CN107356281A - A kind of rotating device method for correcting position of multisensor multiplexing - Google Patents
A kind of rotating device method for correcting position of multisensor multiplexing Download PDFInfo
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- CN107356281A CN107356281A CN201710443013.XA CN201710443013A CN107356281A CN 107356281 A CN107356281 A CN 107356281A CN 201710443013 A CN201710443013 A CN 201710443013A CN 107356281 A CN107356281 A CN 107356281A
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- rotary transformer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses the rotating device method for correcting position of one kind of multiple sensor multiplexings, for solving in rotating device rotary transformer with spindle drive than non-1:Rotary transformer occurs the problem of multiple zero crossings, and rotary transformer and spindle drive than 1 in the case of 1:In the case of 1 the problem of zero-bit sideslip；This method is by rotary transformer as master reference, aiding sensors are used as by the use of potentiometer and optoelectronic switch, for judging the current number of turns turned of rotary transformer, so as to accurately orient the current actual corners angle value of rotating device, and error deviation amount is modified.
Description
Technical field
The invention belongs to rotating device technical field, and in particular to a kind of rotating device position correction of multisensor multiplexing
Method.
Background technology
Modern war proposes higher requirement to the performance of weaponry, and this pair can provide rotation for detection, tracking, monitoring
Rotating function and the photoelectricity class turntable of real-time position information require also stricter.Photoelectricity class turntable rotates dimension according to it to be divided into
Single shaft, twin shaft, multiaxis.In order to improve control accuracy, photoelectricity class turntable uses closed-loop control more., must in closed-loop control system
The physical location of palpus real-time awareness turntable, conventional position sensor have rotary transformer, potentiometer etc..For complicated nothing
Method realizes rotary transformer and spindle drive ratio 1:1 situation, the higher rotary transformer of precision is due to occurring multiple zero passages
Put and can no longer use.For rotary transformer and spindle drive ratio 1:1 situation, rotating device carry out 360 ° of continuous rotations,
Rotating band come error will accumulate, for a long time rotate zero-bit will sideslip, cause positioning misalignment.Both of these case can all be given
Closed-loop control brings very big inconvenience.Potentiometer precision itself is poor, and long-term rotation can cause the accumulation of error.
The content of the invention
In view of this, the present invention is directed to rotary transformer in the rotating device and spindle drive than non-1:Revolved in the case of 1
The problem of multiple zero crossings occur in transformation depressor, and rotary transformer and spindle drive are than 1:Zero-bit sideslip in the case of 1
Situation, the rotating device method for correcting position of one kind of multiple sensor multiplexings is disclosed, by rotary transformer when sensing of deciding
Device, by the use of potentiometer and optoelectronic switch as aiding sensors, for judging the current physical location of rotary transformer, so as to accurate
Orient the current actual corners angle value of rotating device, and error deviation amount is modified.
The rotating device method for correcting position of one kind of multiple sensor multiplexings of the present invention, including for being revolved in rotating device
Change depressor with spindle drive than non-1:Zero correction in the case of 1 and for rotary transformer in the rotating device and master
Axle gearratio 1:Zero correction in the case of 1, it is specially：
(1) for rotary transformer in rotating device and spindle drive than non-1:Zero correction in the case of 1, specifically
Comprise the following steps：
Step 1, the mechanical zero for determining rotating device；
Step 2, the signal for gathering potentiometer, thus obtain the current position of rotating device that potentiometer is shown；
Step 3, the signal for gathering rotary transformer, thus obtain the current position of rotating device that rotary transformer is shown
Put；
Step 4, using opened loop control rotating device is rotated, determine the rotating device position that rotary transformer is currently shown
The difference Δ for the rotating device position numerical value that numerical value and potentiometer are currently shown；Record rotary transformer numerical value each time zero passage with
Next time in the time interval before zero passage, the numerical value of rotary transformer and the difference range of potentiometer numerical value；Represent that rotation becomes with X
The zero passage number of the numerical value of depressor, TX represent difference range corresponding to X time zero passage；
Judge the magnitude relationship between difference DELTA difference range T1 corresponding with rotary transformer first time zero passage：It is if poor
Value Δ is less than difference range T1, then the current location using the value of rotary transformer divided by gearratio N as rotating device；Conversely,
Illustrate that zero crossing occurs in rotary transformer, perform step 5；
Step 5, X180 ° will be subtracted on the basis of the numerical value divided by N of rotary transformer, current as rotating device
Actual position value；
(2) for rotary transformer in the rotating device and spindle drive than 1:1 situation, specific implementation step are：
Step 1, the mechanical zero for determining rotating device, optoelectronic switch is arranged on mechanical zero in any angle D's
Position；
Step 2, the signal for gathering optoelectronic switch；
Step 3, when optoelectronic switch has high level signal output, read the value α of rotary transformer now, with D- α make
It is modified for the departure positional value current to rotary transformer；
Step 4, setting angle difference D is subtracted with the value of revised rotary transformer, show that rotating device is really mechanical
The value of zero-bit.
Preferably, in step 1, the position of potentiometer is adjusted, makes the median that its resistance is itself total range.
Preferably, in step 2, double channels acquisition is carried out to the analog voltage signal of potentiometer collection, and by average voltage
Value degree of being converted to, conversion formula are：
Wherein, V is the voltage of potentiometer output, and θ is the current positional value of turntable.
Preferably, in step 3, by the numerical value degree of being converted to of rotary transformer, formula is：
Wherein, D is the numerical value of rotary transformer, and θ is the current positional value of rotating device, 214For rotary transformer solution mode transfer
The resolution ratio of block.
The present invention has the advantages that：
1) multiple sensors are used in combination, and effectively reduce the drawbacks of single sensor uses；2) various gearratios be can apply to
Situation, it is applied widely；3) positioning precision is substantially increased by being corrected to deviation in rotary course.
Brief description of the drawings
Fig. 1 is rotary transformer and spindle drive ratio is 2:Fundamental diagram when 1；
Fig. 2 is the method for correcting position schematic diagram of multisensor multiplexing；
Fig. 3 is rotary transformer and spindle drive than non-1:Program flow diagram when 1；
Fig. 4 is rotary transformer and spindle drive ratio is 1:1 program flow diagram；
Fig. 5 is potentiometer AD gathering algorithm flow charts；
Fig. 6 is the algorithm flow chart that potentiometer and rotary transformer share；
Fig. 7 is the algorithm flow chart that optoelectronic switch and rotary transformer share.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
For rotary transformer in the rotating device and spindle drive than non-1:1 situation, as shown in Figure 1, it is assumed that rotation
Transformer is 2 with spindle drive ratio:1, i.e. rotating device is rotated by 360 °, and rotary transformer rotates 720 °, so for each rotation
Change the angle of depressor output, all can corresponding rotation device two angles (two angles differ 180 °), rotating dress can not be known
It is which circle of rotary transformer corresponding to a certain angle put, so also can not just determines the actual angle of rotating device.Such as
Shown in Fig. 2, the present invention is directed to such case using potentiometer as aiding sensors, and potentiometer precision itself is compared with rotary transformer
For it is poor, but can then solve the problems, such as that the two exclusive use is brought as the aiding sensors of rotary transformer by the use of it.
For rotary transformer in the rotating device and spindle drive than 1:1 situation, due to the continuous rotation of rotating device
Turn, rotation error can accumulate, and cause the sideslip of zero-bit so as to cause the inaccuracy of positioning.The present invention is directed to such case, uses
Rotary transformer is master reference, and optoelectronic switch is aiding sensors, and the zero-bit of rotary transformer is carried out by optoelectronic switch
Correction.
(1) for rotary transformer in turntable and spindle drive than non-1:1 situation, as shown in figure 3, specific implementation step
Suddenly it is：
Step 1, the mechanical zero for determining rotating device, now adjusting the position of potentiometer makes its resistance be itself total range
Median, so can ensure that turntable to positive direction and negative direction rotate when all in the range ability of potentiometer, prevent current potential
Device oversteps the extreme limit position and causes to damage.
Step 2, using AD potentiometer signal is adopted back, and degree of being converted to, wherein, potentiometer AD gathering algorithms flow chart is such as
Shown in Fig. 5.Potentiometer resistance changes during turntable rotates, and is converted to the change of voltage signal, directly utilizes DSP
AD is acquired to potentiometer signal on piece.The acceptable ceiling voltages of AD are 3.3V on DSP piece, therefore potentiometer uses
3.3V is powered, and signal return terminal is protected by clamp circuit, and the return voltage of potentiometer is controlled within 3.3V, is prevented
Only voltage surge causes the damage to dsp chip when a failure occurs.To ensure precision, the analog voltage of potentiometer collection is believed
Number carry out double channels acquisition, multichannel changes simultaneously, using average value as final result.Mathematics conversion between magnitude of voltage and degree is public
Formula is：
Wherein, V is the voltage of potentiometer output, and θ is the current positional value of turntable.
Step 3, the signal of rotary transformer adopted back, is parsed, and degree of being converted to.The signal that rotary transformer is adopted back is friendship
Flow voltage, it is impossible to directly gathered with AD on piece, therefore parsed from special demodulation module, and the signal parsed is entered
Line level conversion gives DSP after becoming the acceptable scope of dsp chip.
The formula of its degree of being converted to is：
Wherein, D is the digital value for being transferred to DSP, and θ is the current positional value of turntable, 214For rotary transformer demodulation module
Resolution ratio, this value determines the positional precision of turntable.
The determination of step 4, different zones.In turntable rotary course, it is divided into normal region and special area.Normal region is
Rotary transformer and turntable main shaft are in the region of a circle together, and as turntable is located at 10 ° of positions, rotary transformer return value is also
10°.Special area refers to the region that rotary transformer has zero crossing to occur, as turntable is located at 10 ° of positions, rotary transformer return
It is worth for 360 °+10 °, then rotary transformer is currently at the position of the second circle.Turntable is currently at which region, rotary transformer
Which need to be judged in a program in circle, as shown in fig. 6, specific method is：
Turntable is rotated using opened loop control, the return after being parsed in a program to rotary transformer in turntable rotary course
Value is observed, and determines the rotating dress that the rotating device position numerical value that rotary transformer is currently shown currently is shown with potentiometer
The difference Δ of set setting value；Record the numerical value of rotary transformer each time zero passage with the time interval before zero passage next time, rotation
Change the numerical value of depressor and the difference range of potentiometer numerical value；The zero passage number of the numerical value of rotary transformer is represented with X, TX is represented
Difference range corresponding to X time zero passage；
Judge the magnitude relationship between difference DELTA difference range T1 corresponding with first time zero passage：It is poor that if difference DELTA is less than
Be worth scope T1, rotary transformer without zero crossing, then directly using the value of rotary transformer divided by gearratio N as rotating device ought
Front position；Conversely, zero crossing occurs in explanation rotary transformer, step 5 is performed；
Step 5, X180 ° will be subtracted on the basis of the numerical value divided by N of rotary transformer, current as rotating device
Actual position value；
(2) for rotary transformer in the rotating device and spindle drive than 1:1 situation, as illustrated in figures 4 and 7, specifically
Implementation steps are：
Step 1, the mechanical zero for determining rotating device, optoelectronic switch is arranged on mechanical zero in any angle A's
Position；
Step 2, the low and high level of optoelectronic switch adopted back；
Step 3, the signal of optoelectronic switch is judged in a program, when optoelectronic switch has high level signal output,
The value α of rotary transformer now is read, is modified by the use of A- α as the departure positional value current to rotary transformer；
Step 4, setting angle difference A is subtracted with the value of revised rotary transformer, show that rotating device is really mechanical
The value of zero-bit.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (4)
1. the rotating device method for correcting position of one kind of multiple sensor multiplexings, it is characterised in that including in rotating device
Rotary transformer is with spindle drive than non-1:Zero correction in the case of 1 and for rotary transformer in the rotating device with
Spindle drive is than 1:Zero correction in the case of 1, it is specially：
(1) for rotary transformer in rotating device and spindle drive than non-1:Zero correction in the case of 1, is specifically included
Following steps：
Step 1, the mechanical zero for determining rotating device；
Step 2, the signal for gathering potentiometer, thus obtain the current position of rotating device that potentiometer is shown；
Step 3, the signal for gathering rotary transformer, thus obtain the current position of rotating device that rotary transformer is shown；
Step 4, using opened loop control rotating device is rotated, determine the rotating device position numerical value that rotary transformer is currently shown
And the difference Δ for the rotating device position numerical value that potentiometer is currently shown；Record rotary transformer numerical value each time zero passage with it is next
In time interval before secondary zero passage, the numerical value of rotary transformer and the difference range of potentiometer numerical value；Rotary transformer is represented with X
Numerical value zero passage number, TX represents difference range corresponding to X time zero passage；
Judge the magnitude relationship between difference DELTA difference range T1 corresponding with rotary transformer first time zero passage：If difference DELTA
Less than difference range T1, then the current location using the value of rotary transformer divided by gearratio N as rotating device；Conversely, explanation
There is zero crossing in rotary transformer, performs step 5；
Step 5, X180 ° will be subtracted on the basis of the numerical value divided by N of rotary transformer, the reality current as rotating device
Positional value；
(2) for rotary transformer in the rotating device and spindle drive than 1:1 situation, specific implementation step are：
Step 1, the mechanical zero for determining rotating device, optoelectronic switch is arranged on the position with mechanical zero in any angle D；
Step 2, the signal for gathering optoelectronic switch；
Step 3, when optoelectronic switch has high level signal output, read the value α of rotary transformer now, by the use of D- α as partially
The residual quantity positional value current to rotary transformer is modified；
Step 4, setting angle difference D is subtracted with the value of revised rotary transformer, draw the real mechanical zero of rotating device
Value.
2. the rotating device method for correcting position of one kind of multiple sensor multiplexings as claimed in claim 1, it is characterised in that step
In rapid 1, the position of potentiometer is adjusted, makes the median that its resistance is itself total range.
3. the rotating device method for correcting position of one kind of multiple sensor multiplexings as claimed in claim 1, it is characterised in that step
In rapid 2, double channels acquisition is carried out to the analog voltage signal of potentiometer collection, and average voltage degree of being converted to, conversion is public
Formula is：
<mrow>
<mfrac>
<mi>V</mi>
<mn>3.3</mn>
</mfrac>
<mo>=</mo>
<mfrac>
<mi>&theta;</mi>
<mn>360</mn>
</mfrac>
</mrow>
Wherein, V is the voltage of potentiometer output, and θ is the current positional value of turntable.
4. the rotating device method for correcting position of one kind of multiple sensor multiplexings as claimed in claim 1, it is characterised in that step
In rapid 3, by the numerical value degree of being converted to of rotary transformer, formula is：
<mrow>
<mfrac>
<mi>D</mi>
<msup>
<mn>2</mn>
<mn>14</mn>
</msup>
</mfrac>
<mo>=</mo>
<mfrac>
<mi>&theta;</mi>
<mn>360</mn>
</mfrac>
</mrow>
Wherein, D is the numerical value of rotary transformer, and θ is the current positional value of rotating device, 214For rotary transformer demodulation module
Resolution ratio.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710443013.XA CN107356281B (en) | 2017-06-13 | 2017-06-13 | multi-sensor multiplexing rotating device position correction method |
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|---|---|---|---|
| CN201710443013.XA CN107356281B (en) | 2017-06-13 | 2017-06-13 | multi-sensor multiplexing rotating device position correction method |
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| CN107356281B CN107356281B (en) | 2019-12-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801300A (en) * | 2018-03-30 | 2018-11-13 | 安徽理工大学 | A kind of contact circular motion accurate positioning device and method |
| CN111077777A (en) * | 2019-12-17 | 2020-04-28 | 天津津航技术物理研究所 | Trigonometric function model error compensation method for angle measurement of double-channel rotary transformer |
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| CN101271007A (en) * | 2008-05-07 | 2008-09-24 | 北京航空航天大学 | Calibration compensation method for rotating transformer angle observation error based on velocity rotating platform |
| US20110090104A1 (en) * | 2009-10-20 | 2011-04-21 | Kabushiki Kaisha Toshiba | Digital converter for processing resolver signal |
| CN102589602A (en) * | 2011-01-13 | 2012-07-18 | 三菱电机株式会社 | Malfunction detection device for resolver |
| CN104819739A (en) * | 2015-04-28 | 2015-08-05 | 迈尔世通电气（苏州）股份有限公司 | Detection method for output precision of rotary transformer of motor |
| CN105222814A (en) * | 2015-11-04 | 2016-01-06 | 上海无线电设备研究所 | Multi-turn memory rotary transformer decoding circuit and position calculation method thereof |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101271007A (en) * | 2008-05-07 | 2008-09-24 | 北京航空航天大学 | Calibration compensation method for rotating transformer angle observation error based on velocity rotating platform |
| CN101271007B (en) * | 2008-05-07 | 2010-06-30 | 北京航空航天大学 | Calibration compensation method for rotating transformer angle observation error based on velocity rotating platform |
| US20110090104A1 (en) * | 2009-10-20 | 2011-04-21 | Kabushiki Kaisha Toshiba | Digital converter for processing resolver signal |
| CN102589602A (en) * | 2011-01-13 | 2012-07-18 | 三菱电机株式会社 | Malfunction detection device for resolver |
| CN104819739A (en) * | 2015-04-28 | 2015-08-05 | 迈尔世通电气（苏州）股份有限公司 | Detection method for output precision of rotary transformer of motor |
| CN105222814A (en) * | 2015-11-04 | 2016-01-06 | 上海无线电设备研究所 | Multi-turn memory rotary transformer decoding circuit and position calculation method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801300A (en) * | 2018-03-30 | 2018-11-13 | 安徽理工大学 | A kind of contact circular motion accurate positioning device and method |
| CN111077777A (en) * | 2019-12-17 | 2020-04-28 | 天津津航技术物理研究所 | Trigonometric function model error compensation method for angle measurement of double-channel rotary transformer |
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| CN107356281B (en) | 2019-12-10 |
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