CN105716520A - Axial angle measurement and control system and method for axial angle sensor - Google Patents
Axial angle measurement and control system and method for axial angle sensor Download PDFInfo
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- CN105716520A CN105716520A CN201610223259.1A CN201610223259A CN105716520A CN 105716520 A CN105716520 A CN 105716520A CN 201610223259 A CN201610223259 A CN 201610223259A CN 105716520 A CN105716520 A CN 105716520A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The invention discloses an axial angle measurement and control system and method for an axial angle sensor.The system comprises a master control and display device, a motion control card, the axial angle sensor and an axial angle converter; the master control and display device is used for sending a control instruction to the motion control card and further used for receiving and displaying the true axial angle value output by the axial angle converter; the motion control card is used for driving a stepper motor to move continuously according to the control instruction sent by the master control and display device; the axial angle sensor is driven by the stepper motor and used for sending an analog voltage signal with angle information to the axial angle converter; the axial angle converter is used for receiving the analog voltage signal sent by the axial angle sensor, converting the analog voltage signal into a digital signal, conducting calculation to obtain the true axial angle value and then outputting the true axial angle value to the master control and display device.By means of the axial angle measurement and control system and method, continuous dynamic multi-point testing of the axial angle sensor is achieved, the accuracy degree is high, and the working state and performance of the axial angle sensor can be displayed in a visualized mode.
Description
Technical field
The present invention relates to shaft angle observation and control technology field, be specifically related to shaft angle TT&C system and the method for a kind of angular transducer.
Background technology
Obtaining accurate corner information is that self-propelled gun fire control system realizes closed loop control and accurately adjusts the basis of big gun, angular transducer is as a kind of electromagnetic type angle measurement element, owing to having the features such as volume is little, precision is high, sturdy and durable, it is widely used in industry and weaponry automatic control system.The inspection accurately and timely carrying out angular transducer duty and performance is the important content of self-propelled gun fire control system equipment Safeguard.In prior art when the performance of angular transducer is tested, what generally adopt is opened loop control, the dynamic environment residing for angular transducer cannot be adjusted further at any time according to the shaft angle information obtained, and cannot be carried out the duty of continuous multiple spot and performance test, accuracy is low with degree of stability, data reading speed is low, wastes the plenty of time, reduce the test speed of system on digital independent.
Summary of the invention
The technical problem to be solved is to provide a kind of shaft angle TT&C system and the method for angular transducer, adopts closed loop control, it is possible to the duty of angular transducer and performance carry out the test of continuous multiple spot, stability is high, functional, speed is fast, and accuracy rate is high.
The technical scheme is that
Based on one aspect of the present invention, it is provided that the shaft angle TT&C system of a kind of angular transducer, described system includes master control and display, motion control card, angular transducer and resolver-to-angle converter；
Described master control and display, be connected with motion control card by interface, for sending control instruction to described motion control card；It is connected with resolver-to-angle converter also by interface, for receiving and show the shaft angle actual value that described resolver-to-angle converter exports；
Described motion control card, moves continuously for the described control instruction drive stepping motor sent according to master control and display, and described motor is mechanically connected a shaft coupling；
Described angular transducer, is fixed on described shaft coupling, servo-actuated is in different dynamic environment in described motor, for sending the analog voltage signal with angle information to described resolver-to-angle converter；
Described resolver-to-angle converter, for receiving the described analog voltage signal that described angular transducer sends, and is converted into digital signal and calculating obtains shaft angle actual value, then by described shaft angle actual value output to described master control and display.
Based on another aspect of the present invention, it is provided that the shaft angle investigating method of a kind of angular transducer, described method includes:
S1, master control and display send control instruction to motion control card, and described motion control card moves continuously according to described control instruction drive stepping motor；
S2, angular transducer are servo-actuated to be in different dynamic environment in described motor, sends the analog voltage signal with angle information to described resolver-to-angle converter simultaneously；
S3, described resolver-to-angle converter receive described analog voltage signal, and are converted into digital signal and calculating obtains shaft angle actual value, then by described shaft angle actual value output to described master control and display；
S4, described master control and display receive and show the described shaft angle actual value that described resolver-to-angle converter exports, and constantly adjust the described control instruction sent to described motion control card according to described shaft angle actual value.
The shaft angle TT&C system of a kind of angular transducer provided by the invention and method, by adopting master control and display to control the motion of motion control card drive stepping motor, so that angular transducer is in different movement environments, and receive the calculated shaft angle actual value of resolver-to-angle converter, realize the closed loop test of angular transducer duty and performance is controlled, degree of accuracy is high, and can adjust the dynamic environment residing for angular transducer further according to the shaft angle actual value obtained；Additionally adopting AD2S83 module that data carry out conversion process in described resolver-to-angle converter, described AD2S83 module dissipation is low, precision is high, good stability, reliability high, and directly can convert angle signal to binary digital signal；Data are transmitted by 74ATC16373 tri-state latch between AD2S83 module and DSP module in resolver-to-angle converter, improve DSP module from AD2S83 module, read the speed of data, and then improve the real-time of described system, and wide-angle error can be revised when adopting DSP module combination calculation shaft angle actual value.Present invention achieves the dynamic test of the continuous multiple spot of angular transducer, described system stability is high, functional, and accuracy is high, can showing duty and the performance of angular transducer intuitively, check-up and maintenance for shaft angle class sensor provide powerful measure.
Accompanying drawing explanation
Fig. 1 is the shaft angle TT&C system schematic diagram of a kind of angular transducer of the embodiment of the present invention 1；
Fig. 2 be a kind of angular transducer of the embodiment of the present invention 1 shaft angle TT&C system in the connection diagram of resolver-to-angle converter；
Fig. 3 be a kind of angular transducer of the embodiment of the present invention 1 shaft angle TT&C system in the hardware circuit schematic diagram of resolver-to-angle converter and angular transducer；
Fig. 4 is the shaft angle investigating method flow chart of a kind of angular transducer of the embodiment of the present invention 2.
Detailed description of the invention
Below in conjunction with accompanying drawing, principles of the invention and feature being described, example is served only for explaining the present invention, is not intended to limit the scope of the present invention.
Embodiment 1, a kind of angular transducer shaft angle TT&C system.Below in conjunction with Fig. 1 to Fig. 3, the shaft angle TT&C system of the angular transducer that the present embodiment provides is described in detail.
Referring to Fig. 1 to Fig. 3, the shaft angle TT&C system of a kind of angular transducer that the present embodiment provides includes master control and display, motion control card, angular transducer and resolver-to-angle converter.
Described master control and display, be connected with motion control card by interface, for sending control instruction to described motion control card；It is connected with resolver-to-angle converter also by interface, for receiving and show the shaft angle actual value that described resolver-to-angle converter exports.
Concrete, described master control and display are connected with motion control card by pci interface, send control instruction to described motion control card；It is connected with resolver-to-angle converter also by RS232 interface, receive and show the shaft angle actual value that described resolver-to-angle converter exports, described master control and display and adjust, always according to the described shaft angle actual value received, the described control instruction sent to described motion control card further.
Described motion control card, moves continuously for the described control instruction drive stepping motor sent according to master control and display, and described motor is mechanically connected a shaft coupling.
Described angular transducer, is fixed on described shaft coupling, servo-actuated is in different dynamic environment in described motor, for sending the analog voltage signal with angle information to described resolver-to-angle converter.Concrete, described angular transducer is twin-channel angular transducer, for sending the thick machine analog voltage signal with angle information and essence machine analog voltage signal to described resolver-to-angle converter.
Described resolver-to-angle converter, for receiving the described analog voltage signal that described angular transducer sends, and is converted into digital signal and calculating obtains shaft angle actual value, then by described shaft angle actual value output to described master control and display.
Concrete, described resolver-to-angle converter specifically includes two AD2S83 modules, a DSP module and two 74ATC16373 tri-state latch.
Oneth AD2S83 module, for receiving the thick machine analog voltage signal with angle information that described angular transducer sends, and is converted into thick machine digital signal.
2nd AD2S83 module, for receiving the smart machine analog voltage signal with angle information that described angular transducer sends, and is converted into essence machine digital signal.
Described DSP module, for reading thick machine digital signal that a described AD2S83 module is converted to and the smart machine digital signal that described 2nd AD2S83 module is converted to, then described thick machine digital signal and essence machine digital signal are calculated combination and obtain shaft angle actual value, and by described shaft angle actual value by RS232 interface output to described master control and display.
Concrete, described DSP module specifically includes thick machine computing unit, essence machine computing unit and combination amending unit.
Described thick machine computing unit, for reading the thick machine digital signal that a described AD2S83 module is converted to, and it is interval to calculate shaft angle place according to described thick machine digital signal.
Described essence machine computing unit, for reading the smart machine digital signal that described 2nd AD2S83 module is converted to, and calculates the shaft angle exact value in described interval according to described essence machine digital signal.
Described combination amending unit, for being combined with the exact value in described interval in described interval, and the angular error produced when revising combination obtains shaft angle actual value, and is passed through the output of RS232 interface extremely described master control and display.
Oneth 74ATC16373 tri-state latch, is used for connecting described AD2S83 module and a DSP module, and transmits data as the interface chip between a described AD2S83 module and DSP module.
2nd 74ATC16373 tri-state latch, is used for connecting described 2nd AD2S83 module and DSP module, and transmits data as the interface chip between described 2nd AD2S83 module and DSP module.
Concrete, a described AD2S83 module receives the thick machine analog voltage signal with angle information that described dual pathways angular transducer sends, and is converted into thick machine digital signal；Described 2nd AD2S83 module receives the smart machine analog voltage signal with angle information that described dual pathways angular transducer sends, and is converted into essence machine digital signal.
Described DSP module reads thick machine digital signal by a described 74ATC16373 tri-state latch from a described AD2S83 module；From described 2nd AD2S83 module, read essence machine digital signal by described 2nd 74ATC16373 tri-state latch simultaneously；Then described thick machine digital signal and essence machine digital signal are calculated combination and obtain shaft angle actual value, and by described shaft angle actual value by RS232 interface output to described master control and display.
Described resolver-to-angle converter also includes a monostable flipflop 74LS123, concrete, the present embodiment adopts two 16 tri-state latch 74ATC16373 at a high speed as the interface chip between two AD2S83 modules and DSP module, as shown in Figure 3, triggering end B (including B1 and B2) of described DSP module output signal INHI to monostable flipflop 74LS123, INHI signal represents when being high level that DSP module does not read data, and INHI signal is that low level represents that DSP module is just reading the data in two described AD2S83 modules.The BUSY holding wire of two described AD2S83 modules is received the triggering end A (the BUSY holding wire of two described AD2S83 modules is coupled with monostable flipflop 74LS123 and triggers end A1 and trigger end A2) of monostable flipflop 74LS123, and the latch that the pulse output end Q (including Q1 and Q2) of monostable flipflop 74LS123 is coupled with two tri-state latch 74ATC16373 allows on signal.Choosing suitable resistance capacitance makes the output pulse of monostable flipflop 74LS123 be about 110ns, so when DSP module need not read data, INHI signal is set to high level, the trailing edge of each BUSY signal triggers a pulse output end Q (including Q1 and Q2), is latched into respectively by the digital signal that each two AD2S83 modules are converted in two 74ATC16373 tri-state latch of correspondence.When DSP module needs the data reading each passage, first INHI signal is set to low level, also it is prevented that the generation of the latch pulse of tri-state latch 74ATC16373, thus prohibiting the change of content in tri-state latch 74ATC16373, then the data of each tri-state latch 74ATC16373 can just be read respectively, any waiting state need not be added, improve DSP module from AD2S83 module, read the speed of data, also improve the real-time of described system simultaneously.
Described system also includes power supply circuits and power supply monitor.
Described power supply circuits, for being powered for the modules in described shaft angle TT&C system.
Described power supply monitor, is connected with described master control and display by RS232 interface, for monitoring the power parameter of described power supply circuits in real time, and the transmission of described power parameter is displayed to described master control and display.
Embodiment 2, a kind of angular transducer shaft angle investigating method.Below in conjunction with Fig. 4, the shaft angle investigating method of the angular transducer that the present embodiment provides is described in detail.
Sending control instruction referring to Fig. 4, S1, master control and display to motion control card, described motion control card moves continuously according to described control instruction drive stepping motor.
Concrete, master control and display send control instruction to motion control card, described control instruction is for controlling the movement velocity of motor and movement position, described motion control card moves continuously according to described control instruction drive stepping motor, and described motor is mechanically connected a shaft coupling.
S2, angular transducer are servo-actuated to be in different dynamic environment in described motor, sends the analog voltage signal with angle information to described resolver-to-angle converter simultaneously.
Concrete, angular transducer is fixed on described shaft coupling, and then servo-actuated is in different dynamic environment in described motor, sends the analog voltage signal with angle information to described resolver-to-angle converter simultaneously.Described angular transducer is specially twin-channel angular transducer；The described analog voltage signal with angle information specifically refers to the thick machine analog voltage signal with angle information and essence machine analog voltage signal.
S3, described resolver-to-angle converter receive described analog voltage signal, and are converted into digital signal and calculating obtains shaft angle actual value, then by described shaft angle actual value output to described master control and display.
Concrete, described step S3 specifically includes following steps:
S31, described resolver-to-angle converter receive described angular transducer send the thick machine analog voltage signal with angle information and essence machine analog voltage signal, and by its respectively by corresponding conversion be thick machine digital signal and essence machine digital signal.
Described thick machine digital signal and essence machine digital signal are calculated combination and obtain shaft angle actual value by S32, described resolver-to-angle converter, and by described shaft angle actual value output to described master control and display.
Concrete, described step S32 specifically includes following steps:
S321, described resolver-to-angle converter are according to described thick machine digital signal DcCalculate shaft angle place interval, concrete, set total total n interval, according to formulaCalculate shaft angle place interval.
S322, simultaneously, described resolver-to-angle converter is according to described essence machine digital signal DjCalculate the shaft angle exact value in described interval, concrete, according to formulaCalculate shaft angle at the interval exact value interval according to thick machine digital signal calculated shaft angle place.
Described interval is combined by S323, described resolver-to-angle converter with the exact value in described interval, and the angular error produced when revising combination obtains shaft angle actual value, and by the output of described shaft angle actual value to described master control and display, concrete, described resolver-to-angle converter according toAngle value revise eliminating by described interval with when the exact value in described interval is combined issuable due to systematic errorWide-angle error.
S4, described master control and display receive and show the described shaft angle actual value that described resolver-to-angle converter exports, and constantly adjust the described control instruction sent to described motion control card according to described shaft angle actual value.
Concrete, described master control and display receive and show the described shaft angle actual value that described resolver-to-angle converter exports, and the described control instruction sent to described motion control card is constantly adjusted according to described shaft angle actual value, thus realizing closed loop control, and described angular transducer is carried out the dynamic test of continuous multiple spot, described shaft angle actual value can show duty and the performance of angular transducer intuitively.
The shaft angle TT&C system of a kind of angular transducer provided by the invention and method, by adopting master control and display to control the motion of motion control card drive stepping motor, so that angular transducer is in different movement environments, and receive the calculated shaft angle actual value of resolver-to-angle converter, realize the closed loop test of angular transducer duty and performance is controlled, degree of accuracy is high, and can adjust the dynamic environment residing for angular transducer further according to the shaft angle actual value obtained；Additionally adopting AD2S83 module that data carry out conversion process in described resolver-to-angle converter, described AD2S83 module dissipation is low, precision is high, good stability, reliability high, and directly can convert angle signal to binary digital signal；Data are transmitted by 74ATC16373 tri-state latch between AD2S83 module and DSP module in resolver-to-angle converter, improve DSP module from AD2S83 module, read the speed of data, and then improve the real-time of described system, and wide-angle error can be revised when adopting DSP module combination calculation shaft angle actual value.Present invention achieves the dynamic test of the continuous multiple spot of angular transducer, described system stability is high, functional, and accuracy is high, can showing duty and the performance of angular transducer intuitively, check-up and maintenance for shaft angle class sensor provide powerful measure.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. the shaft angle TT&C system of an angular transducer, it is characterised in that described system includes master control and display, motion control card, angular transducer and resolver-to-angle converter；
Described master control and display, be connected with motion control card by interface, for sending control instruction to described motion control card；It is connected with resolver-to-angle converter also by interface, for receiving and show the shaft angle actual value that described resolver-to-angle converter exports；
Described motion control card, moves continuously for the described control instruction drive stepping motor sent according to master control and display, and described motor is mechanically connected a shaft coupling；
Described angular transducer, is fixed on described shaft coupling, servo-actuated is in different dynamic environment in described motor, for sending the analog voltage signal with angle information to described resolver-to-angle converter；
Described resolver-to-angle converter, for receiving the described analog voltage signal that described angular transducer sends, and is converted into digital signal and calculating obtains shaft angle actual value, then by described shaft angle actual value output to described master control and display.
2. the shaft angle TT&C system of a kind of angular transducer as claimed in claim 1, it is characterised in that described angular transducer is twin-channel angular transducer, described angular transducer specifically for:
The thick machine analog voltage signal with angle information and essence machine analog voltage signal is sent to described resolver-to-angle converter.
3. the shaft angle TT&C system of a kind of angular transducer as claimed in claim 2, it is characterised in that described resolver-to-angle converter specifically includes two AD2S83 modules and a DSP module；
Oneth AD2S83 module, for receiving the thick machine analog voltage signal with angle information that described angular transducer sends, and is converted into thick machine digital signal；
2nd AD2S38 module, for receiving the smart machine analog voltage signal with angle information that described angular transducer sends, and is converted into essence machine digital signal；
Described DSP module, for reading thick machine digital signal that a described AD2S83 module is converted to and the smart machine digital signal that described 2nd AD2S38 module is converted to, then described thick machine digital signal and essence machine digital signal are calculated combination and obtain shaft angle actual value, and by described shaft angle actual value by RS232 interface output to described master control and display.
4. the shaft angle TT&C system of a kind of angular transducer as claimed in claim 3, it is characterised in that described DSP module specifically includes:
Thick machine computing unit, for reading the thick machine digital signal that a described AD2S83 module is converted to, and it is interval to calculate shaft angle place according to described thick machine digital signal；
Essence machine computing unit, for reading the smart machine digital signal that described 2nd AD2S83 module is converted to, and calculates the shaft angle exact value in described interval according to described essence machine digital signal；
Combining amending unit, for being combined with the exact value in described interval in described interval, and the angular error produced when revising combination obtains shaft angle actual value, and is passed through the output of RS232 interface extremely described master control and display.
5. the shaft angle TT&C system of a kind of angular transducer as claimed in claim 4, it is characterised in that described resolver-to-angle converter also includes two 74ATC16373 tri-state latch；
Oneth 74ATC16373 tri-state latch, is used for connecting described AD2S83 module and a DSP module, and transmits data as the interface chip between a described AD2S83 module and DSP module；
2nd 74ATC16373 tri-state latch, is used for connecting described 2nd AD2S83 module and DSP module, and transmits data as the interface chip between described 2nd AD2S83 module and DSP module.
6. the shaft angle TT&C system of a kind of angular transducer as claimed in claim 5, it is characterised in that described system also includes:
Power supply circuits, for being powered for the modules in described shaft angle TT&C system；
Power supply monitor, is connected with described master control and display by interface, for monitoring the power parameter of described power supply circuits in real time, and the transmission of described power parameter is displayed to described master control and display.
7. the shaft angle investigating method of an angular transducer, it is characterised in that said method comprising the steps of:
S1, master control and display send control instruction to motion control card, and described motion control card moves continuously according to described control instruction drive stepping motor；
S2, angular transducer are servo-actuated to be in different dynamic environment in described motor, sends the analog voltage signal with angle information to described resolver-to-angle converter simultaneously；
S3, described resolver-to-angle converter receive described analog voltage signal, and are converted into digital signal and calculating obtains shaft angle actual value, then by described shaft angle actual value output to described master control and display；
S4, described master control and display receive and show the described shaft angle actual value that described resolver-to-angle converter exports, and constantly adjust the described control instruction sent to described motion control card according to described shaft angle actual value.
8. the shaft angle investigating method of a kind of angular transducer as claimed in claim 7, it is characterised in that angular transducer described in described S2 is specially twin-channel angular transducer；
Specifically refer to the thick machine analog voltage signal with angle information and essence machine analog voltage signal with the analog voltage signal of angle information described in described S2.
9. the shaft angle investigating method of a kind of angular transducer as claimed in claim 8, it is characterised in that described S3 specifically includes:
S31, described resolver-to-angle converter receive described angular transducer send the thick machine analog voltage signal with angle information and essence machine analog voltage signal, and by its respectively by corresponding conversion be thick machine digital signal and essence machine digital signal；
Described thick machine digital signal and essence machine digital signal are calculated combination and obtain shaft angle actual value by S32, described resolver-to-angle converter, and by described shaft angle actual value output to described master control and display.
10. the shaft angle investigating method of a kind of angular transducer as claimed in claim 9, it is characterised in that described S32 specifically includes:
It is interval that S321, described resolver-to-angle converter calculate shaft angle place according to described thick machine digital signal；
S322, simultaneously, described resolver-to-angle converter calculates the shaft angle exact value in described interval according to described essence machine digital signal；
Described interval is combined by S323, described resolver-to-angle converter with the exact value in described interval, and the angular error produced when revising combination obtains shaft angle actual value, and by described shaft angle actual value output to described master control and display.
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| CN107976209A (en) * | 2017-11-21 | 2018-05-01 | 连云港杰瑞电子有限公司 | A kind of built-in detecting circuit and method for being suitable for numeral and arriving resolver-to-angle converter |
| CN109612426A (en) * | 2019-01-29 | 2019-04-12 | 合肥博元电子科技有限公司 | A kind of shaft angle TT&C system of angular transducer |
| CN111579900A (en) * | 2020-05-10 | 2020-08-25 | 哈船光电(武汉)有限公司 | Method and device for testing performance of shaft-angle conversion module |
| CN112615768A (en) * | 2020-12-09 | 2021-04-06 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN112615768B (en) * | 2020-12-09 | 2022-02-11 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
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Application publication date: 20160629 |