CN105465099B - A kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start - Google Patents
A kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start Download PDFInfo
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- CN105465099B CN105465099B CN201510960072.5A CN201510960072A CN105465099B CN 105465099 B CN105465099 B CN 105465099B CN 201510960072 A CN201510960072 A CN 201510960072A CN 105465099 B CN105465099 B CN 105465099B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The present invention relates to a kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start, belong to hydraulic cylinder sensor detecting field.Technical scheme includes that the signal condition of displacement transducer and signal segment two parts.Signal condition part includes partiting dc circuit, amplifying circuit and filtering part.Partiting dc circuit is the anti-phase adder operation circuit of two-stage, and amplifying circuit is the two-stage differential amplifying circuit with high cmrr and high input impedance, and signal filtering part is using moving average numeral filtering.Signal is subdivided on the basis of the octuple subdivision of realization, and line translation is entered to original signal, constructs new function, then the Amplitude segmentation subdivision for carrying out A/D samplings.The beneficial effects of the invention are as follows：Signal condition is carried out by the output signal to displacement transducer to be segmented with signal, the problem that class magnetic grid hydraulic cylinder realizes high precision displacement detection can effectively be solved, promote the development including a collection of New Type of Actuator including EHA, with stronger theory significance and practical value.
Description
Technical field
The present invention relates to a kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start, belong to hydraulic cylinder biography
Sensor detection technique field.
Background technology
The flight control system of future aircraft is towards ultrahigh speed, high power, high reliability, integrated generous
To development, the epoch of power-by-wire are entered into, i.e., in aircraft secondary energy resource system by way of electric lead is with energy transfer
Power transmission is carried out between each actuating system executing agency.Power-by-wire system eliminates the reliance on centralized hydraulic system, so that
Aircraft has greatly improved at aspects such as reliability, using energy source, fault-tolerant abilitys, and Electrical hydrostatic actuator（EHA）It is a kind of
Meet the New Type of Actuator of power-by-wire System Working Principle.As the carrier for realizing power-by-wire, EHA height in structure
High reliability in the integrated and course of work proposes requirement higher to hydraulic cylinder displacement detecting technology, is held as EHA keys
Units, the displacement detecting technology of hydraulic cylinder should meet the requirement of the aspects such as high accuracy, high reliability, ease for maintenance.
Conventional hydraulic cylinder displacement detecting technology is broadly divided into according to the arrangement form of displacement transducer and inside and outside puts formula two
Kind.Wherein, magnetostriction and differential transformer type（LVDT）Displacement transducer due to possessing accuracy of detection and reliability higher
Property, therefore be widely applied.But, it is required to carry out deep hole to hydraulic cylinder piston rod using both displacement transducers add
Work, complicated integral structure, volume is big, and integrated level is low, it is therefore desirable to find a kind of displacement transducer so as to and hydraulic cylinder
The high accuracy of hydraulic cylinder displacement detecting is also can ensure that while realizing that sensing start is integrated.
Current existing hydraulic cylinder will be made concavo-convex interphase structure as the piston rod top layer of magnetic conduction matrix, realize to permanent magnetism
The periodic modulation of the body magnetic line of force, makes piston rod have shift scale and start dual-use function concurrently, by displacement detecting and start preferably
It is mused together, can effectively solves long range measurements, high integration that hydraulic cylinder displacement detection system faced, highly reliable
Property, small volume, the application problem of the aspect such as lightweight, be suitable to multiple in highly integrated, wide range, double rods, single rod asymmetric cylinder etc.
Heterocycle is used under border.But existing analysis and method for designing are limited to, class magnetic grid hydraulic cylinder is in quantitative analysis difficult, test essence
The deficiency of the more low aspect of degree limits the use of its own.With the actuator such as EHA towards highly integrated, highly reliable, small size
Develop Deng direction, improve the sensing integrated hydraulic cylinder displacement detection precision of start based on class magnetic grid and seem particularly urgent.
The content of the invention
It is an object of the present invention to provide a kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start, by right
The output signal of displacement transducer carries out a series of conditionings such as stopping direct current, amplification and filtering, obtains blocking, the frequency phase of standard
Deng, phase difference is 90 ° of the orthogonal harmonic signal of two-way, and the Amplitude segmentation for be then based on A/D samplings to signal is electronic fine-grained,
The accuracy of detection of the sensing integrated hydraulic cylinder displacement of the starts such as class magnetic grid is improve, the above mentioned problem that background technology is present is solved.
Technical scheme is as follows：
A kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start, comprises the following steps：
Hydraulic cylinder piston rod carries permeability magnetic material, and three sensing elements are axially arranged along hydraulic cylinder, three sensing elements
Distance each otherAs close to and meet：
In formula：
It is the pitch of hydraulic cylinder piston rod；
Three the primary signal amplitudes of sensing element output, frequencies are essentially identical, and phase difference is 90 °；
Detection means includes that the signal condition of displacement transducer and signal segment two parts；
A：Signal condition part includes two groups of partiting dc circuit, two groups of amplifying circuit and signal filtering part；
Two groups of partiting dc circuits employ two-stage anti-phase input adder operation circuit；Each group of partiting dc circuit includes fortune
The earth terminal of two, amplifier of calculation, resistance seven, DC power supply and circuit；Detection signal include three road signal amplitudes,
Frequency is equal, and phase difference is 90 ° of signal；Each group of partiting dc circuit gathers two-way orthogonal signalling therein, two paths of signals point
Not circuit is entered by the inverting input of front and back stages operational amplifier；Preferable integrated transporting discharging output resistance is zero, so many
When level integrated transporting discharging is connected, rear class is on prime substantially without influence, convenience of calculation；The input signal of first order operational amplifier is through even
Continuous two-stage anti-phase input, finally does subtraction with the signal of the anti-phase input second level, exports new signal；
Two groups of partiting dc circuits connect respective amplifying circuit respectively, and two groups of amplifying circuits are by two-stage differential amplifying circuit
Constitute；Each group of amplifying circuit includes operational amplifier three, resistance eight, the earth terminal of DC power supply and circuit；
Two amplifiers of the first order are used with phase difference input mode；Homophase input can increase substantially the input impedance of circuit, subtract
Decay of the small circuit to small-signal；Differential Input can be such that circuit only amplifies to difference mode signal so that the common mode inhibition of circuit
It is improved than CMRR；Second level amplifier composition differential amplifier circuit；
Two groups of outputs of amplifying circuit connect a signal filtering part jointly, and signal filtering part uses and is based on
The digital filtering method of C8051F340 microcontrollers, filtering algorithm is moving average filter algorithm；According to the requirement of particular problem
And sample size size determines sliding length, and then obtain the number of sliding average；First by some sequence several
Continuous data summation obtains a value, and first data in sequence are then subtracted with this value successively, along with coming sequence
First data afterwards, obtain a new sliding average, and the such process of circulation calculates all of sliding average；
B：Signal subdivided portions employ the electronic fine-grained method of Amplitude segmentation based on A/D samplings；Adjusted through each group of signal
The signal of reason part output is amplitude, frequency is equal, and phase differs 90 ° of the orthogonal cosine and sine signal of two-way；It is first to two paths of signals
Primary signal is first carried out into octuple subdivision with order of magnitude relation according to the polar relationship in different intervals；And then, by two
Road cosine and sine signal is transformed to positive cotangent signal curve, but because positive cotangent signal curve only keeps preferable in partial section
The linearity, and discontinuous in whole interval, therefore structural segmentation function obtains the linearity preferably new curve, new curve
Waveform is similar to triangular wave, has the preferable linearity compared with original cosine and sine signal, can greatly reduce subdivision error；
After carrying out amplitude sampling to the curve with an equally distributed sampled point of row, uniform pulse is can obtain on a timeline；Signal is thin
Divide and be equally based on C8051F340 microcontroller implementations.
The beneficial effects of the invention are as follows：Stopping direct current, amplification and filtering etc. are carried out by the output signal to displacement transducer
A series of conditionings, blocking, the frequency for obtaining standard is equal, and phase difference is 90 ° of the orthogonal harmonic signal of two-way, and then signal is entered
Amplitude segmentation of the row based on A/D samplings is electronic fine-grained, improves the detection of the sensing integrated hydraulic cylinder displacement of the starts such as class magnetic grid
Precision, can effectively solve the problem that class magnetic grid hydraulic cylinder realizes high precision displacement detection, promote including a collection of new including EHA
The development of actuator, with stronger theory significance and practical value.
Brief description of the drawings
Fig. 1 is present example detecting step flow chart；
Fig. 2 a are first group of partiting dc circuit schematic diagram；
Fig. 2 b are second group of partiting dc circuit schematic diagram；
Fig. 3 a are first group of amplifying circuit schematic diagram；
Fig. 3 b are second group of amplifying circuit schematic diagram；
Fig. 4 is the octuple subdivision schematic diagram of signal；
Fig. 5 exists for tanInterval inner curve；
Fig. 6 is in complete cycleSignal schematic representation；
Fig. 7 isThe sampling subdivision schematic diagram of signal.
Specific embodiment
Below in conjunction with the accompanying drawings, by example, the present invention will be further described.
A kind of method for improving the sensing integrated hydraulic cylinder displacement detection precision of start, comprises the following steps：
Hydraulic cylinder piston rod carries permeability magnetic material, and three sensing elements are axially arranged along hydraulic cylinder, three sensing elements
Distance each otherAs close to and meet：
In formula：
It is the pitch of hydraulic cylinder piston rod；
Three the primary signal amplitudes of sensing element output, frequencies are essentially identical, and phase difference is 90 °；
Detection means includes that the signal condition of displacement transducer and signal segment two parts；
A：Signal condition part includes two groups of partiting dc circuit, two groups of amplifying circuit and signal filtering part；
Two groups of partiting dc circuits employ two-stage anti-phase input adder operation circuit；Each group of partiting dc circuit includes fortune
The earth terminal of two, amplifier of calculation, resistance seven, DC power supply and circuit；Detection signal include three road signal amplitudes,
Frequency is equal, and phase difference is 90 ° of signal；Each group of partiting dc circuit gathers two-way orthogonal signalling therein, two paths of signals point
Not circuit is entered by the inverting input of front and back stages operational amplifier；Preferable integrated transporting discharging output resistance is zero, so many
When level integrated transporting discharging is connected, rear class is on prime substantially without influence, convenience of calculation；The input signal of first order operational amplifier is through even
Continuous two-stage anti-phase input, finally does subtraction with the signal of the anti-phase input second level, exports new signal；
Two groups of partiting dc circuits connect respective amplifying circuit respectively, and two groups of amplifying circuits are by two-stage differential amplifying circuit
Constitute；Each group of amplifying circuit includes operational amplifier three, resistance eight, the earth terminal of DC power supply and circuit；
Two amplifiers of the first order are used with phase difference input mode；Homophase input can increase substantially the input impedance of circuit, subtract
Decay of the small circuit to small-signal；Differential Input can be such that circuit only amplifies to difference mode signal so that the common mode inhibition of circuit
It is improved than CMRR；Second level amplifier composition differential amplifier circuit；
Two groups of outputs of amplifying circuit connect a signal filtering part jointly, and signal filtering part uses and is based on
The digital filtering method of C8051F340 microcontrollers, filtering algorithm is moving average filter algorithm；According to the requirement of particular problem
And sample size size determines sliding length, and then obtain the number of sliding average；First by some sequence several
Continuous data summation obtains a value, and first data in sequence are then subtracted with this value successively, along with coming sequence
First data afterwards, obtain a new sliding average, and the such process of circulation calculates all of sliding average；
B：Signal subdivided portions employ the electronic fine-grained method of Amplitude segmentation based on A/D samplings；Adjusted through each group of signal
The signal of reason part output is amplitude, frequency is equal, and phase differs 90 ° of the orthogonal cosine and sine signal of two-way；It is first to two paths of signals
Primary signal is first carried out into octuple subdivision with order of magnitude relation according to the polar relationship in different intervals；And then, by two
Road cosine and sine signal is transformed to positive cotangent signal curve, but because positive cotangent signal curve only keeps preferable in partial section
The linearity, and discontinuous in whole interval, therefore structural segmentation function obtains the linearity preferably new curve, new curve
Waveform is similar to triangular wave, has the preferable linearity compared with original cosine and sine signal, can greatly reduce subdivision error；
After carrying out amplitude sampling to the curve with an equally distributed sampled point of row, uniform pulse is can obtain on a timeline；Signal is thin
Divide and be equally based on C8051F340 microcontroller implementations.
More specifically implementation method：
Refering to Fig. 1, improving the method for the sensing integrated hydraulic cylinder displacement detection precision of start includes the letter of displacement transducer
Number conditioning with signal segment two parts.Signal condition part includes partiting dc circuit（2 groups）, amplifying circuit（2 groups）Filtered with signal
Ripple part.The input signal u of sensing elementi1、ui2And ui2、ui2Respectively through being obtained after first, second two groups of partiting dc circuits
New signal uo1、uo2Again signal u is obtained respectively through first, second two groups of amplifying circuitso1-2、u02-3, it is then flat by sliding
Equal filter method eliminates noise, and the signal for obtaining carries out the new letter constructed after signal conversion by octuple subdivision, then two paths of signals
The Amplitude segmentation of A/D samplings number is carried out, the raising of displacement detection precision is realized.
Refering to Fig. 2, first group of partiting dc circuit employs two-stage anti-phase input adder operation circuit.Circuit is put including computing
Big device U5A, U5B, resistance R21、R22、R23、R24、R25、R26、R27, two-way input signal ui1、ui2, the two-way ± 5V power supplys of direct current with
And earth terminal GND.Input signal ui1Via resistance R21Into the inverting input of amplifier U5A, the in-phase input end of amplifier U5A
Through resistance R26Ground connection.Resistance R22It is serially connected between the inverting input of amplifier U5A and output end.The output signal of amplifier U5A with
Input signal ui2Respectively via resistance R23、R24Parallel connection enters the inverting input of amplifier U5B.The in-phase input end warp of amplifier U5B
Resistance R26Ground connection.Resistance R25It is serially connected between the inverting input of amplifier U5B and output end.Two-way input signal ui1、ui2It is width
The orthogonal harmonic signal that value is identical, phase difference is 90 °.In circuit, R21=R22=R23=R24=R25=R26=R27.Second group of stopping direct current electricity
Road includes operational amplifier U5C, U5D, resistance R28、R29、R30、R31、R32、R33、R34, two-way input signal ui2、ui3, direct current ﹢ 5V
With ﹣ 5V power supplys and earth terminal GND, its structure and principle are identical with first group, two-way input signal ui2、ui3Respectively amplitude
Identical, phase difference is 90 ° of orthogonal harmonic signal.In circuit, R28=R29=R30=R31=R32=R33=R34.Fortune in partiting dc circuit
Calculation amplifier is LM324 four-operational amplifiers, is powered by the two-way ± 5V power supplys of direct current.
Refering to Fig. 2, first group, the second group output of partiting dc circuitRespectively：
In formula：
It is sensor signal amplitude,
It is sensor signal direct current biasing component,
It is sensor signal angular frequency.
Refering to Fig. 3, first group of amplifying circuit is made up of two-stage differential amplifying circuit.Circuit include operational amplifier U1A,
U1B, U1C, resistance R1、R2、R3、R4、R5、R6、R8、R9, output signal Output1-2, the two-way ± 5V power supplys of direct current and earth terminal
GND.Amplifier U1A, U1B is same phase difference input mode.U1A homophase inputs section is through resistance R9Ground connection, U1B in-phase input ends are
The output signal of partiting dc circuit, two amplifier inverting inputs are by resistance R8It is together in series, resistance R1 、R2Respectively by amplifier U1A,
The inverting input of U1B is concatenated with respective output end, constitutes first order differential amplifier circuit.The input difference of U1A, U1B
Via resistance R3 、R4Anti-phase, in-phase input end with second level amplifier U1C are connected.Additionally, the in-phase input end of U1C is via electricity
Resistance R6Ground connection, resistance R5It is serially connected between the inverting input of U1C and output end, constitutes second level differential amplifier circuit.Circuit
In, R1=R2=R3=R4=R5=R6.Second group of amplifying circuit includes operational amplifier U2A, U2B, U2C, resistance R10、R11、R12、R13、
R14、R15、R17、R18, output signal Output2-3, the two-way ± 5V power supplys of direct current and earth terminal GND, its structure and principle and the
One group identical.In circuit, R10=R11=R12=R13=R14=R15.Operational amplifier in amplifying circuit is the operation amplifiers of LM324 tetra-
Device, is powered by the two-way ± 5V power supplys of direct current.Operational amplifier in amplifying circuit is LM324 four-operational amplifiers, double by direct current
Powered to ± 5V power supplys.
Refering to Fig. 3, the multiplication factor of amplifying circuitFor：
Signal filtering part is using the digital filtering method based on C8051F340 microcontrollers, and filtering algorithm is flat to slide
Equal filtering algorithm.Requirement and sample size size according to particular problem determine sliding length,Individual data can be obtainedIndividual smooth value.Can be using such form during program calculation：First by before sequenceIndividual data summation obtains one
Value, then subtracts first data of average period with this value successively, and plus theIndividual data, then removed with the value obtained
With, circulate such process and calculateIndividual smooth value.It is to sample sizeSequence, its moving average
SequenceIt is expressed as
Refering to Fig. 4, signal subdivided portions employ the electronic fine-grained method of Amplitude segmentation based on A/D samplings.Adjusted through signal
The signal of circuit output is managed for amplitude, frequency are equal, phase differs 90 ° of the orthogonal cosine and sine signal of two-way,.Polar relationship and order of magnitude relation in different intervals are first according to two paths of signals by primary signal
Carry out octuple subdivision.
Refering to Fig. 5, on the basis of octuple thickness point is realized to signal, two-way cosine and sine signal is transformed to positive cotangent letter
Number, but because positive cotangent signal only keeps the preferable linearity in partial section, and whole interval interior discontinuous.
Refering to Fig. 6, structural segmentation function obtains the linearity preferably new curve, and the shape of new curve is similar to triangle
Ripple, substantially reduces the error of signal subdivision interpolation.Curve shape close to triangular wave, with the preferable linearity.
Curve shape close to triangular wave, with the preferable linearity.
Refering to Fig. 7, with an equally distributed sampled point of rowAfter carrying out amplitude sampling to the curve, on a timeline
Obtain uniform pulse.Signal subdivision is equally based on C8051F340 microcontroller implementations.
Claims (1)
1. it is a kind of improve the sensing integrated hydraulic cylinder displacement detection precision of start method, it is characterised in that comprise the following steps：
1. hydraulic cylinder piston rod carries permeability magnetic material, and three sensing elements are axially arranged along hydraulic cylinder, and three sensing elements are mutual
Between distance As close to and meet：
In formula：
Three the primary signal amplitudes of sensing element output, frequencies are essentially identical, and phase difference is 90 °；
2. detection means includes that the signal condition of displacement transducer and signal segment two parts；
A：Signal condition part includes two groups of partiting dc circuit, two groups of amplifying circuit and signal filtering part；
Two groups of partiting dc circuits employ two-stage anti-phase input adder operation circuit；Each group of partiting dc circuit is put including computing
The earth terminal of big device two, resistance seven, DC power supply and circuit；Detection signal includes three road signal amplitudes, frequency
Equal, phase difference is 90 ° of signal；Each group of partiting dc circuit gathers two-way orthogonal signalling therein, two paths of signals respectively by
The inverting input of front and back stages operational amplifier enters circuit；The input signal of first order operational amplifier is anti-through continuous two-stage
Mutually it is input into, subtraction is finally done with the signal of the anti-phase input second level, exports new signal；
Two groups of partiting dc circuits connect respective amplifying circuit respectively, and two groups of amplifying circuits are by two-stage differential amplifying circuit structure
Into；Each group of amplifying circuit includes operational amplifier three, resistance eight, the earth terminal of DC power supply and circuit；The
Two amplifiers of one-level are used with phase difference input mode；Second level amplifier composition differential amplifier circuit；
Two groups of outputs of amplifying circuit connect a signal filtering part jointly, and signal filtering part is using based on C8051F340
The digital filtering method of microcontroller, filtering algorithm is moving average filter algorithm；First by several companies of some sequence
Continuous data summation obtains a value, and first data in sequence are then subtracted with this value successively, along with come sequence it
First data afterwards, obtain a new sliding average, and the such process of circulation calculates all of sliding average；
B：Signal subdivided portions employ the electronic fine-grained method of Amplitude segmentation based on A/D samplings；Through each group of signal condition portion
Divide the signal of output equal for amplitude, frequency, phase differs 90 ° of the orthogonal cosine and sine signal of two-way；Two paths of signals is pressed first
Primary signal is carried out octuple subdivision by the polar relationship impinged upon in different intervals with order of magnitude relation；And then, by two-way just
Cosine signal is transformed to positive cotangent signal curve；After amplitude sampling being carried out with an equally distributed sampled point of row to the curve,
Uniform pulse is can obtain on time shaft；Signal subdivision is equally based on C8051F340 microcontroller implementations.
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| JP3899849B2 (en) * | 2001-06-12 | 2007-03-28 | Ｓｍｃ株式会社 | Position detection device |
| CN2893641Y (en) * | 2006-03-27 | 2007-04-25 | 武汉华之洋光电系统有限责任公司 | Built-in magnetic inductive hydraulic oil cylinder stroke measuring device |
| JP4529093B2 (en) * | 2007-12-19 | 2010-08-25 | Ｓｍｃ株式会社 | Piston position detection device for fluid pressure cylinder |
| CN102400978A (en) * | 2011-11-10 | 2012-04-04 | 江苏武进液压启闭机有限公司 | Coal mine mechanical hydraulic oil cylinder with stroke detection device |
| DE102013217115A1 (en) * | 2012-09-19 | 2014-03-20 | Schaeffler Technologies AG & Co. KG | Target device for an inductive displacement measurement of a master piston |
| KR101435348B1 (en) * | 2012-09-26 | 2014-08-27 | 가부시키가이샤 고마쓰 세이사쿠쇼 | Cylinder position measuring device and cylinder position measuring method |
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