CN104567918A - Dynamic angle acquisition device based on angle sensor - Google Patents
Dynamic angle acquisition device based on angle sensor Download PDFInfo
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- CN104567918A CN104567918A CN201310474133.8A CN201310474133A CN104567918A CN 104567918 A CN104567918 A CN 104567918A CN 201310474133 A CN201310474133 A CN 201310474133A CN 104567918 A CN104567918 A CN 104567918A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention belongs to the field of inertial guidance testing technologies and specifically relates to a dynamic angle acquisition device based on an angle sensor. The invention aims to provide a device capable of meeting requirements for dynamic measuring accuracy of inertial guidance dynamic angle testing. The dynamic angle acquisition device based on the angle sensor comprises a digital signal processor, a high-speed shaft position digitizer, a synchronizing pulse generator, a global clock-signal generator and a data processing center. By the adoption of the digital signal processor and the high-speed shaft position digitizer, rigorous sequential permutation is formed, angle-measuring time delay is minimized effectively, angle-measuring compensation is carried out, and high-accuracy dynamic angle measurement is realized. Through verification, dynamic accuracy index of the device is raised by at least one order of magnitudes in comparison with dynamic accuracy index of most of inertial navigation. The device provided by the invention satisfies inertial navigation dynamic angle testing needs.
Description
Technical field
The invention belongs to inertial navigation technical field of measurement and test, be specifically related to a kind of dynamic angle harvester based on angular transducer.
Background technology
High-precision turntable is mainly used in inertial navigation product, and the motion simulation of the calibration of the products such as star sensor and some bullet upper-part, the index accuracy that turntable can reach to a certain degree also reflects the development level of measuring technology.
Dynamic angular position, the solid of revolution namely in motion specifies the actual angular position in moment at certain.Moment value and position are as the constituent element of concept, indispensable.Dynamic measuring angle refers to the movable body be in revolution and receives a time pulse, so this self angular position measurement of moment solid of revolution process out.
The position transducer of solid of revolution is generally angular encoder or inductosyn.The two all sends and can distinguish that position is sinusoidal wave in rotation process, obtain the Angle Position of turntable, just needs offset of sinusoidal ripple to carry out process conversion.For the turntable of motion state, position transducer while sending sine wave still in motion, when this sine wave is processed convert positional value to and transfer out time, turntable has been in other Angle Position, is not just also current dynamic angular position.The measuring error of dynamic angular mainly causes due to the product of turntable angular speed and angle measuring system time delay, is called for short " speed introducing error ".
At present, research for the collection of turntable dynamic angular is very limited and concentrate on lower-speed state (10 °/below s), Shanghai Institute of Technical Physics once attempted analyzing and utilizes linear array or area array CCD to complete feasibility to dynamic angle measurement, found can not expire 2 when 20 ° × 20 °, total visual field, scanning mirror rotating speed 10 °/s " angle measurement accuracy.
Simultaneously due to technology barriers, the dynamic angular measurement capability that entrance angle gathers product is poor.Data collecting card IK121(Heidenhain Products as current external incremental optical-electricity encoder) be example.Its analog sampling cycle is 35 μ s(frequency 28.57k), the angle value that computing machine reads after receiving and reading the instruction of dynamic measuring angle data, always goes up the angle value of a moment refreshing.Because reading command and number table sampling instruction can not be synchronous, the difference of time is indefinite between 0 ~ 35 μ s, and this time period is called " blind area ", thereby produces the dynamic measuring angle error that the introducing due to speed causes.When turntable moves with 100 °/s, (change between 0 ~ 12.6 "), this error is very large, can not meet precision measurement, especially meet the needs of inertia device dynamic calibration at 0 ~ 0.0035 ° for " the speed introducing error " of dynamic measuring angle.
The domestic angle measuring system for inductosyn developed voluntarily, its sample frequency concentrates between 10 ~ 20k, means that its Refresh Data time is between 50 ~ 100 μ s, obviously can not meet the demand of dynamic measuring angle.
In sum, existing angle acquisition product is mainly for static angular, and when being used in the measurement of dynamic angle, its precision is not high.And the system accuracy measured for the dynamic angular position of the measurement wide speed range to dynamic angle is specially not high, inertial navigation dynamic angle cannot be met and test requirement to dynamic measurement precision.
Summary of the invention
The object of this invention is to provide and a kind ofly can meet the dynamic angle harvester based on angular transducer of inertial navigation dynamic angle test to dynamic measurement precision requirement.
The present invention is achieved in that
Based on a dynamic angle harvester for angular transducer, comprise digital signal processor, high speed shaft position digitizer, clock-pulse generator, global clock signal generator and data processing centre (DPC); Wherein, global clock signal generator produces global clock signal, and by its synchronized transmission to digital signal processor and high speed shaft position digitizer;
Clock-pulse generator produces synchronizing pulse in the moment of dynamic measuring angle, and sends it to digital signal processor, high speed shaft position digitizer and product to be tested;
Digital signal processor accepts the global clock signal from global clock signal generator, from the synchronization pulse of clock-pulse generator with from the angular transducer digital signal θ after the process of high speed shaft position digitizer and sampling compensation of delay signal, and under the control of global clock signal, reading order is sent to high speed shaft position digitizer, and read from the angular transducer digital signal θ of high speed shaft position digitizer at synchronization pulse due in, according to from the sampling compensation of delay signal of angular transducer digital signal and the mistiming t of synchronization pulse
delay, time bias is carried out to angle sensor signal data θ, the angular transducer digital signal θ after being compensated
1, then by the angular transducer digital signal θ after compensation
1send to data processing centre (DPC),
High speed shaft position digitizer receive the signal from angular transducer, the global clock signal from global clock signal generator, from clock-pulse generator synchronization pulse, from digital signal processor send reading order, under the control of global clock signal, analog to digital conversion is carried out to the angular transducer signal received, obtain angular transducer digital signal θ, then send it to digital signal processor;
Data processing centre (DPC) is connected with digital signal processor and product to be tested respectively, and data processing centre (DPC) receives the angular transducer digital signal θ after the compensation sent from digital signal processor
1, self measure the angle position signal that obtains from product to be tested, above-mentioned two category informations are carried out sorting and storing according to the time sequencing received, analyze with the follow-up measuring accuracy to product to be tested self of standby user.
Global clock signal generator as above adopts passive crystal oscillator to realize, and clock frequency is within the scope of 10 ~ 30MHz.
Clock-pulse generator as above can adopt gps clock to realize.
Digital signal processor as above comprises clock module, high speed communication module, communication module, GPIO module and logical operation module;
Wherein, clock module receives the global clock signal from global clock signal generator, and sends it to high speed communication module, communication module, GPIO module and logical operation module;
From the synchronization pulse substitution signal generation instruction of logical operation module when the reception of GPIO module the sampling compensation of delay signal from high speed shaft position digitizer, the synchronization pulse from clock-pulse generator and clock-pulse generator fault, and sampling compensation of delay signal and synchronization pulse are sent to logical operation module, produce synchronization pulse substitution signal when receiving the generation instruction of synchronization pulse substitution signal and send to product to be tested and high speed shaft position digitizer;
High speed communication module receives the angular transducer digital signal reading order from logical operation module, and angular transducer digital signal reading order is transmitted to high speed shaft position digitizer, high speed communication module also receives the angular transducer digital signal from high speed shaft position digitizer, and angular transducer digital signal is transmitted to logical operation module;
Logical operation module receives the global clock signal from global clock signal generator, the sampling compensation of delay signal from GPIO module and synchronization pulse, angular transducer digital signal from high speed communication module, logical operation module under the control of global clock signal, the mistiming t between calculating sampling compensation of delay signal and synchronization pulse
delay, and the time-derivative of angular transducer digital signal, then time bias is carried out to angle sensor signal data θ, the angular transducer digital signal θ after being compensated
1, then by θ
1send to communication module;
Communication module receives from the global clock signal of global clock signal generator with from the angular transducer digital signal θ after the compensation of logical operation module
1, under the control of global clock signal, send the angular transducer digital signal θ after compensating to data processing centre (DPC)
1.
Angular transducer digital signal θ after described compensation
1for:
In formula,
for the derivative of angular transducer digital signal θ.
When clock-pulse generator fault, described digital signal processor sends synchronization pulse substitution signal, for product to be tested and high speed shaft position digitizer provide time reference to product to be tested, high speed shaft position digitizer.
Digital signal processor as above adopts Intelligent treatment chip to realize.
When the synchronization pulse amplitude that described logical operation module receives is lower than 0.5V, logical operation module sends synchronization pulse substitution signal generation instruction to GPIO module; When logical operation module receives synchronization pulse or send the generation instruction of synchronization pulse substitution signal, send angular transducer digital signal reading order to high speed communication module.
High speed shaft position digitizer as above comprises clock module, high speed communication module, filtration module, GPIO module and analog to digital converter;
Wherein, filtration module is connected with analog to digital converter and angular transducer respectively, and filtration module divides the angular transducer signal received from angular transducer, carries out filtering, and the signal obtained after filtering is sent to analog to digital converter to angle sensor signal;
Clock module receives the global clock signal from global clock signal generator, and global clock signal is sent to high speed communication module, GPIO module and analog to digital converter;
GPIO module receives from the synchronization pulse of the global clock signal of global clock signal generator, motor synchronizing pulse producer, the synchronization pulse substitution signal from digital signal processor and the analog sampling signal from analog to digital converter, produces sampling compensation of delay signal and send it to digital signal processor in the analog to digital converter analog sampling moment; The synchronization pulse received or synchronization pulse substitution signal are transmitted to analog to digital converter by GPIO module;
Analog to digital converter receive the global clock signal from global clock signal generator, the angular transducer signal from filtration module, from the synchronization pulse of GPIO module or synchronization pulse substitution signal, under the control of global clock signal, analog to digital conversion is carried out in timing, and the angular transducer digital signal that first analog to digital conversion moment after step pulse signal or synchronization pulse substitution signal arrive is converted to sends to high speed communication module, sends the analog sampling signal of analog to digital converter to GPIO module simultaneously;
High speed communication module receives the global clock signal from global clock signal generator, the angular transducer digital signal reading order from digital signal processor and the angular transducer digital signal from analog to digital converter, under the control of global clock signal, after angular transducer digital signal reading order first clock signal received, send angular transducer digital signal to digital signal processor.
High speed shaft position digitizer as above adopts high precision 12 AD conversion chip and support circuit thereof to realize.
The invention has the beneficial effects as follows:
The present invention adopts digital signal processor and high speed shaft position digitizer, early enough rigorous sequential arrangements, effectively reduce angle measurement time delay, and carried out angle measurement compensation, achieve Dynamic High-accuracy angle measurement, after checking, device of the present invention at least improves 1 order of magnitude than the dynamic angular precision index of most inertial navigation, meets the test needs to inertial navigation dynamic angle.
Accompanying drawing explanation
Fig. 1 is the structural principle schematic diagram of a kind of dynamic angle harvester based on angular transducer of the present invention;
Fig. 2 is the structural principle schematic diagram of digital signal processor in Fig. 1;
Fig. 3 is the structural principle schematic diagram of Fig. 1 high speed shaft position digitizer.
Embodiment
Below in conjunction with drawings and Examples, the dynamic angle acquisition system based on angular encoder signal of the present invention is introduced:
As shown in Figure 1, a kind of dynamic angle harvester based on angular transducer, comprises digital signal processor, high speed shaft position digitizer, clock-pulse generator, global clock signal generator and data processing centre (DPC).During use, be arranged on by product to be tested on turntable, be arranged on by angular transducer on the rotation axis of turntable, three is consistent angular motion.
Wherein, global clock signal generator produces global clock signal, and by its synchronized transmission to digital signal processor and high speed shaft position digitizer.Generally, global clock signal generator adopts passive crystal oscillator to realize, clock frequency within the scope of 10 ~ 30MHz, as 10MHz, 22.1184MHz or 30MHz.
Clock-pulse generator produces synchronizing pulse in the moment of dynamic measuring angle, and sends it to digital signal processor, high speed shaft position digitizer and product to be tested.Generally, clock-pulse generator can adopt gps clock to realize.
Digital signal processor receives the global clock signal from global clock signal generator, from the synchronization pulse of clock-pulse generator with from the angular transducer digital signal θ after the process of high speed shaft position digitizer and sampling compensation of delay signal, and under the control of global clock signal, reading order is sent to high speed shaft position digitizer, and read from the angular transducer digital signal θ of high speed shaft position digitizer at synchronization pulse due in, according to from the sampling compensation of delay signal of angular transducer digital signal and the mistiming t of synchronization pulse
delay, time bias is carried out to angle sensor signal data θ, the angular transducer digital signal θ after being compensated
1:
In formula,
for the derivative of angular transducer digital signal θ.
Then by the angular transducer digital signal θ after compensation
1send to data processing centre (DPC).When clock-pulse generator fault, digital signal processor sends synchronization pulse substitution signal to product to be tested, high speed shaft position digitizer, for product to be tested and high speed shaft position digitizer provide time reference, normally works with safeguards system.
In the present embodiment, digital signal processor comprises clock module, high speed communication module, communication module, GPIO(universal input/output interface) module and logical operation module.Wherein, clock module receives the global clock signal from global clock signal generator, and sends it to high speed communication module, communication module, GPIO module and logical operation module.
From the synchronization pulse substitution signal generation instruction of logical operation module when the reception of GPIO module the sampling compensation of delay signal from high speed shaft position digitizer, the synchronization pulse from clock-pulse generator and clock-pulse generator fault, and sampling compensation of delay signal and synchronization pulse are sent to logical operation module, produce synchronization pulse substitution signal when receiving the generation instruction of synchronization pulse substitution signal and send to product to be tested and high speed shaft position digitizer.
High speed communication module receives the angular transducer digital signal reading order from logical operation module, and be transmitted to high speed shaft position digitizer, it also receives the angular transducer digital signal from high speed shaft position digitizer, and is transmitted to logical operation module.
Logical operation module receives the global clock signal from global clock signal generator, the sampling compensation of delay signal from GPIO module and synchronization pulse, angular transducer digital signal from high speed communication module, it is under the control of global clock signal, the mistiming t between calculating sampling compensation of delay signal and synchronization pulse
delay, and the time-derivative of angular transducer digital signal, then time bias is carried out to angle sensor signal data θ, the angular transducer digital signal θ after being compensated
1as shown in Equation (1), then by θ
1send to communication module.When the synchronization pulse amplitude that logical operation module receives is lower than 0.5V, logical operation module sends synchronization pulse substitution signal generation instruction to GPIO module.When logical operation module receives synchronization pulse or send the generation instruction of synchronization pulse substitution signal, send angular transducer digital signal reading order to high speed communication module.
Communication module receives from the global clock signal of global clock signal generator with from the angular transducer digital signal θ after the compensation of logical operation module
1, under the control of global clock signal, send the angular transducer digital signal θ after compensating to data processing centre (DPC)
1.
Digital signal processor adopts Intelligent treatment chip to realize, as DSP(TMS320F28335), ARM or single-chip microcomputer.Clock module, high speed communication module, communication module and GPIO(universal input/output interface) module and logical operation module can coordinate support circuit to adopt existing techniques in realizing according to its function based on above-mentioned Intelligent treatment chip.
High speed shaft position digitizer receive the signal from angular transducer, the global clock signal from global clock signal generator, from clock-pulse generator synchronization pulse, from digital signal processor send reading order, under the control of global clock signal, analog to digital conversion is carried out to the angular transducer signal received, obtain angular transducer digital signal θ, then send it to digital signal processor.Analog to digital conversion herein, analog to digital conversion frequency is not less than 1M, and segmentation multiple is not less than 1000 times.
In the present embodiment, high speed shaft position digitizer comprises clock module, high speed communication module, filtration module, GPIO module and analog to digital converter.
Wherein, filtration module is connected with analog to digital converter and angular transducer respectively, and it receives the angular transducer signal from angular transducer, carries out filtering, and send it to analog to digital converter to it.Filtration module adopts wave filter to realize, and generally, the bandwidth of wave filter should be greater than 30KHz.
Clock module receives the global clock signal from global clock signal generator, and sends it to high speed communication module, GPIO module and analog to digital converter.
GPIO module receives from the synchronization pulse of the global clock signal of global clock signal generator, motor synchronizing pulse producer, the synchronization pulse substitution signal from digital signal processor and the analog sampling signal from analog to digital converter, produces sampling compensation of delay signal and send it to digital signal processor in the analog to digital converter analog sampling moment; The synchronization pulse received or synchronization pulse substitution signal are transmitted to analog to digital converter by it.
Analog to digital converter receive the global clock signal from global clock signal generator, the angular transducer signal from filtration module, from the synchronization pulse of GPIO module or synchronization pulse substitution signal, under the control of global clock signal, analog to digital conversion is carried out in timing, and the angular transducer digital signal that first analog to digital conversion moment after step pulse signal or synchronization pulse substitution signal arrive is converted to sends to high speed communication module, sends the analog sampling signal of analog to digital converter to GPIO module simultaneously.
High speed communication module receives the global clock signal from global clock signal generator, the angular transducer digital signal reading order from digital signal processor and the angular transducer digital signal from analog to digital converter, under the control of global clock signal, after angular transducer digital signal reading order first clock signal received, send angular transducer digital signal to digital signal processor.
High speed shaft position digitizer adopts high precision 12 AD conversion chip and support circuit thereof to utilize existing techniques in realizing.
Data processing centre (DPC) is connected with digital signal processor and product to be tested respectively, and it receives the angular transducer digital signal θ after the compensation sent from digital signal processor
1, self measure the angle position signal that obtains from product to be tested, above-mentioned two category informations are carried out sorting and storing according to the time sequencing received, analyze with the follow-up measuring accuracy to product to be tested self of standby user.Generally, data processing centre (DPC) can adopt the realization such as multi-purpose computer, PC104.
During work, adopt prior art to drive turntable to rotate, the rotational angle of the responsive turntable of angular transducer, and it is sent to high speed shaft position digitizer in the mode of sine wave.Global clock signal generator, as the clock reference of digital signal processor and high speed shaft position digitizer, ensures communication robust between the two.Angular transducer signal is carried out high frequency analog to digital conversion by high speed shaft position digitizer.When needs dynamic measuring angle (when synchronization pulse produces), synchronization pulse generator sends a synchronization pulse to digital signal processor, product to be tested and high speed shaft position digitizer simultaneously, digital signal processor sends angular transducer digital signal reading order to high speed shaft position digitizer, the ADC value θ of first modulus sampled point after high speed shaft position digitizer sends synchronization pulse to digital signal processor, and in this moment, sampling compensation of delay signal is sent to digital signal processor.Digital signal processor calculates and receives synchronization pulse due in and the mistiming t receiving the compensation of delay signal moment of sampling
delay, then utilize above-mentioned information to carry out calculating according to formula (1), the angular transducer digital signal θ after being compensated
1, be dynamic measuring angle result.Digital signal processor is subsequently by the angular transducer digital signal θ after compensation
1send to data processing centre (DPC).Meanwhile, product to be tested, when obtaining synchronizing pulse, also sends self to data processing centre (DPC) and measures the angle position signal obtained.Data processing centre (DPC) is by the angular transducer digital signal θ after the compensation that receives
1carry out sorting and storing according to the time sequencing received with the angle position signal obtained of self measuring from product to be tested, analyze with the follow-up measuring accuracy to product to be tested self of standby user.
The present invention adopts digital signal processor and high speed shaft position digitizer, early enough rigorous sequential arrangements, and effectively reduce angle measurement time delay, and carried out angle measurement compensation, achieve Dynamic High-accuracy angle measurement, after checking, its dynamic testing angle precision is as follows:
| Angular speed | The actual dynamic measuring angle error of device |
| 10°/s | ±0.1″ |
| 100°/s | ±0.5″ |
Known by upper table, device of the present invention at least improves 1 order of magnitude than the dynamic angular precision index of most inertial navigation, meets the test needs to inertial navigation dynamic angle.
Claims (10)
1., based on a dynamic angle harvester for angular transducer, comprise digital signal processor, high speed shaft position digitizer, clock-pulse generator, global clock signal generator and data processing centre (DPC); Wherein, global clock signal generator produces global clock signal, and by its synchronized transmission to digital signal processor and high speed shaft position digitizer;
Clock-pulse generator produces synchronizing pulse in the moment of dynamic measuring angle, and sends it to digital signal processor, high speed shaft position digitizer and product to be tested;
Digital signal processor accepts the global clock signal from global clock signal generator, from the synchronization pulse of clock-pulse generator with from the angular transducer digital signal θ after the process of high speed shaft position digitizer and sampling compensation of delay signal, and under the control of global clock signal, reading order is sent to high speed shaft position digitizer, and read from the angular transducer digital signal θ of high speed shaft position digitizer at synchronization pulse due in, according to from the sampling compensation of delay signal of angular transducer digital signal and the mistiming t of synchronization pulse
delay, time bias is carried out to angle sensor signal data θ, the angular transducer digital signal θ after being compensated
1, then by the angular transducer digital signal θ after compensation
1send to data processing centre (DPC),
High speed shaft position digitizer receive the signal from angular transducer, the global clock signal from global clock signal generator, from clock-pulse generator synchronization pulse, from digital signal processor send reading order, under the control of global clock signal, analog to digital conversion is carried out to the angular transducer signal received, obtain angular transducer digital signal θ, then send it to digital signal processor;
Data processing centre (DPC) is connected with digital signal processor and product to be tested respectively, and data processing centre (DPC) receives the angular transducer digital signal θ after the compensation sent from digital signal processor
1, self measure the angle position signal that obtains from product to be tested, above-mentioned two category informations are carried out sorting and storing according to the time sequencing received, analyze with the follow-up measuring accuracy to product to be tested self of standby user.
2. a kind of dynamic angle harvester based on angular transducer according to claim 1, is characterized in that: described global clock signal generator adopts passive crystal oscillator to realize, and clock frequency is within the scope of 10 ~ 30MHz.
3. a kind of dynamic angle harvester based on angular transducer according to claim 1, is characterized in that: described clock-pulse generator adopts gps clock to realize.
4. a kind of dynamic angle harvester based on angular transducer according to claim 1, is characterized in that: described digital signal processor comprises clock module, high speed communication module, communication module, GPIO module and logical operation module;
Wherein, clock module receives the global clock signal from global clock signal generator, and sends it to high speed communication module, communication module, GPIO module and logical operation module;
From the synchronization pulse substitution signal generation instruction of logical operation module when the reception of GPIO module the sampling compensation of delay signal from high speed shaft position digitizer, the synchronization pulse from clock-pulse generator and clock-pulse generator fault, and sampling compensation of delay signal and synchronization pulse are sent to logical operation module, produce synchronization pulse substitution signal when receiving the generation instruction of synchronization pulse substitution signal and send to product to be tested and high speed shaft position digitizer;
High speed communication module receives the angular transducer digital signal reading order from logical operation module, and angular transducer digital signal reading order is transmitted to high speed shaft position digitizer, high speed communication module also receives the angular transducer digital signal from high speed shaft position digitizer, and angular transducer digital signal is transmitted to logical operation module;
Logical operation module receives the global clock signal from global clock signal generator, the sampling compensation of delay signal from GPIO module and synchronization pulse, angular transducer digital signal from high speed communication module, logical operation module under the control of global clock signal, the mistiming t between calculating sampling compensation of delay signal and synchronization pulse
delay, and the time-derivative of angular transducer digital signal, then time bias is carried out to angle sensor signal data θ, the angular transducer digital signal θ after being compensated
1, then by θ
1send to communication module;
Communication module receives from the global clock signal of global clock signal generator with from the angular transducer digital signal θ after the compensation of logical operation module
1, under the control of global clock signal, send the angular transducer digital signal θ after compensating to data processing centre (DPC)
1.
5. a kind of dynamic angle harvester based on angular transducer according to claim 1 or 4, is characterized in that: the angular transducer digital signal θ after described compensation
1for:
In formula,
for the derivative of angular transducer digital signal θ.
6. a kind of dynamic angle harvester based on angular transducer according to claim 1 or 4, it is characterized in that: when clock-pulse generator fault, described digital signal processor sends synchronization pulse substitution signal, for product to be tested and high speed shaft position digitizer provide time reference to product to be tested, high speed shaft position digitizer.
7. a kind of dynamic angle harvester based on angular transducer according to claim 1 or 4, is characterized in that: described digital signal processor adopts Intelligent treatment chip to realize.
8. a kind of dynamic angle harvester based on angular transducer according to claim 4, it is characterized in that: when the synchronization pulse amplitude that described logical operation module receives is lower than 0.5V, logical operation module sends synchronization pulse substitution signal generation instruction to GPIO module; When logical operation module receives synchronization pulse or send the generation instruction of synchronization pulse substitution signal, send angular transducer digital signal reading order to high speed communication module.
9. a kind of dynamic angle harvester based on angular transducer according to claim 1, is characterized in that: described high speed shaft position digitizer comprises clock module, high speed communication module, filtration module, GPIO module and analog to digital converter;
Wherein, filtration module is connected with analog to digital converter and angular transducer respectively, and filtration module divides the angular transducer signal received from angular transducer, carries out filtering, and the signal obtained after filtering is sent to analog to digital converter to angle sensor signal;
Clock module receives the global clock signal from global clock signal generator, and global clock signal is sent to high speed communication module, GPIO module and analog to digital converter;
GPIO module receives from the synchronization pulse of the global clock signal of global clock signal generator, motor synchronizing pulse producer, the synchronization pulse substitution signal from digital signal processor and the analog sampling signal from analog to digital converter, produces sampling compensation of delay signal and send it to digital signal processor in the analog to digital converter analog sampling moment; The synchronization pulse received or synchronization pulse substitution signal are transmitted to analog to digital converter by GPIO module;
Analog to digital converter receive the global clock signal from global clock signal generator, the angular transducer signal from filtration module, from the synchronization pulse of GPIO module or synchronization pulse substitution signal, under the control of global clock signal, analog to digital conversion is carried out in timing, and the angular transducer digital signal that first analog to digital conversion moment after step pulse signal or synchronization pulse substitution signal arrive is converted to sends to high speed communication module, sends the analog sampling signal of analog to digital converter to GPIO module simultaneously;
High speed communication module receives the global clock signal from global clock signal generator, the angular transducer digital signal reading order from digital signal processor and the angular transducer digital signal from analog to digital converter, under the control of global clock signal, after angular transducer digital signal reading order first clock signal received, send angular transducer digital signal to digital signal processor.
10. a kind of dynamic angle harvester based on angular transducer according to claim 8, is characterized in that: described high speed shaft position digitizer adopts high precision 12 AD conversion chip and support circuit thereof to realize.
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| CN108413981A (en) * | 2017-12-15 | 2018-08-17 | 中国船舶重工集团公司第七0七研究所 | A kind of high-precision inertial navigation set time-ordered measurement method |
| CN108413981B (en) * | 2017-12-15 | 2021-11-09 | 中国船舶重工集团公司第七0七研究所 | High-precision time sequence measurement method for inertial navigation equipment |
| CN108255105A (en) * | 2018-01-16 | 2018-07-06 | 哈尔滨工大航博科技有限公司 | Multi-channel high-speed turntable angle measurement signal processing system |
| CN108255105B (en) * | 2018-01-16 | 2019-11-08 | 哈尔滨工大航博科技有限公司 | Multi-channel high-speed turntable angle measurement signal processing system |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN112666865A (en) * | 2020-12-16 | 2021-04-16 | 中国航空工业集团公司北京航空精密机械研究所 | Clock synchronization turntable control system based on induction synchronizer |
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