CN106767649B - A kind of object rotation angle measurement method being parallel to horizontal plane suitable for rotary shaft - Google Patents
A kind of object rotation angle measurement method being parallel to horizontal plane suitable for rotary shaft Download PDFInfo
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- CN106767649B CN106767649B CN201611039061.4A CN201611039061A CN106767649B CN 106767649 B CN106767649 B CN 106767649B CN 201611039061 A CN201611039061 A CN 201611039061A CN 106767649 B CN106767649 B CN 106767649B
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- Prior art keywords
- angle
- twin shaft
- value
- angular transducer
- shaft angular
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Classifications
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a kind of object rotation angle measurement methods that horizontal plane is parallel to suitable for rotary shaft, the rotation angle of testee any two vertical direction can be measured simultaneously using twin shaft angular transducer, under normal conditions, sensor is all required to be placed in parallel in rotary shaft, in the present invention, in the case where twin shaft angular transducer is not parallel to rotary shaft, object rotation angle can also be measured accurately.The twin shaft angular transducer being disposed vertically in this method measurement using two, play the role of mutually correcting and mentioning high-precision, the rotary shaft that object can be kept the change in the case where rotary shaft is parallel to horizontal plane directly measures rotating object, largely reduces the not accurate enough bring error by manually looking for rotary shaft to look for.The twin shaft angular transducer being disposed vertically using two is first corrected sensor when starting measurement, is averaging processing in data processing to the measured value of two twin shaft angular transducers, improves measurement accuracy.
Description
Technical field
The invention belongs to microelectronics technologies, and in particular to a kind of object rotation that horizontal plane is parallel to suitable for rotary shaft
Gyration measurement method, it is true in the case where not requiring angular transducer axis to be parallel to rotary shaft can to measure rapidly object
Angle is rotated, is removed from the measurements the step of looking for rotary shaft, the precision when efficiency and measurement of angle measurement work is improved.
Background technique
Currently, many applications require the rotation angle measurement for carrying out degree of precision using angular transducer, but angle
Degree sensor has to be parallel to object rotation axis during installation, and much cannot make angle by manually installed measuring system
It spends sensor axis and object rotation axis is absolute parallel, bring very big error.This design of the invention, in object rotary shaft
Line does not require sensor axis parallel with object rotation axis in the case where being parallel to the horizontal plane, due to sensing when reducing measurement
Place the error of improper generation in device position.
Summary of the invention
The invention proposes a kind of angle measurement system, system angle sensor axis when rotary shaft is parallel to horizontal plane
Line can be not parallel to shaft, simplify the installation process of sensor, can be realized the monitoring to the real-time high-precision of angle.
In order to achieve the above object, the technical solution adopted by the present invention are as follows: one kind is suitable for rotary shaft and is parallel to horizontal plane
Object rotation angle measurement method, the method steps are as follows:
Step 1: two twin shaft angular transducers are mounted on testee, the X-axis and twin shaft of twin shaft angular transducer 1
The X of angular transducer 21Axis is parallel, is then corrected to two twin shaft angular transducers, and charactron is aobvious on observation display cabinet
The two twin shaft angular transducer output valves shown, when the measured value of two twin shaft angular transducer corresponding directions output is equal,
Start formal measurement；
Step 2: start carry out angle measurement, plane ABC be testee rotation before where plane, plane ABC cross A point,
B point and C point cross the straight line BC of B point and C point as rotation axis, and A point is a bit of plane where testee rotation is preceding, and D point is
A bit of plane where testee rotation terminates, plane BDC are plane where after testee rotates, and plane BDC crosses D point, B
Point and C point, the straight line AD for crossing A point and D point is from D point perpendicular to the vertical line of plane ABC, and DH is the height of triangle DBC, it is known that double
Angle in two vertical direction measured by axis angular transducer is α1Angle and α2Angle, angle DHA are that testee really revolves
Corner α can measure angle [alpha] by angular transducer1Angle and α2Angle calculates true rotation angle α；Wherein A point is object measurement point, BC
For the shaft for being parallel to horizontal plane, plane ABC is primary plane where object, and the face DBC is flat after object rotates by a certain angle
Face, α1Angle and α2Angle is respectively the inclination angle for two any vertical direction that sensor is measured, and triangle DBC is right angled triangle,
DA is perpendicular to plane ABC, and DH is perpendicular to shaft, i.e. DH is the height of triangle DBC, according to Similar Principle of Triangle and Pythagorean theorem
It can be by α1Angle and α2Angle calculates angle DHA, the as true rotation angle α of object；
Step 3: two twin shaft angular transducers send 4 groups of analog measurement values to analog-digital converter ADC and carry out digital-to-analogue
Conversion sends DSP to after analog-digital converter ADC progress digital-to-analogue conversion again and is handled.DSP is by twin shaft angular transducer 1 in the side X
To measured value with twin shaft angular transducer 2 in X1The measured value in direction is averaged, while by twin shaft angular transducer 2 in the side Y
To measured value with twin shaft angular transducer 2 in Y2The measured value in direction is averaged, available two groups of two sides of being mutually perpendicular to
To measured value, then carry out the true rotation angle value that one group of testee is calculated in dsp, this group of angle value carried out
Grouping, removes each group of maximum value and minimum value carries out smothing filtering and obtains final angle value, this class value is transmitted to host computer；
Step 4: the angle value that host computer receives slave computer transmission carries out real-time waveform and shows, and stores, further according to angle
The feedback of angle value is further to whole system to be adjusted.
Further, when placing two twin shaft angular transducers in the measurements, the axis of twin shaft angular transducer does not have to
It is parallel to object rotary shaft, is directly mutually perpendicular to by any two measured by two twin shaft angular transducers being disposed vertically
The rotation angle in direction extrapolates true rotation angle, and sensor output is analog signal, which is carried out digital-to-analogue
It sends DSP after conversion to, carries out data processing and revert to object really rotating angle, finally by RS232 serial communication by angle
Angle value sends the end PC to and carries out the processing such as next step real-time display storage.
Further, the X-direction of twin shaft angular transducer 1 is disposed vertically in twin shaft angular transducer 2 in the measurements
Y-direction, sensor can be corrected at the beginning of measurement in this way, when later data processing is averaged, and improves data essence
Degree, since two twin shaft angular transducers are disposed vertically, and each both direction measured that senses is mutually perpendicular to, and twin shaft angle passes
The value and twin shaft angular transducer 2 that sensor 1 is measured in X-direction are in X1The value that direction is measured is identical, and twin shaft angular transducer 2 is in Y
The value and twin shaft angular transducer 1 that direction is measured are in Y1The value that direction is measured is identical.
Further, twin shaft angular transducer output is exported using electric current, is used for precision resister and is converted into electricity
Pressure carries out digital-to-analogue conversion again, and twin shaft angular transducer directly can be such that frequency fixes using numeral output, but uses simulation output number
Sample frequency when mould converts can be customized, it is possible to take higher sample frequency convenient for post-processing.
Further, in the bottom DSP, generator terminal is done directly the basic handling to data, by the data transmission after sampling
To DSP, obtain four groups of sampled values are first averaged by DSP two-by-two, i.e. the value that obtains in X-direction measurement of twin shaft angular transducer 1
With twin shaft angular transducer 2 in X1The value in direction is averaged, the value that twin shaft angular transducer 1 measures in the Y direction and double
Axis angular transducer 2 is in Y1The value in direction is averaged, and two class values are obtained；Later, the true rotation angle of object is calculated in dsp
Angle value, then take n for one group of carry out smothing filtering to it, that is, remove maximum value in each group of inclination angle value and minimum value is right
After be averaging, obtain final output value, the value by RS232 serial communication be passed to host computer.
Further, the DSP module is produced by TI company, possesses the clock, serial communication and interruption of 150MHz
Processing module can quickly handle high-frequency sampling bring using the high-speed computation ability and flexible programmability of DSP
Many data.
Further, host computer meeting real-time display angle-time in program after receiving rotation angular values
Two-dimensional coordinate image, host computer procedure are write using C# language, call excel that can directly store to the data received.
The advantages of the present invention over the prior art are that:
(1), the present invention can keep the change the rotary shaft of object in the case where rotary shaft is parallel to horizontal plane directly to rotation
Turn object to measure, largely reduces the not accurate enough bring error by manually looking for rotary shaft to look for.
(2), the present invention uses two twin shaft angular transducers being disposed vertically, and first carries out to sensor when starting measurement
Correction, is averaging processing the measured value of two twin shaft angular transducers in data processing, improves measurement accuracy.
(3), the present invention makes full use of the high-speed data processing capacity of DSP, and data processing task is all given to slave computer DSP
It does, alleviates host computer work load, effectively increase working efficiency.
Detailed description of the invention
Fig. 1 is a kind of angle measurement system measuring principle figure that horizontal plane is parallel to suitable for shaft of the present invention；
Fig. 2 is flow chart of data processing figure of the present invention；
Fig. 3 is angle measurement system overall structure figure of the present invention.
Specific embodiment
For a better understanding of the technical solution of the present invention, being described in further detail below in conjunction with attached drawing.
A kind of inclined angle of object measurement method being parallel to horizontal plane suitable for rotary shaft, the specific steps are as follows:
Step 1: two twin shaft angular transducers are mounted on testee according to shown in Fig. 1, guarantee that twin shaft angle passes
The X-axis of sensor 1 and the X of twin shaft angular transducer 21Axis is parallel, is guaranteed by external shelf vertically, then observation display cabinet
The output of two twin shaft angular transducers of upper numeral method is read, when the corresponding direction reading of two twin shaft angular transducers
Two twin shaft angular transducers are initially directed at success when equal；
Step 2: the 4 tunnel analog signals that two twin shaft angular transducers export being received to ADC and carry out digital-to-analogue conversion, is turned
Sample frequency setting when change is higher, and four class values of conversion results are passed to DSP and are handled, and two angular transducers are corresponding to be surveyed
The value in amount direction is averagely obtained the angle value of two groups of both directions.Further according to schematic diagram 2 principle by object finally around rotation
The goniometer of shaft rotation calculates, and obtains one group of angle value, is finally grouped this group of angle value, remove maximum value in every group and
Minimum value is averaged, and is carried out mean filter, is obtained this group of angle value that be finally transmitted to host computer；
Step 3: after host computer receives angle value, then with angle-time on the host computer procedure write with C# language
Two coordinate diagram real-time displays, and data are stored in host computer hard disk with excel format, facilitate subsequent processing.
Fig. 1 is about the angle measurement system measuring principle figure for being parallel to horizontal plane suitable for shaft, and wherein ABC is object
Original plane before not rotating, BC are the shaft for being parallel to horizontal plane, and BDC plane is the plane after object rotation, angle
Sensor module will be installed in the position of A, be the position D after rotation.Twin shaft angular transducer can measure Objects around A
The angle of the shaft of two mutually perpendicular directions, α1Angle, that is, angle DBA is the angle in the direction measured, α2Angle, that is, angle DCA is
The angle in second direction measured, triangle DBC are right angled triangle.Straight line AD is from D point perpendicular to plane ABC
Vertical line, the height of triangle BC when DH.Angle [alpha], that is, angle DHA is that the object really rotates angle, it is now known that twin shaft angle sensor
The angle for two vertical direction that device is measured, α1And α2, seek the real angle α of object rotation:
Had perpendicular to ABC plane so triangle DAB and triangle DAC are right angled triangle by DA:
And triangle DBC is right angled triangle, and DH is the height of right angled triangle, had according to Similar Principle of Triangle:
Had by Pythagorean theorem:
Then,
Have,
By the above reasoning it is found that in the case where testee rotary shaft is parallel to horizontal plane, twin shaft angle is not required to pass
Sensor axis is parallel to object rotary shaft, and the angle for two vertical direction that can be measured from twin shaft angular transducer recovers
The real angle of object rotation.
Generally, the object rotation angle measurement system of the present invention for being parallel to horizontal plane suitable for rotary shaft can
Reach compared with high measurement accuracy, and easy to implement, can effectively reduce rotary shaft be parallel to the angle measurement system of horizontal plane by
In the error that sensor placement location generates.
The content that the present invention does not elaborate belongs to technology well known to field personnel of the present invention.
Claims (1)
1. a kind of object rotation angle measurement method for being parallel to horizontal plane suitable for rotary shaft, it is characterised in that: this method step
It is rapid as follows:
Step 1: two twin shaft angular transducers are mounted on testee, the X-axis of twin shaft angular transducer 1 and twin shaft angle
Spend the X of sensor 21Axis is parallel, is then corrected to two twin shaft angular transducers, numeral method on observation display cabinet
Two twin shaft angular transducer output valves, when two twin shaft angular transducer corresponding directions output measured value it is equal when, open
Begin formally to measure；
Step 2: start to carry out angle measurement, plane ABC is place plane before testee rotation, and plane ABC crosses A point, B point
With C point, the straight line BC of B point and C point is crossed as rotation axis, A point is a bit of plane where testee rotation is preceding, and D point is quilt
It surveys object and rotates a bit for terminating place plane, plane BDC is place plane after testee rotation, and plane BDC crosses D point, B point
With C point, the straight line AD for crossing A point and D point is from D point perpendicular to the vertical line of plane ABC, and DH is the height of triangle DBC, twin shaft angle
Angle in two vertical direction measured by sensor is α1Angle and α2Angle, angle DHA are the true rotation angle α of testee,
Angle [alpha] is measured by angular transducer1Angle and α2Angle calculates true rotation angle α；Wherein A point is object measurement point, and BC is to be parallel to
The shaft of horizontal plane, plane ABC are primary planes where object, and the face DBC is the plane after object rotates by a certain angle, α1Angle and
α2Angle is respectively the inclination angle for two any vertical direction that sensor is measured, and triangle DBC is right angled triangle, DA perpendicular to
Plane ABC, DH are perpendicular to shaft, i.e. DH is the height of triangle DBC, according to Similar Principle of Triangle and Pythagorean theorem by α1Angle and
α2Angle calculates angle DHA angle α, the as true rotation angle α of object；
Step 3: two twin shaft angular transducers send 4 groups of analog measurement values to analog-digital converter ADC and carry out digital-to-analogue turn
It changes, sends DSP to again after analog-digital converter ADC progress digital-to-analogue conversion and handled, DSP is by twin shaft angular transducer 1 in X-direction
Measured value with twin shaft angular transducer 2 in X1The measured value in direction is averaged, while in the Y direction by twin shaft angular transducer 2
Measured value with twin shaft angular transducer 1 in Y1The measured value in direction is averaged, and obtains the survey of two groups of two mutually perpendicular directions
Magnitude, then the true rotation angle value that one group of testee is calculated is carried out in dsp, this group of angle value is grouped,
Remove each group of maximum value and minimum value carries out smothing filtering and obtains final angle value, this class value is transmitted to host computer；
Step 4: the angle value that host computer receives slave computer transmission carries out real-time waveform and shows, and stores, further according to angle value
Feedback further to whole system adjusted；
When placing two twin shaft angular transducers in the measurements, the axis of two double-shaft sensors does not have to be parallel to object rotation
Axis directly passes through the rotation angle of any two mutually perpendicular direction measured by two twin shaft angular transducers being disposed vertically
True rotation angle is extrapolated, sensor output is analog signal, is sent to after which is carried out digital-to-analogue conversion
DSP, progress data processing revert to object and really rotate angle, send angle value to PC finally by RS232 serial communication
End carries out next step real-time display storage processing；
The twin shaft angular transducer vertical using two placement directions in the measurements, in the measurements by the X of twin shaft angular transducer 1
Direction is disposed vertically in the Y-direction of twin shaft angular transducer 2, corrects sensor, later data at the beginning of measurement in this way
It is averaged when processing, improves data precision, since two twin shaft angular transducers are disposed vertically, and each sensor is measured
Both direction is mutually perpendicular to, and the value and twin shaft angular transducer 2 that twin shaft angular transducer 1 is measured in X-direction are in X1It measures in direction
Value it is identical, the value and twin shaft angular transducer 1 that twin shaft angular transducer 2 is measured in the Y direction are in Y1The value that direction is measured is identical；
Twin shaft angular transducer output exported using electric current, be used for precision resister be converted into voltage carry out again digital-to-analogue turn
Change；
In the bottom DSP, generator terminal is done directly the basic handling to data, and the data transmission after sampling is first incited somebody to action to DSP, DSP
To four groups of sampled values be averaged two-by-two, i.e. the value that obtains in X-direction measurement of twin shaft angular transducer 1 and twin shaft angular transducer
2 in X1The value in direction is averaged, and the value and twin shaft angular transducer 1 that twin shaft angular transducer 2 measures in the Y direction are in Y1
The value in direction is averaged, and two class values are obtained；Later, the true rotation angle value of object is calculated in dsp, then n are taken to it
For one group of carry out smothing filtering, that is, then the maximum value and minimum value removed in each group of inclination angle value are averaging, obtain most
The value is passed to host computer by RS232 serial communication by whole output valve；
The DSP is produced by TI company, is possessed the clock, serial communication and interruption processing module of 150MHz, is utilized the height of DSP
Fast operational capability and flexible programmability can quickly handle the high-frequency sampling many data of bring；
Host computer meeting real-time display angle-time two-dimensional coordinate image in program after receiving rotation angular values, on
Position machine program is write using C# language, calls excel that can directly store to the data received.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039061.4A CN106767649B (en) | 2016-11-21 | 2016-11-21 | A kind of object rotation angle measurement method being parallel to horizontal plane suitable for rotary shaft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611039061.4A CN106767649B (en) | 2016-11-21 | 2016-11-21 | A kind of object rotation angle measurement method being parallel to horizontal plane suitable for rotary shaft |
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| CN106767649B true CN106767649B (en) | 2019-11-29 |
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| CN107370757B (en) * | 2017-08-28 | 2020-09-11 | 苏州乐菲昂科技有限公司 | Internet of things system based on ANT protocol, angle measuring method and device |
| CN109186426B (en) * | 2018-09-25 | 2020-10-20 | 安徽省华腾农业科技有限公司经开区分公司 | New forms of energy electric automobile motor and rear axle concentricity detection device |
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