bit data of track data and being proficient in the 1st of track data and the 2nd bit data, carry out the logic correction to knowing a little about the i bit data:
If know a little about track data i+1 position and i+2 bit data for " 1 " and " 1 ", and be proficient in the 1st of track data and the 2nd bit data is " 0 " and " 0 ", the i bit data that then will know a little about track data adds 1;
If know a little about track data i+1 position and i+2 bit data for " 0 " and " 0 ", and be proficient in the 1st of track data and the 2nd bit data is " 1 " and " 1 ", then will know a little about track data i bit data and subtract 1;
If know a little about track data i+1 position and i+2 bit data and be proficient in the 1st of track data and the 2nd bit data is other situations, the i bit data of then knowing a little about track data is constant;
5] propose the i+2 bit data of knowing a little about track data after proofreading and correct through logic before the i position as the 1st of thick smart coupling data to the i position, will be proficient in i+1 position to the K position of the K-i bit data of track data as thick smart coupling data.
Above-mentionedly slightly be proficient in the angle measuring system sensitive element and can be multipole/two speed resolver.
Above-mentioned multipole/the number of pole-pairs N=16 of two speed resolver.
Above-mentionedly know a little about the angle measuring system sensitive element and can be sine and cosine resolver, above-mentionedly be proficient in the angle measuring system sensitive element and can be round induction synchrometer.
The number of pole-pairs N=512 of above-mentioned round induction synchrometer.
The inventive method has following advantage:
1, measuring accuracy height.If thick, smart two passages pass through the high speed shaft angle mould number conversion of K-i position (scale-of-two) precision respectively, then the precision after the thick smart coupling of the present invention is K position (scale-of-two), the coupling precision of existing dual channel high speed shaft position digitizer spare is the K-i position, realizes the high i of the precision position (scale-of-two) of the existing dual channel high speed shaft position digitizer spare of ratio of precision of thick smart coupling as can be seen by the inventive method.
2, resolution height.The resolution (unit rad) of the thick smart coupling of the present invention is: (360 * 3600) ÷ (N * 2
(k-i)).For example be proficient in the round induction synchrometer that sensitive element adopts 512 pairs of utmost points, slightly be proficient in the shaft angle analog to digital conversion of carrying out 16 respectively, by N=2
iObtain i=9, then can obtain the scale-of-two output result of K=16+i=25 position precision, resolution is: (360 * 3600) ÷ (N * 2
(k-i))=0.03864 rad=0.00001072883605 degree.
4, circuit structure is simple.The inventive method can adopt the method for software combined with hardware to realize, will have logical circuit now and omit, and simple in structure, volume reduces.
Description of drawings
Fig. 1 is circuit theory diagrams of the present invention;
Fig. 2 knows a little about track data, is proficient in track data and thick smart coupling data position concerns synoptic diagram for the present invention.
Embodiment
Circuit theory of the present invention and flow chart of data processing are seen Fig. 1, know a little about and be proficient in responsive respectively shaft angle and export the relevant voltage value, convert corresponding binary numeral to by the shaft angle analog to digital conversion circuit, carry out thick smart coupling then, the binary numeral after the output coupling at last.At first obtain i according to the number of pole-pairs N that is proficient in the angle measurement element, the binary numeral significance bit of then knowing a little about is i position (high i position), the binary numeral position of being proficient in all is a significance bit, basis is known a little about the true value of binary numeral significance bit two bits afterwards and is proficient in the highest two true value in binary numeral position and carries out logic determines again, determines to know a little about the i position true value of binary numeral.Finally obtain the output result of K bit sign indicating number as the angle measurement passage.The i position true value differentiation of wherein knowing a little about binary numeral sees Table 1:
Table 1
Table 2 slightly is proficient in figure place and weight table
When being proficient in sensing element and being the round induction synchrometer of 512 pairs of utmost points, N=512, i=9 then, all adopt 16 shaft angle analog to digital conversion circuits to carry out analog to digital conversion, then thick smart coupling be exactly utilize know a little about high 9 with whole 16 weighted of being proficient in, simultaneously the least significant bit (LSB) of knowing a little about is carried out error correction and correction.The velocity ratio of knowing a little about and being proficient in is 512, and as seen being proficient in when exporting complete 1 state correspondence by table 2, to know a little about corner be 0.70313 °, and the corresponding corner of the most significant digit of being proficient in is 0.35156 °.And 0.70313 ° corresponding to the 9th that knows a little about, and this is the least significant bit (LSB) of knowing a little about, and is substituted by being proficient in from the 10th later whole numbers.
Know a little about the 10th and the 11st and represent with C10, C11 respectively, be proficient in the 1st and the 2nd and represent with D1, D2.Work as D1=D2=1, and C10=C11=0, illustrate to be proficient in to turn over 270 ° and do not allow to know a little about to C9 carry, but C9 has had carry, obviously knows a little about many countings take place, must subtract 1 in the C9 position.Work as D1=D2=0, and C10=C11=1, illustrate that being proficient in corner allows to know a little about the carry to C9 less than 90 °, but C9 there is not carry, obviously know a little about few counting takes place, must add 1 in the C9 position.Other situations do not need error correction and correction are carried out in the C9 position.
After judging relatively, obtain knowing a little about real the 9th to 10,11 of knowing a little about and 1,2 of being proficient in, by high 9 and 16 of being proficient in that know a little about, finally obtain the output result of 25 bit sign indicating numbers as the angle measurement passage, specifically can be referring to Fig. 2.
Claims (5)
1. the method for thick smart coupling during a binary channels shaft angle is changed and measured is characterized in that: said method comprising the steps of:
1] establishing the number of pole-pairs of being proficient in the angle measuring system sensitive element is N, by N=2
iObtain i; If the effective length of thick smart coupling back binary data is the K position;
2] gather output voltage thick, two passage angle measuring system sensitive elements of essence respectively;
3] output voltage that will know a little about the angle measuring system sensitive element carries out analog to digital conversion by the shaft angle analog to digital conversion circuit and obtains at least i+2 position scale-of-two and know a little about track data; The output voltage that to be proficient in the angle measuring system sensitive element carries out analog to digital conversion by the shaft angle analog to digital conversion circuit and obtains K-i position scale-of-two and be proficient in track data;
4] according to knowing a little about the i+1 position and the i+2 bit data of track data and being proficient in the 1st of track data and the 2nd bit data, carry out the logic correction to knowing a little about the i bit data:
If know a little about track data i+1 position and i+2 bit data for " 1 " and " 1 ", and be proficient in the 1st of track data and the 2nd bit data is " 0 " and " 0 ", the i bit data that then will know a little about track data adds 1;
If know a little about track data i+1 position and i+2 bit data for " 0 " and " 0 ", and be proficient in the 1st of track data and the 2nd bit data is " 1 " and " 1 ", then will know a little about track data i bit data and subtract 1;
If know a little about track data i+1 position and i+2 bit data and be proficient in the 1st of track data and the 2nd bit data is other situations, the i bit data of then knowing a little about track data is constant;
5] propose the i+2 bit data of knowing a little about track data after proofreading and correct through logic before the i position as the 1st of thick smart coupling data to the i position, will be proficient in i+1 position to the K position of the K-i bit data of track data as thick smart coupling data.
2. binary channels shaft angle according to claim 1 conversion and measure in the method for thick smart coupling, it is characterized in that: described slightly to be proficient in the angle measuring system sensitive element be multipole/two speed resolver.
3. binary channels shaft angle according to claim 2 conversion and measure in the method for thick smart coupling, it is characterized in that: described multipole/the number of pole-pairs N=16 of two speed resolver.
4. binary channels shaft angle according to claim 1 conversion and measure in the method for thick smart coupling, it is characterized in that: described to know a little about the angle measuring system sensitive element be sine and cosine resolver, it is above-mentioned that to be proficient in the angle measuring system sensitive element be round induction synchrometer.
5. the method for thick smart coupling is characterized in that: the number of pole-pairs N=512 of described round induction synchrometer in binary channels shaft angle conversion according to claim 4 and the measurement.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101900559A (en) * | 2009-11-06 | 2010-12-01 | 北京自动化控制设备研究所 | Biaxial rotation modulation method of strapdown inertial navigation system |
| CN102494709A (en) * | 2011-11-04 | 2012-06-13 | 中国兵器工业第二〇六研究所 | Method for self-calibrating zero position of fine and coarse machine of double-channel multi-polar rotary transformer |
| CN102829714A (en) * | 2012-08-16 | 2012-12-19 | 中国科学院西安光学精密机械研究所 | Method for realizing absolute angle measurement based on round inductosyn |
| CN103234566A (en) * | 2013-05-09 | 2013-08-07 | 佛山科学技术学院 | Random speed ratio precise-crude combination encoder |
| CN103791926A (en) * | 2014-03-05 | 2014-05-14 | 重庆华渝电气集团有限公司 | Novel method for realizing coarse/fine combination of resolver-to-digital converters |
| CN105137235A (en) * | 2015-08-27 | 2015-12-09 | 北京航天控制仪器研究所 | Rotary transformer electric bridge function detection method |
| CN106679607A (en) * | 2016-11-18 | 2017-05-17 | 天津津航技术物理研究所 | Absolute combination angle measuring system with induction synchronizer |
| CN107300386A (en) * | 2017-06-05 | 2017-10-27 | 西北工业大学 | A kind of convex optimization Optimal Rendezvous method of guidance of closed loop navigated based on only angle measurement |
| CN108155910A (en) * | 2017-12-21 | 2018-06-12 | 中国船舶重工集团公司第七0七研究所 | A kind of high speed sine and cosine encoder coding/decoding method based on FPGA |
| CN108613684A (en) * | 2018-04-27 | 2018-10-02 | 北京航天控制仪器研究所 | Three floating plateform systems determine base framework angular accuracy test method |
| CN109405790A (en) * | 2018-12-14 | 2019-03-01 | 北京无线电测量研究所 | A kind of angle measurement method and system for servomechanism |
| CN109579676A (en) * | 2018-11-26 | 2019-04-05 | 南京长峰航天电子科技有限公司 | A kind of location decodingmethod and system based on two speed resolver phase failure |
| CN110285750A (en) * | 2019-05-06 | 2019-09-27 | 上海航天控制技术研究所 | A kind of precision angle circuit and angle-measuring method |
| CN112284323A (en) * | 2020-09-17 | 2021-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | Strong robustness data sampling method of speed ratio programmable shaft angle measuring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101900559A (en) * | 2009-11-06 | 2010-12-01 | 北京自动化控制设备研究所 | Biaxial rotation modulation method of strapdown inertial navigation system |
| CN102494709A (en) * | 2011-11-04 | 2012-06-13 | 中国兵器工业第二〇六研究所 | Method for self-calibrating zero position of fine and coarse machine of double-channel multi-polar rotary transformer |
| CN102829714A (en) * | 2012-08-16 | 2012-12-19 | 中国科学院西安光学精密机械研究所 | Method for realizing absolute angle measurement based on round inductosyn |
| CN103234566A (en) * | 2013-05-09 | 2013-08-07 | 佛山科学技术学院 | Random speed ratio precise-crude combination encoder |
| CN103791926A (en) * | 2014-03-05 | 2014-05-14 | 重庆华渝电气集团有限公司 | Novel method for realizing coarse/fine combination of resolver-to-digital converters |
| CN103791926B (en) * | 2014-03-05 | 2016-03-09 | 重庆华渝电气集团有限公司 | The thick smart combination implementing method of a kind of angle-digital converter |
| CN105137235B (en) * | 2015-08-27 | 2018-04-10 | 北京航天控制仪器研究所 | A kind of function detecting method of rotary transformer electric bridge |
| CN105137235A (en) * | 2015-08-27 | 2015-12-09 | 北京航天控制仪器研究所 | Rotary transformer electric bridge function detection method |
| CN106679607A (en) * | 2016-11-18 | 2017-05-17 | 天津津航技术物理研究所 | Absolute combination angle measuring system with induction synchronizer |
| CN107300386B (en) * | 2017-06-05 | 2020-06-09 | 西北工业大学 | Closed-loop convex optimization optimal rendezvous guidance method based on only angle measurement navigation |
| CN107300386A (en) * | 2017-06-05 | 2017-10-27 | 西北工业大学 | A kind of convex optimization Optimal Rendezvous method of guidance of closed loop navigated based on only angle measurement |
| CN108155910A (en) * | 2017-12-21 | 2018-06-12 | 中国船舶重工集团公司第七0七研究所 | A kind of high speed sine and cosine encoder coding/decoding method based on FPGA |
| CN108155910B (en) * | 2017-12-21 | 2021-11-09 | 中国船舶重工集团公司第七0七研究所 | High-speed sine and cosine encoder decoding method based on FPGA |
| CN108613684A (en) * | 2018-04-27 | 2018-10-02 | 北京航天控制仪器研究所 | Three floating plateform systems determine base framework angular accuracy test method |
| CN108613684B (en) * | 2018-04-27 | 2021-07-09 | 北京航天控制仪器研究所 | Method for testing angle precision of fixed base frame of three-floating platform system |
| CN109579676A (en) * | 2018-11-26 | 2019-04-05 | 南京长峰航天电子科技有限公司 | A kind of location decodingmethod and system based on two speed resolver phase failure |
| CN109579676B (en) * | 2018-11-26 | 2020-12-25 | 南京长峰航天电子科技有限公司 | Position decoding method and system based on phase loss lock of dual-channel rotary transformer |
| CN109405790A (en) * | 2018-12-14 | 2019-03-01 | 北京无线电测量研究所 | A kind of angle measurement method and system for servomechanism |
| CN110285750A (en) * | 2019-05-06 | 2019-09-27 | 上海航天控制技术研究所 | A kind of precision angle circuit and angle-measuring method |
| CN112284323A (en) * | 2020-09-17 | 2021-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | Strong robustness data sampling method of speed ratio programmable shaft angle measuring system |
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