CN101387491A - Rotating angle measurement apparatus and rotating angle measurement method - Google Patents
Rotating angle measurement apparatus and rotating angle measurement method Download PDFInfo
- Publication number
- CN101387491A CN101387491A CNA2008101727268A CN200810172726A CN101387491A CN 101387491 A CN101387491 A CN 101387491A CN A2008101727268 A CNA2008101727268 A CN A2008101727268A CN 200810172726 A CN200810172726 A CN 200810172726A CN 101387491 A CN101387491 A CN 101387491A
- Authority
- CN
- China
- Prior art keywords
- signal
- rotating
- rotation
- angle measurement
- inductance loop
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a device and a method for measuring the angle of rotation. The device for measuring the angle of rotation comprises an inductive ring and a switching value sensor, wherein the inductive ring comprises a plurality of induction zones distributed along the circumferential direction, and the induction zones comprise a switch-off zone and a switch-on zone which are arranged along the circumferential direction; the induction zones of the inductive ring can pass through the induction zones of the switching value sensor sequentially; the switching value sensor can input signals into a controller when the controller performs scanning; the controller can determine the angle of rotation according to changing times of rotation signals; and preferably, the device for measuring the angle of rotation comprises two inductive rings and two switching value sensors, output signals of the two switching value sensors at least comprise three kinds of combinations, and the controller can determine the direction of rotation according to the changing sequence of the combined rotation signals. The device and the method for measuring the angle of rotation are especially applicable to the measurement of the angle of rotation for correlative parts of engineering machinery.
Description
Technical field
The present invention relates to a kind of rotation angle measurement technology, particularly relate to a kind of rotating angle measurement apparatus and a kind of rotation angle measurement method.
Background technology
Modern industry constantly proposes robotization and intelligentized requirement to plant equipment, and the robotization of plant equipment, intelligently be unable to do without various sensors, utilizes various sensors can obtain the various parameters of plant equipment, to realize its Long-distance Control or operation.In a lot of plant equipment, particularly in the equipment of mechanical arm is arranged, in concrete mixer, truck-mounted crane tool, the anglec of rotation of its capstan head directly has influence on the centre of gravity place of equipment, the anglec of rotation of in time understanding capstan head guarantees that in time controlling the safety and the trouble-free operation meaning of plant equipment is very great.
In modern electro-mechanical system, measure the anglec of rotation and generally use scrambler or specific type of electric machine (such as rotary transformer, inductosyn) to carry out.In engineering machinery field, rotary encoder is generally adopted in the measurement of the anglec of rotation.Rotary encoder can convert swing offset to the string number pulse signal, obtains the anglec of rotation by digital pulse signal is handled then.Rotary encoder is measured the anglec of rotation and is had the precision height, measures accurately, feeds back characteristics timely, therefore can satisfy the requirement of the timely understanding associated components anglec of rotation.
But, because the rotary encoder integrated level than higher, is a kind of exact instrument; Controller to received signal requires also than higher, causes relatively difficulty of rotary encoder installation, maintenance, needs the professional and technical personnel to participate in just finishing, and has improved its use cost; And, in the open or under the vibrations bad working environments such as bigger, rotary encoder is difficult to bring into play its accurate measurement function, has bad adaptability, reliability defect of insufficient.In addition, to the not high occasion of the accuracy requirement of rotation angle measurement, it is also unnecessary to use rotary encoder to carry out measurement of angle at some.
In sum, current rotary encoder is difficult to satisfy current engineering machinery field to be reduced use cost, improves adaptability, increases the requirement of reliability.
Summary of the invention
The purpose of one aspect of the present invention is, a kind of rotating angle measurement apparatus is provided, and to reduce cost, increases the reliability and the adaptability of rotating angle measurement apparatus simultaneously.
On the basis that rotating angle measurement apparatus is provided, the present invention also provides a kind of rotation angle measurement method on the other hand.
Rotating angle measurement apparatus provided by the invention comprises controller and output unit, and controller links to each other with output unit, also comprises first inductance loop, first Boolean value output sensor; Described first inductance loop can be with the axis rotation of tested rotating object around first inductance loop; Described first inductance loop comprises the induction zone of a plurality of circumferential distributions, and described induction zone comprises the disconnection district and the closed area of circumferential array; When first inductance loop rotated with tested rotating object, its each induction zone can pass through the first Boolean value output sensor induction region in proper order; When controller scanned, described first Boolean value output sensor can be imported rotating signal to controller; When disconnecting district and closed area by induction region, described rotating signal is respectively cut-off signal or closure signal; Described controller can be determined the anglec of rotation of tested rotating object, the anglec of rotation of described tested rotating object and the change frequency of rotating signal and direct ratio.
Preferably, this rotating angle measurement apparatus also comprises second inductance loop and second switch quantity sensor, and described second inductance loop is coaxial with first inductance loop, and relative fixed; Described second inductance loop comprises the induction zone of a plurality of circumferential distributions, and described induction zone comprises the disconnection district and the closed area of circumferential array; When second inductance loop rotated with first inductance loop, its each induction zone can pass through second switch quantity sensor induction region in proper order; When controller carried out intermittent scanning, described second switch quantity sensor can be imported rotating signal to controller; When disconnecting district and closed area by induction region, described rotating signal is respectively cut-off signal or closure signal; Described second inductance loop equates with the radian that each induction zone on first inductance loop takies; A part and the part of the first Boolean value output sensor cut-off signal duration of described second switch quantity sensor cut-off signal duration coincide; Described controller can be determined the sense of rotation of tested rotating object according to the signal of first Boolean value output sensor and the input of second switch quantity sensor.
Preferably, the induction zone on described first inductance loop evenly distributes; Another part of described first Boolean value output sensor closure signal duration and second switch quantity sensor cut-off signal duration coincides.
Preferably, the part of the described first Boolean value output sensor closure signal duration and another part of second switch quantity sensor cut-off signal duration coincide.
Preferably, described controller can be determined the sense of rotation of tested rotating object, specifically be, described controller can be determined the sense of rotation of tested rotating object in proper order according to the first Boolean value output sensor variation of output signals duration of second switch quantity sensor cut-off signal or closure signal.
Preferably, the cut-off signal of described second switch quantity sensor equated with the closure signal duration; The cut-off signal of described first Boolean value output sensor equated with the closure signal duration; 1/2 of the 1/2 and first Boolean value output sensor cut-off signal duration of described second switch quantity sensor cut-off signal duration coincides.
Preferably, described first Boolean value output sensor and second switch quantity sensor are near switch; Also comprise a variator; Described first inductance loop can specifically be that described first inductance loop can rotate with tested rotating object by variator with tested rotating object rotation.
Rotation angle measurement method provided by the invention may further comprise the steps:
A0 obtains the initial rotating signal of Boolean value output sensor output, and initial rotating signal is defined as reference signal;
A1 obtains the rotating signal of Boolean value output sensor output; Described Boolean value output sensor is according to tested rotating object anglec of rotation output rotating signal, and described rotating signal comprises the closure signal of cut-off signal;
A2 judges whether rotating signal is identical with the reference signal that presets, if then return A1; If not, change the change frequency of rotating signal;
A3, determine the anglec of rotation of tested rotating object, the described anglec of rotation equal rotating signal change frequency K doubly, described K is the proportionality factor that presets;
A4 makes reference signal identical with rotating signal, and returns steps A 1.
Preferably, before described steps A 1, also comprise: the change frequency and the proportionality factor that preset rotating signal.
Preferably, in the described steps A 2, the change frequency that changes rotating signal specifically comprises: judge whether tested rotating object turns clockwise, if then make the change frequency of rotating signal increase by 1; If not, then make the change frequency of rotating signal deduct 1.
Preferably, describedly judge whether tested rotating object is that the concrete grammar that turns clockwise is: rotating signal and reference signal are compared, determine according to comparing result whether tested rotating object turns clockwise.
Preferably, describedly judge whether tested rotating object is that the concrete grammar that turns clockwise is: determine according to the difference of rotating signal and reference signal whether tested rotating object turns clockwise.
Compared with prior art, rotating angle measurement apparatus provided by the invention comprises controller and output unit, and controller links to each other with output unit, also comprises first inductance loop, first Boolean value output sensor, and first Boolean value output sensor is relative with first inductance loop; First inductance loop can be with tested rotating object rotation, first Boolean value output sensor can be exported corresponding rotating signal according to the first inductance loop rotational speed, controller is determined the anglec of rotation of first inductance loop according to the change frequency of rotating signal, according to the rotation proportionate relationship between first inductance loop and the tested rotating object, determine the anglec of rotation of tested rotating object again.Because rotating angle measurement apparatus provided by the invention produces corresponding signal with Boolean value output sensor, the rotating signal of its output comprises two kinds: cut-off signal or closure signal, requirement to controller is lower, can make the installation of rotating angle measurement apparatus and keep in repair fairly simple, thereby can reduce the cost of rotating angle measurement apparatus; Because Boolean value output sensor only has two states, influenced not quite by working environment, therefore can bring into play its measurement function in abominable operating mode, increased the adaptability and the reliability of rotating angle measurement apparatus.
In further technical scheme, rotating angle measurement apparatus be provided with first, second Boolean value output sensor with respectively with two first, second inductance loops that Boolean value output sensor is relative, a part and the part of the first Boolean value output sensor cut-off signal duration of second switch quantity sensor cut-off signal duration coincide, the synthetic at least three kinds of different rotating signals of the sets of signals of two Boolean value output sensor outputs; Controller can be determined the sense of rotation of first inductance loop according to three kinds of unlike signal appearance order, and then according to the relation of sense of rotation between first inductance loop and the tested rotating object, determines the sense of rotation of tested rotating object.
In further technical scheme, another part of the part of the first Boolean value output sensor closure signal duration and second switch quantity sensor cut-off signal duration coincides, make synthetic four kinds of different rotating signals of sets of signals of two Boolean value output sensors output, the anglec of rotation and sense of rotation that controller can be determined tested rotating object in proper order according to the change frequency and the variation of rotating signal.
In technical scheme further, the cut-off signal of second switch quantity sensor equated with the closure signal duration; The cut-off signal of first Boolean value output sensor equated with the closure signal duration; 1/2 of the 1/2 and first Boolean value output sensor cut-off signal duration of second switch quantity sensor cut-off signal duration coincides, make two Boolean value output sensor output signal cycles differ 1/4, four kinds of rotating signal duration that are combined into equate, can guarantee that the rotating signal period of change all is longer than the scan period of controller, the rotating signal instability of avoiding controller to obtain.
In further technical scheme, described first Boolean value output sensor and second switch quantity sensor are near switch, can further simplify rotating angle measurement apparatus provided by the invention, reduce cost.Also comprise and be located at variator between the tested rotating object and first inductance loop, can be according to the rotational speed of tested rotating object, regulate the rotating ratio between first inductance loop and the tested rotating object, keep suitable rotational speed of first inductance loop and controller scan period, make rotating angle measurement apparatus can measure wider rotational speed, further improve the adaptability of rotating angle measurement apparatus provided by the invention.
Because rotation angle measurement method provided by the invention has and above-mentioned rotating angle measurement apparatus corresponding techniques feature, therefore also possesses above-mentioned corresponding techniques effect.
Rotating angle measurement apparatus provided by the invention and method are applicable to the measurement to the anglec of rotation, are specially adapted to the measurement to the engineering machinery corresponding component anglec of rotation.
Description of drawings
Fig. 1 is that rotating angle measurement apparatus embodiment one of the present invention is electrically connected synoptic diagram;
Fig. 2 be rotating angle measurement apparatus embodiment one first inductance loop of the present invention with near position of the switch structural representation;
Fig. 3 is that rotating angle measurement apparatus embodiment two of the present invention is electrically connected synoptic diagram;
Fig. 4 be rotating angle measurement apparatus embodiment 2 first inductance loops of the present invention with near position of the switch structural representation;
Fig. 5 is rotating angle measurement apparatus embodiment two pulse rotating signal figure of the present invention;
Fig. 6 is another embodiment pulse rotating signal of rotating angle measurement apparatus of the present invention figure;
Fig. 7 is that rotating angle measurement apparatus of the present invention is near the another kind of installation site of switch synoptic diagram;
Fig. 7-the 1st, rotating angle measurement apparatus first inductance loop of the present invention with near another positional structure synoptic diagram of switch;
Fig. 8 is rotation angle measurement method embodiment one process flow diagram of the present invention;
Fig. 9 is rotation angle measurement method embodiment two process flow diagrams of the present invention.
Embodiment
Describe the present invention below in conjunction with accompanying drawing, it only is that exemplary and indicative, concrete descriptive language and order should not have any restriction to protection scope of the present invention that this part is described.
For the ease of understanding and describing, the rotating signal among the present invention is described at this; Rotating signal is the signal that Boolean value output sensor is exported to controller according to the rotation of inductance loop, when relating to a Boolean value output sensor, the pulse signal that rotating signal produces for this Boolean value output sensor, when relating to two Boolean value output sensors, rotating signal is the combination of the pulse signal of two Boolean value output sensors generations.
Embodiment one provides a kind of rotating angle measurement apparatus, give and close Fig. 1 and Fig. 2, this rotating angle measurement apparatus comprises controller 10 and output unit 11, and controller 10 links to each other with output unit 11, and controller 10 can be with corresponding results by output unit 11 outputs; Comprise that also circular inductive disks 100, first inductance loop 200, sensor fixation plate 400, the first are near switch 401.Described inductive disks 100 can be with tested rotating object around its central shaft rotation; Described first inductance loop 200 and inductive disks 100 relative fixed, in this example, shown in dotted portion among Fig. 2, first inductance loop, 200 center lines are coaxial with inductive disks 100 center lines, and first inductance loop, 200 inward flanges and inductive disks 100 outward flanges are fixed.Described first inductance loop 200 comprises a plurality of circumferential distribution induction zones 210, in this example, in order to guarantee the accuracy of the value of taking measurement of an angle, preferred 10 equally distributed induction zones, described each induction zone 210 comprises the disconnection district 211 and the closed area 212 of circumferential array, and optimized technical scheme is to disconnect district 211 to take radian with closed area 212 and equate.Sensor fixation plate 400 is fixed with the housing of rotating angle measurement apparatus, and first is fixed on the sensor fixation plate near switch 401, and relative with first inductance loop 200; When first inductance loop 200 rotated with inductive disks 100, each induction zone 210 of first inductance loop 200 can pass through first induction region near switch 401 in proper order; Described controller 10 can scan by predetermined period, to obtain first rotating signal near switch output.
Its course of work is: when inductive disks 100 was rotated with tested rotating object, first inductance loop 200 was with inductive disks 100 rotations, and first is motionless near switch 401 maintenances; Each induction zone 210 order of first inductance loop 200 are by first induction region near switch 401, disconnect district 211 by first during at induction zone 210 near the induction region of switch 401, first near switch 401 output cut-off signals, at closed area 212 by first during near the induction region of switch 401, first near switch 401 output closure signal, and the change each time of output rotating signal represents that all inductive disks turns over one and disconnects district or closed area.When controller 10 carries out intermittent scanning, can obtain first cut-off signal or the closure signal near switch 401 outputs.In order to make controller 10 can get access to first all signals in proper order near switch 401 outputs, the scan period of controller 10 should enough lack, be shorter than disconnection district 211 or closed area 212 time, promptly be shorter than the time that cut-off signal or closure signal continue by induction region.Because controller 10 can obtain first all signals near switch 401 generations; It will be appreciated by those skilled in the art that, the anglec of rotation of inductive disks 100 and the change frequency of rotating signal and proportional relationship, determine for inductive disks 100 and first inductance loop, 200 its direct proportion coefficients of determining, the direct proportion coefficient can be preset in the controller, therefore can determine the anglec of rotation of inductive disks 100 according to the change frequency that obtains rotating signal.Because the concrete relation of determining is arranged between inductive disks 100 anglecs of rotation and the tested rotating object anglec of rotation, therefore, controller 10 can be according to predetermined proportionate relationship, determine the anglec of rotation of tested rotating object according to the anglec of rotation of inductive disks 100, that is to say that controller 10 can be determined the anglec of rotation of tested rotating object according to the change number of times that obtains rotating signal.Present embodiment is an optimized technical scheme, and it is identical with the radian that closed area 212 takies to disconnect district 211, promptly disconnects district 211 and closed area 212 inductive disks 100 is divided into 20 sub-districts, and the radian that each sub-district takies all is 18 degree.The every variation of the rotating signal that controller 10 obtains once, expression inductive disks 100 turns over a sub-district, turns over 18 degree, if the rotating ratio between tested rotating object and the inductive disks 100 is 1:5, it is exactly 3.6 to spend that so tested rotating object turns over angle.Its concrete workflow will be described in detail in to the rotation angle measurement method.
It will be understood by those skilled in the art that the every variation of rotating signal that controller 10 obtains once, it is that 360/ (r * x), wherein, r is the rotating ratio between tested rotating object and the inductive disks 100, the sub-district number of x inductive disks that tested rotating object turns over angle.Inductive disks 100 sub-district numbers are constant keeping, and under the constant situation of controller scan period, the rotating ratio size between tested rotating object and the inductive disks 100 can determine the measuring accuracy and the sensitivity of rotating angle measurement apparatus.For when not changing first inductance loop, 200 structures, make rotating angle measurement apparatus can measure wider rotational speed, can between inductive disks 100 and tested rotating object, set up variator, after with variator the rotational speed of tested rotating object being changed, drive inductive disks 100 rotations again.When tested rotating object rotating speed is very high, can increase the rotating ratio between tested rotating object and the inductive disks 100, make inductive disks 100 keep lower rotational speed, the scan period of retentive control device 10, the measuring accuracy of raising rotating angle measurement apparatus; When tested rotating object rotating speed is very low, can reduce the rotating ratio between tested rotating object and the inductive disks 100, to improve the sensitivity of rotating angle measurement apparatus.
Only can produce cut-off signal and closure signal owing to first near switch, the rotating signal of its output only has two kinds, and controller is difficult to change the sense of rotation of differentiating inductive disks according to rotating signal, thereby can not differentiate the sense of rotation of tested rotating object.Embodiment two provides a kind of rotating angle measurement apparatus that can differentiate tested rotating object sense of rotation.
In conjunction with Fig. 3 and Fig. 4, the rotating angle measurement apparatus that embodiment two provides is except comprising controller 10 and output unit 11, controller 10, output unit 11, circular inductive disks 100, first inductance loop 200, sensor fixation plate 400 and first are near outside the switch 401, comprise that also second inductance loop 300 and second is near switch 402, second inductance loop 300 and inductive disks 100 relative fixed, in this example, shown in dotted portion among Fig. 4, second inductance loop 300 is identical with first inductance loop, 200 structures, and the outward flange of the inner edges and first inductance loop 200 is fixed.Inductance loop 300 comprises 10 even distribution induction zones 310 equally, and described induction zone 310 comprises the disconnection district 311 and the closed area 312 of circumferential array, and the radian that preferred disconnection district 311 and closed area 312 take in this example equates.Second near switch 402 and first near switch 401 relative fixed, in this example, second all is fixed on the sensor fixation plate 400 near switch 401 near switch 402 and first, sensor fixation plate 400 is by inductive disks 100 centers, and first is positioned at the same side, inductive disks 100 center near switch 401 and second near switch 402.When second inductance loop 300 rotated with inductive disks 100, its each induction zone 310 can pass through second induction region near switch 402 in proper order; Described second can be when controller 10 carries out intermittent scanning near switch 402, to controller 10 input rotating signals: cut-off signal or closure signal; The induction zone 310 of described second inductance loop 300 equates with the radian that induction zone 210 on first inductance loop 200 takies; Described second a part and first part near the 401 cut-off signal duration of switch near the 402 cut-off signal duration of switch coincides, optimized technical scheme is in this example, second coincided near 1/2 of the 401 cut-off signal duration of switch near 1/2 and first of the 402 cut-off signal duration of switch, and first, second differs 1/4 near 401, the 402 output signal cycles of switch sensor.
Because second coincided near 1/2 of the 401 cut-off signal duration of switch near 1/2 and first of the 402 cut-off signal duration of switch, first inductance loop 200 and second inductance loop 300 form the induced edge zone and are divided into a plurality of induction zones equally, in conjunction with Fig. 4, each induction zone makes controller 10 obtain the rotating signal of one-period, and each induction zone can be divided into 1 district, 2 districts, 3 districts and 4 districts.When 1 district, 2 districts, 3 districts and 4 districts in induced edge zone in proper order by first near switch 401 with second during near the induction zone of switch 402, two signal combination such as following tables near the switch generation:
In the last table, four kinds of signal are combined to form four kinds of rotating signals; When controller 10 scans, just can obtain two signals of exporting respectively near switch, the pulse rotating signal of output is as shown in Figure 5.In this example, preset region parameter at controller 10, the rotating signal that obtains when controller 10 is represented two near switch during in 1 district, make region parameter equal 1, corresponding with the rotating signal of first kind of combination, and the like, the rotating signal that obtains when controller 10 represent two near switch in 2 districts, when 3 districts or 4 districts, make region parameter equal 2,3 or 4 successively, respectively with second, third, the rotating signal of the 4th kind of combination is corresponding.The rotating signal that obtains when controller 10 changes, and region parameter can change simultaneously; When the variation of region parameter is in proper order: 4,3,2,1 the time, determine that then inductive disks 100 is being rotated counterclockwise; Variation in region parameter is in proper order:, determine that then inductive disks 100 is turning clockwise, and determines the sense of rotation of tested rotating object again according to the rotation relationship between inductive disks 100 and the tested rotating object at 1,2,3,4 o'clock.In the time can determining tested rotating object sense of rotation, can determine a reference position, by determining each anglec of rotation constantly, determine tested rotating object current location and reference position relativeness, thus the position of definite tested rotating object exactly.Equally, controller 10 also can be determined the anglec of rotation of measured rotating object according to first number of times that changes near the rotating signal of switch 402 near switch 401 and second that obtains, or determine not repeat them here the anglec of rotation of measured rotating object according to the number of times that the respective regions parameter occurs.
According to foregoing description, controller 10 can be determined the sense of rotation of tested rotating object in proper order according to the variation of rotating signal.Art technology is appreciated that, the sense of rotation of determining tested rotating object is not limited to above-mentioned concrete mode, as long as two signals near switch output have three kinds of combinations, controller 10 just can be determined the sense of rotation of tested rotating object in proper order according to the variation of rotating signal.Pulse rotating signal figure as shown in Figure 6, in this example, first disconnects district 311 near switch 401 remains unchanged with closed area 312, the first disconnection district radian near switch 402 induction zones increases, closed area 212 radians reduce, second coincided near 1/2 of the 401 cut-off signal duration of switch near closure signal duration of switch 402 and first, and first coincided near 2/3 of the 402 cut-off signal duration of switch near duration of the closure signal of switch 401 and second; Two equate that the induced edge zone can be divided into 1 district, 2 districts, 3 districts near the switch output signal cycle.Equally, in controller 10, preset region parameter, the rotating signal that obtains when controller 10 represent two near switch in 1 district, when 2 districts or 3 districts, make region parameter equal 1,2 or 3 successively.If the variation of region parameter is in proper order: 3,2,1, can determine that then inductive disks 100 is being rotated counterclockwise; If the variation of region parameter is in proper order: 1,2,3, can determine that then inductive disks 100 is turning clockwise, determine the sense of rotation of tested rotating object again according to the relation of the sense of rotation between inductive disks 100 and the tested rotating object.It will be understood by those skilled in the art that under the situation of preset regions parameter not, rotating signal and reference signal are compared, also can determine the sense of rotation of inductive disks 100 according to the difference of the two.
According to above description, key of the present invention is first to equate near the 402 output signal cycles of switch near switch 401 and second, and has certain differing, and differs the sense of rotation of determining inductive disks 100 according to it.Therefore, first also is not limited to above-mentioned installation site near switch 401 and second near switch 402, also can be located at both sides, inductive disks 100 center near switch and second respectively near switch with first, as among Fig. 4 first near switch 403 and second near switch 402; Because among the embodiment, induction zone is an even number, and first, second is installed in both sides, inductive disks 100 center near switch, can reach the purpose of determining tested rotating object sense of rotation equally.It will be appreciated by those skilled in the art that, also can make first, second corresponding angle be arranged near the switch 401,402 and inductive disks 100 lines of centres, lay respectively in the different induction zones, as shown in Figure 7, coincide near 1/2 of the 401 cut-off signal duration of switch near 1/2 and first of the 402 cut-off signal duration of switch second, second when coinciding near 1/2 of the 401 closure signal duration of switch near 1/2 and first of the 402 closure signal duration of switch, can realize above-mentioned purpose equally; In addition, first inductance loop 200 is overlapped with second inductance loop 300, shown in Fig. 7-1 (shown in the figure only first, second near switch 401,402 positions), as long as first, second is suitable near switch 401,402 installation sites, just can make the two variation of output signals cycle differ 1/4, can make second to coincide near 1/2 of the 401 cut-off signal duration of switch near 1/2 and first of the 402 cut-off signal duration of switch equally.According to foregoing description, those skilled in the art can also adopt more concrete mode to realize above-mentioned purpose.
Based on embodiment two, the present invention also provides the another kind of concrete mode of determining tested rotating object sense of rotation, please refer to Fig. 4 and Fig. 5, if inductive disks 100 is rotated counterclockwise, second near switch 402 closure signal in the duration, first near switch 401 variation of output signals in proper order for cut-off signal to closure signal; If inductive disks 100 turns clockwise, first near switch 401 variation of output signals in proper order for closure signal to cut-off signal, therefore, can determine the sense of rotation of inductive disks 100 in proper order near switch 401 signal variations according to first.Certainly, also can be according to first near switch 401 cut-off signals in the duration, second determines the sense of rotation of inductive disks 100 in proper order near switch 402 variation of output signals.Those skilled in the art can also carry out other combinations near switch with two, with the sense of rotation of definite inductive disks 100, and then the sense of rotation of definite tested rotating object.
According to above description, it will be understood by those skilled in the art that and realize that purpose of the present invention also is not limited to adopt near switch that other Boolean value output sensor as photoinduction sensor, travel switch or the like, can both be realized above-mentioned purpose, does not repeat them here; Its inductive disks 100 and first inductance loop 200 also are not limited to above-mentioned structure, under specific circumstances, and also can first inductance loop 200 and tested rotating object is directly fixing.
Providing on the basis of rotating angle measurement apparatus, the present invention also provides a kind of rotation angle measurement method of utilizing Boolean value output sensor.
As shown in Figure 8, the present invention realizes that the rotation angle measurement method is to adopt above-mentioned rotating angle measurement apparatus to realize.Rotation angle measurement method embodiment one of the present invention may further comprise the steps:
S100 obtains the initial rotating signal of Boolean value output sensor output, and initial rotating signal is defined as reference signal.In order to guarantee that there are identical possibility in rotating signal and reference signal, reference signal should be that Boolean value output sensor can be exported a kind of in the multiple signal.Therefore, can obtain corresponding initial rotating signal earlier, make reference signal identical, provide the basis for judging whether rotating signal changes with initial rotating signal.
S110 obtains the rotating signal of Boolean value output sensor output.Described Boolean value output sensor can be according to the rotating signal of the different change frequencies of the different outputs of tested rotating object rotating speed; This step can regularly scan by controller carries out, and obtains the real-time of rotating signal in order to guarantee controller, and guarantees not omit the signal that Boolean value output sensor produces, and controller should scan by predetermined period, and makes the scan period enough short.
S120 judges whether rotating signal is identical with reference signal, if then return S110; If not, enter step S130.Because the controller scan period is shorter, controller is when obtaining corresponding rotating signal, the rotating signal of Boolean value output sensor output may also not change, still be in a kind of state, therefore need to judge whether the rotating signal that obtains changes, if rotating signal does not also change, should return step S110, carry out next intermittent scanning; If the rotating signal that obtains changes, should enter next step.
S130, the change frequency of change rotating signal.The change frequency of initial rotating signal can be preset in the controller, and angle parameter can be 0, to determine the angle of tested rotating object current location and initial position, determines tested rotating object relative rotation angle; Also can be non-vanishing, to determine the relation in tested rotating object and precalculated position, determine the absolute anglec of rotation of tested rotating object.The concrete mode that the change frequency of rotating signal changes will be described in detail in the back.
S140, determine the anglec of rotation of tested rotating object, the described anglec of rotation equal rotating signal change frequency K doubly, described K is the proportionality factor that presets.According to above-mentioned description to rotating angle measurement apparatus, the quantity of proportionality factor K and inductive disks induction zone, and tested rotating object is relevant with rotating ratio between the inductive disks, determine at rotating angle measurement apparatus, under the situation that rotating ratio between tested rotating object and the inductive disks is also determined, proportionality factor K also determines, therefore can determine the anglec of rotation of tested rotating object according to the proportionality factor K that presets.
S150 makes reference signal identical with rotating signal, and returns step S110.In order to determine whether next scan period rotating signal changes with respect to current period, reference signal need be upgraded, and changes into current rotating signal, so that rotating signal and current rotating signal that following one-period is obtained compare.
Said method is the anglec of rotation of the tested rotating object of energy measurement only, can not measure the sense of rotation of object being measured.Rotation angle measurement method embodiment two of the present invention also provides a kind of can judge sense of rotation rotation angle measurement method.As shown in Figure 9, comprise step S110, S120, S130, S140 and S150 in this method, step S110, S120, S140 and S150 are identical with last example, and described step S130 further comprises:
S131 judges whether tested rotating object turns clockwise, if, then enter step S132, make the change frequency of rotating signal increase by 1; If not, then enter step S133, make the change frequency of rotating signal deduct 1.
By judging that tested rotating object is whether when turning clockwise, the change frequency of corresponding increase or minimizing rotating signal, can make and determine the current more detailed position of the tested rotating object of anglec of rotation value representation, not only can determine and initial position between relative angle relation, can also determine and initial position between the particular location relation.
Among the above-mentioned steps S131, judge whether tested rotating object turns clockwise, and concrete grammar can be:
Rotating signal and reference signal are compared, determine according to comparing result whether inductive disks turns clockwise.At this moment, described Boolean value output sensor comprises first Boolean value output sensor and second switch quantity sensor, the signal of described first Boolean value output sensor and the output of second switch quantity sensor has three kinds of combinations at least, and described three kinds of combinations can form three kinds of different rotating signals.
Under the situation about determining in first Boolean value output sensor and second switch quantity sensor installation site, the order that three kinds of rotating signals occur is determined.Because reference signal all can be upgraded in each process, therefore, after definite rotating signal and reference signal are inequality, the appearance of one of other two kinds of rotating signals just can be represented the sense of rotation of inductive disks, therefore, rotating signal and reference signal can be compared, determine the sense of rotation of inductive disks again according to comparing result, and then determine the sense of rotation of tested rotating object.
The art technology philtrum is appreciated that to judge whether tested rotating object turns clockwise, and concrete grammar also can be: determine according to the difference of rotating signal and reference signal whether tested rotating object turns clockwise.
At this moment, the signal of described first Boolean value output sensor and the output of second switch quantity sensor has four kinds of combinations, forms four kinds of different rotating signals, and described four kinds of rotating signals assignment respectively are 1,2,3 and 4; When inductive disks turned clockwise, the order that described rotating signal occurs was 1,2,3,4; When inductive disks was rotated counterclockwise, the order that described rotating signal occurs was 4,3,2,1.Therefore, when the difference of rotating signal and reference signal is-3 or 1, determine that tested rotating object is for turning clockwise; When the difference of rotating signal and reference signal is 3 or-1, determine that tested rotating object does not turn clockwise.Certainly those skilled in the art can also determine concrete judgment mode according to the rotation relationship between inductive disks and the tested rotating object.
The above only is a preferred implementation of the present invention; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications; also above-mentioned technical characterictic can be made up, form different technical schemes, these other technologies schemes of improving, retouching and forming also should be considered as protection scope of the present invention.
Claims (12)
1, a kind of rotating angle measurement apparatus comprises controller and output unit, and controller links to each other with output unit, it is characterized in that, also comprises first inductance loop, first Boolean value output sensor;
Described first inductance loop can be with the axis rotation of tested rotating object around first inductance loop;
Described first inductance loop comprises the induction zone of a plurality of circumferential distributions, and described induction zone comprises the disconnection district and the closed area of circumferential array; When first inductance loop rotated with tested rotating object, its each induction zone can pass through the first Boolean value output sensor induction region in proper order;
When controller scanned, described first Boolean value output sensor can be imported rotating signal to controller; When disconnecting district and closed area by induction region, described rotating signal is respectively cut-off signal or closure signal;
Described controller can be determined the anglec of rotation of tested rotating object, the anglec of rotation of described tested rotating object and the change frequency of rotating signal and direct ratio.
2, rotating angle measurement apparatus according to claim 1 is characterized in that, also comprises second inductance loop and second switch quantity sensor, and described second inductance loop is coaxial with first inductance loop, and relative fixed;
Described second inductance loop comprises the induction zone of a plurality of circumferential distributions, and described induction zone comprises the disconnection district and the closed area of circumferential array; When second inductance loop rotated with first inductance loop, its each induction zone can pass through second switch quantity sensor induction region in proper order; When controller carried out intermittent scanning, described second switch quantity sensor can be imported rotating signal to controller; When disconnecting district and closed area by induction region, described rotating signal is respectively cut-off signal or closure signal;
Described second inductance loop equates with the radian that each induction zone on first inductance loop takies; A part and the part of the first Boolean value output sensor cut-off signal duration of described second switch quantity sensor cut-off signal duration coincide;
Described controller can be determined the sense of rotation of tested rotating object according to the rotating signal of first Boolean value output sensor and the input of second switch quantity sensor.
3, rotating angle measurement apparatus according to claim 2 is characterized in that, the induction zone on described first inductance loop evenly distributes; Another part of described first Boolean value output sensor closure signal duration and second switch quantity sensor cut-off signal duration coincides.
4, rotating angle measurement apparatus according to claim 2 is characterized in that, the part of the described first Boolean value output sensor closure signal duration and another part of second switch quantity sensor cut-off signal duration coincide.
5, rotating angle measurement apparatus according to claim 4, it is characterized in that, described controller can be determined the sense of rotation of tested rotating object, specifically be, described controller can be determined the sense of rotation of tested rotating object in proper order according to the first Boolean value output sensor variation of output signals duration of second switch quantity sensor cut-off signal or closure signal.
6, rotating angle measurement apparatus according to claim 2 is characterized in that, the cut-off signal of described second switch quantity sensor equated with the closure signal duration; The cut-off signal of described first Boolean value output sensor equated with the closure signal duration; 1/2 of the 1/2 and first Boolean value output sensor cut-off signal duration of described second switch quantity sensor cut-off signal duration coincides.
According to each described rotating angle measurement apparatus of claim 1-6, it is characterized in that 7, described first Boolean value output sensor and second switch quantity sensor are near switch; Also comprise a variator; Described first inductance loop can specifically be that described first inductance loop can rotate with tested rotating object by variator with tested rotating object rotation.
8, a kind of rotation angle measurement method is characterized in that, may further comprise the steps:
A0 obtains the initial rotating signal of Boolean value output sensor output, and initial rotating signal is defined as reference signal;
A1 obtains the rotating signal of Boolean value output sensor output; Described Boolean value output sensor is according to tested rotating object anglec of rotation output rotating signal, and described rotating signal comprises the closure signal of cut-off signal;
A2 judges whether rotating signal is identical with the reference signal that presets, if then return A1; If not, change the change frequency of rotating signal;
A3, determine the anglec of rotation of tested rotating object, the described anglec of rotation equal rotating signal change frequency K doubly, described K is the proportionality factor that presets;
A4 makes reference signal identical with rotating signal, and returns steps A 1.
9, rotation angle measurement method according to claim 8 is characterized in that, also comprises before described steps A 1: the change frequency and the proportionality factor that preset rotating signal.
10, according to Claim 8 or 9 described rotation angle measurement methods, it is characterized in that in the described steps A 2, the change frequency that changes rotating signal specifically comprises: judge whether tested rotating object turns clockwise, if then make the change frequency of rotating signal increase by 1; If not, then make the change frequency of rotating signal deduct 1.
11, rotation angle measurement method according to claim 10 is characterized in that,
Describedly judge whether tested rotating object is that the concrete grammar that turns clockwise is: rotating signal and reference signal are compared, determine according to comparing result whether tested rotating object turns clockwise.
12, rotation angle measurement method according to claim 10 is characterized in that,
Describedly judge whether tested rotating object is that the concrete grammar that turns clockwise is: determine according to the difference of rotating signal and reference signal whether tested rotating object turns clockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101727268A CN101387491A (en) | 2008-11-11 | 2008-11-11 | Rotating angle measurement apparatus and rotating angle measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101727268A CN101387491A (en) | 2008-11-11 | 2008-11-11 | Rotating angle measurement apparatus and rotating angle measurement method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101387491A true CN101387491A (en) | 2009-03-18 |
Family
ID=40477051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008101727268A Pending CN101387491A (en) | 2008-11-11 | 2008-11-11 | Rotating angle measurement apparatus and rotating angle measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101387491A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011057499A1 (en) * | 2009-11-10 | 2011-05-19 | 湖南三一智能控制设备有限公司 | Detection device and method for detecting at least one rotation parameter of rotating object |
| CN102829751A (en) * | 2011-06-15 | 2012-12-19 | 北汽福田汽车股份有限公司 | Angle measuring device and measuring method and automobile with angle measuring device |
| CN103130089A (en) * | 2011-12-05 | 2013-06-05 | 三一集团有限公司 | Container spreader of transtainer or quay crane |
| CN105422133A (en) * | 2015-11-17 | 2016-03-23 | 湖南五新隧道智能装备股份有限公司 | Concrete guniting vehicle fault early warning system and concrete guniting vehicle fault early warning control method |
| CN106052724A (en) * | 2016-05-19 | 2016-10-26 | 深圳市越疆科技有限公司 | Robot, and rotation measuring device and method |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN110701983A (en) * | 2019-11-19 | 2020-01-17 | 中国兵器装备集团自动化研究所 | Changeable turned angle measuring device of same pivot multi-angle measuring range |
| CN110779489A (en) * | 2019-10-17 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring rotation state of rotating protective cover by using double sensors |
| CN111854597A (en) * | 2020-05-29 | 2020-10-30 | 北京慧宸信博科技有限公司 | Method, device and system for detecting relative rotation between components |
| CN113776574A (en) * | 2021-08-12 | 2021-12-10 | 广东嘉腾机器人自动化有限公司 | Regional sensor testing method and system |
| CN114777639A (en) * | 2022-04-28 | 2022-07-22 | 安百拓（南京）建筑矿山设备有限公司 | Rotation region detection device within limited angle and steering control method |
| CN118274745A (en) * | 2024-06-04 | 2024-07-02 | 山东鸿星新材料科技股份有限公司 | Bending angle measuring device of bending piece |
-
2008
- 2008-11-11 CN CNA2008101727268A patent/CN101387491A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011057499A1 (en) * | 2009-11-10 | 2011-05-19 | 湖南三一智能控制设备有限公司 | Detection device and method for detecting at least one rotation parameter of rotating object |
| CN102829751A (en) * | 2011-06-15 | 2012-12-19 | 北汽福田汽车股份有限公司 | Angle measuring device and measuring method and automobile with angle measuring device |
| CN102829751B (en) * | 2011-06-15 | 2015-09-09 | 北汽福田汽车股份有限公司 | Angle measurement unit, measuring method and there is the automobile of this angle measurement unit |
| CN103130089A (en) * | 2011-12-05 | 2013-06-05 | 三一集团有限公司 | Container spreader of transtainer or quay crane |
| CN105422133A (en) * | 2015-11-17 | 2016-03-23 | 湖南五新隧道智能装备股份有限公司 | Concrete guniting vehicle fault early warning system and concrete guniting vehicle fault early warning control method |
| CN106052724A (en) * | 2016-05-19 | 2016-10-26 | 深圳市越疆科技有限公司 | Robot, and rotation measuring device and method |
| CN106052724B (en) * | 2016-05-19 | 2019-01-25 | 深圳市越疆科技有限公司 | A kind of robot, rotary measurement device and method |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN110779489B (en) * | 2019-10-17 | 2021-08-13 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring rotation state of rotating protective cover by using double sensors |
| CN110779489A (en) * | 2019-10-17 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring rotation state of rotating protective cover by using double sensors |
| CN110701983A (en) * | 2019-11-19 | 2020-01-17 | 中国兵器装备集团自动化研究所 | Changeable turned angle measuring device of same pivot multi-angle measuring range |
| CN111854597A (en) * | 2020-05-29 | 2020-10-30 | 北京慧宸信博科技有限公司 | Method, device and system for detecting relative rotation between components |
| CN113776574A (en) * | 2021-08-12 | 2021-12-10 | 广东嘉腾机器人自动化有限公司 | Regional sensor testing method and system |
| CN113776574B (en) * | 2021-08-12 | 2024-04-02 | 广东嘉腾机器人自动化有限公司 | Regional sensor testing method and system |
| CN114777639A (en) * | 2022-04-28 | 2022-07-22 | 安百拓（南京）建筑矿山设备有限公司 | Rotation region detection device within limited angle and steering control method |
| CN114777639B (en) * | 2022-04-28 | 2024-04-09 | 安百拓（南京）建筑矿山设备有限公司 | Rotation region detection device within limited angle and steering control method |
| CN118274745A (en) * | 2024-06-04 | 2024-07-02 | 山东鸿星新材料科技股份有限公司 | Bending angle measuring device of bending piece |
| CN118274745B (en) * | 2024-06-04 | 2024-07-26 | 山东鸿星新材料科技股份有限公司 | Bending angle measuring device of bending piece |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101387491A (en) | Rotating angle measurement apparatus and rotating angle measurement method | |
| CN106625020B (en) | High speed and super precision machine tool chief axis, electro spindle incremental magnetic induction type bus type encoder | |
| CN104838236B (en) | method for correcting rotary encoder | |
| CN101398316B (en) | Method for demarcating motor rotor position sensor | |
| CN107443355A (en) | A kind of mechanical arm and control method for partial discharge of switchgear detection | |
| CN105897105B (en) | Motor rotation becomes detection conditioning circuit and rotation becomes initial position self-test self refresh method | |
| US20080309527A1 (en) | Resolver | |
| CN102636195A (en) | Servo motor manufacturing method, servo motor manufacturing apparatus, servo motor, and encoder | |
| US9151645B2 (en) | Method for testing the plausability of output signals of a resolver | |
| CN111433568B (en) | Sensor system for determining at least one rotation characteristic of a rotating element rotating about at least one axis of rotation | |
| CN105486222A (en) | Capacitance angular displacement sensor | |
| CN209459622U (en) | Contactless automatically controlled crankshaft of diesel engine corner measuring apparatus peculiar to vessel | |
| CN106460261A (en) | Weft feeder device | |
| CN106655928A (en) | Driving control and rotating angle measurement system used for stepping motor | |
| CN101893457B (en) | High-precision full-parameter detection method for continuous motion | |
| US8990044B2 (en) | Revolution counter and method for determining the number of revolutions of a shaft | |
| US11237068B2 (en) | Method and device for the torque measurement in the drive train of a wind energy facility | |
| EP0396496B1 (en) | Aircraft engine propulsor blade pitch sensing | |
| WO1991007811A1 (en) | Position monitor for a stepper motor | |
| CN201325768Y (en) | Accurately locating device of fork lifter | |
| CN109707329B (en) | Automatic alignment device for iron roughneck notch and alignment method thereof | |
| CN110165947A (en) | Accuracy evaluation device, appraisal procedure and the assessment system of position detecting device | |
| US7276686B2 (en) | Method and device for detecting the opening angle of the shutter of an adjustable rotating shutter in a film camera | |
| US12087538B2 (en) | Method for carrying out a switchover of a switch, and drive system for a switch | |
| CN201561856U (en) | All-condition measuring system of position of piston and phases of engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20090318 |