CN107796419A - Low-cost and high-precision digital composite shaft angle detector - Google Patents
Low-cost and high-precision digital composite shaft angle detector Download PDFInfo
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- G—PHYSICS
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- 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 a kind of low-cost and high-precision digital composite shaft angle detector, is made up of photoelectric encoder, magnetic coder, Interruption module, M/T methods calculator, feedforward generator, signal conditioner, phase sensitive detector, three rank angles/angular speed tracker, D/A converter and amplifier.Photoelectric encoder is co-axially mounted with magnetic coder；All time-base signals of Interruption module generation system；Signal conditioner is nursed one's health magnetic coder output signal；Phase sensitive detector output angle error signal；M/T methods calculator obtains photoelectric encoder Attitude rate estimator value；The generator that feedovers produces the size angular speed feedforward amount related to angular acceleration；The angle and angular speed digital quantity of three rank angles/angular speed tracker output are after D/A converter and amplifier, the output analog signal linear with angle and angular speed.The present invention uses the information fusion technology of feedback+feedforward, and cost is low, and precision is high, strong robustness.
Description
Technical field
The present invention relates to a kind of low-cost and high-precision digital composite shaft angle detector, more precisely, refer to a kind of use
Inexpensive magnetic coder and photoelectric code disk obtain high-precision rotor angle and angle as angular transducer using information fusion technology
The shaft angle detector of velocity information.
Background technology
High-precision axis angle measurement is always that servo field one of needs to solve the problems, such as.At present frequently with rotation transformation
Device, photoelectric encoder and magnetic coder are as axis angle measurement sensor.High precision photoelectric encoder and rotary transformer, especially
High-precision rotary transformer, it is expensive, often it is difficult to meet cost requirement in some occasions.Magnetic coder by linear Hall or
Magnetoresistive element forms, simple in construction, small volume, cheap, strong antijamming capability, often completes angle speed using angleonly tracking method
The demodulation of degree and angle, but due to phase delay phenomenon be present, demodulation accuracy is relatively low.
The content of the invention
It is an object of the invention to provide a kind of low-cost and high-precision digital composite shaft angle detector, the detector includes one
The relatively low low cost optical photoelectric coder of precision and an inexpensive magnetic coder, totally two angular transducers.The detector uses
Three-stage shape state observer is completed to demodulate the angle and angular speed of magnetic coder output signal, completes to compile photoelectricity using M/T methods
The angular speed demodulation of code device output signal.Photoelectric encoder obtain angular velocity information as feedforward amount to being obtained from magnetic coder
Angular velocity information compensate, the algorithm combines the rapidity of M/T methods and the high robust of three rank angle-tracking units, cost
Low, the more simple photoelectric encoder of demodulation accuracy and three rank angle-tracking units lift more than one times.
A kind of low-cost and high-precision digital composite shaft angle detector of the present invention, it includes photoelectric encoder（2）, magnetic compile
Code device（3）, Interruption module（4）, M/T method calculators（5）, feedforward generator（6）, signal conditioner（7）, phase sensitive detector
（8）, three rank angles/angular speed tracker（9）, D/A converter（10）And amplifier（11）；
Photoelectric encoder（2）And magnetic coder（3）It is coaxially installed in rotating device rotary shaft, photoelectric encoder（2）Export arteries and veins
Rush signal A, B, Z, the cosine and sine signal of magnetic coder output angleV s ( t ) 、V c ( t )；
Interruption module（4）Including interrupt flip-flop（41）, timer 1（42）, timer 2（43）, timer 3（44）, it is fixed
When device 4（45）；Interrupt flip-flop（41）Receive the Z signals of photoelectric encoder, output timer enabling signal；Timer 1（42）
And timer 2（43）Output photoelectric encoder A, B signal count value m1；Timer 3（44）Main pulse m2 during output；Timer 4
（45）It is that A/D changes sampling time and algorithm discrete periodic to export commutator pulse T, T；
M/T method calculators（5）The A, the B signal count value m1 that are exported according to Interruption module and when main pulse m2 complete photoelectricity and compile
The demodulation of code device angular speed；
Feed forward signal generator（6）The exported according to M/T methods calculatorjMoment Attitude rate estimator valueIt is with feedforward
Numberk f , output thejMoment angular speed feedforward amount；It is describedk f To be 0-1's depending on the value of Attitude rate estimator value
Coefficient,；
Signal processor（7）By A/D converter（71）And low pass filter（72）Composition；A/D converter（71）Each T time is complete
Sampled into an A/D；Low pass filter（72）To sampled signal digital filtering, output theThe output of moment magnetic coder is just remaining
String signalV s ( j ) 、V c ( j )；
Phase sensitive detector（8）Output angle estimation error signal, it is by cos operation table（81）, sine operation table（82）, multiplication
Device 1（83）, multiplier 2（84）And subtracter（85）Composition；Cos operation table（81）According tojMoment angle estimation value
Table look-up, output thejMoment angle cosine value；Sine operation table（82）According tojMoment angle estimation valueLook into
Table, output thejMoment sine value；Multiplier 1（83）By the of receptionjMoment cosine valueWithj
Moment magnetic coder exports sinusoidal signalV s ( j )It is multiplied, exports the first intermediate variable；Multiplier 2（84）By the of receptionj
Moment sine valueWithjMoment magnetic coder exports cosine signalV c ( j )It is multiplied, anaplasia in output second
Amount；Subtracter（85）First intermediate variable of reception is subtracted each other with the second intermediate variable, output thejMoment angle estimation error
Signale ( j )；
Three rank angles/angular speed tracker（9）Including angular speed tracker（901）And angle-tracking unit（902）Two parts；
The angular speed tracker（901）Include multiplier 3（91）, multiplier 4（92）, adder 1（93）, buffer 1
（94）, multiplier 5（95）, adder 2（96）, multiplier 6（97）, adder 3（98）, buffer 2（99）, adder 4
（910）；
Multiplier 3（91）By the of receptionjMoment angle estimation error signale ( j )Withk 1 It is multiplied, among output the 3rd
Variable；Multiplier 4（92）By multiplier 3（91）3rd intermediate variable of output multiplies with discrete periodic T-phase, anaplasia in output the 4th
Amount；Adder 1（93）By buffer 1（94）Depositedj - 1Moment angular acceleration estimateWith anaplasia in the 4th
Amount is added, output thejMoment angular acceleration estimate；Multiplier 5（95）By the moment angle estimation error of reception
Signale ( j )Withk 2 It is multiplied, exports the 5th intermediate variable；Adder 2（96）By multiplier 5（95）Among the 5th of output
Variable and moment angular acceleration estimateIt is added, exports the 6th intermediate variable；Multiplier 6（97）By adder 2
（96）6th intermediate variable of output multiplies with discrete periodic T-phase, exports the 7th intermediate variable；Adder 3（98）By buffer 2
（99）Depositedj - 1Moment feeds back Attitude rate estimator valueIt is added with the 7th intermediate variable, output thejMoment
Feed back angular acceleration estimate；Adder 4（910）By adder 3（98）The feedback Attitude rate estimator value of outputWith feed forward signal generator（6）The angular speed feedforward amount of outputIt is added, Output speed estimate；
The angle-tracking unit（902）Include multiplier 7（911）, buffer 3（912）, adder 5（913）, multiplier 8
（914）, adder 6（915）, buffer 4（916）；
Multiplier 7（911）By the of receptionjMoment angle estimation error signale ( j )Withk 3 It is multiplied, in output the 8th
Between variable；Adder 5（913）By buffer 3（912）Depositedj - 1Moment Attitude rate estimator valueIt is added, output
9th intermediate variable；Multiplier 8（914）By adder 5（913）6th intermediate variable of output multiplies with discrete periodic T-phase, exports
Tenth intermediate variable；Adder 6（915）By multiplier 8（914）Tenth intermediate variable of output and buffer 4（916）Preservej - 1Moment angle estimation valueIt is added, outputjMoment angle estimation value；
It is describedk 1 For tracker coefficient 1,k 2 For tracker coefficient 2,k 3 For tracker coefficient 3；
The D/A converter（10）And amplifier（11）Completion pairjMoment angle and Attitude rate estimator value、's
The analog quantity of D/A conversions, amplification, output angle and Attitude rate estimator value、。
A kind of low-cost and high-precision digital composite shaft angle detector advantage of the present invention is：（1）Using low cost
Photoelectric encoder and magnetic coder are low as angular transducer, cost；（2）Magnetic coder is exported using three rank angle-tracking units
Signal is demodulated, and robustness is stronger；（3）, will be fast from the angle that photoelectric encoder obtains using M/T methods using information fusion technology
Degree information is introduced to three rank angle-tracking units as feedforward amount, has expanded system bandwidth, precision is higher；（4）Designed low cost
For high-precision digital composite shaft angle detector using ST companies ARM chips STM32F103 as CPU, cost is low, convenient to carry out.
Brief description of the drawings
Fig. 1 is the structural principle block diagram of the present invention；
Fig. 2 is the Interruption module principle block diagram of the present invention；
Fig. 3 is the signal conditioner theory diagram of the present invention；
Fig. 4 is the phase-sensitive detector theory diagram of the present invention；
Fig. 5 is three rank angles/angular speed tracker theory diagram of the present invention.
In figure：1. rotating device；2. photoelectric encoder；3. magnetic coder；4. Interruption module；41. interrupt flip-flop；
42. timer 1；43. timer 2；44. timer 3；45. timer 4；5.M/T method calculators；6. feedover generator；7. signal
Conditioner；71.A/D converters；72. low pass filter；8. phase sensitive detector；81. cos operation table；82. sine operation table；
83. multiplier 1；84. multiplier 2；85. subtracter；9. three rank angles/angular speed tracker；901. angular speed trackers；91.
Multiplier 3；92. multiplier 4；93. adder 1；94. buffer 1；95. multiplier 5；96. adder 2；97. multiplier 6；98.
Adder 3；99. buffer 2；910. adders 4；902. angle-tracking unit；911. multipliers 7；912. buffer；913. addition
Device 5；914. multipliers 8；915. adders 6；916. buffers 4；10.D/A converters；11. amplifier.
Embodiment
The present invention is described in further details below in conjunction with drawings and examples.
A kind of low-cost and high-precision digital composite shaft angle detector of the present invention, as shown in figure 1, it includes photoelectric coding
Device（2）, magnetic coder（3）, Interruption module（4）, M/T method calculators（5）, feedforward generator（6）, signal conditioner（7）、
Phase sensitive detector（8）, three rank angles/angular speed tracker（9）, D/A converter（10）And amplifier（11）；It is as shown in figure 1, fixed
When interrupt module（4）, M/T method calculators（5）, feedforward generator（6）, signal conditioner（7）, phase sensitive detector（8）, three rank angles
Degree/angular speed tracker（9）And D/A converter（10）Realized by ST companies low cost ARM chips STM32F103；
In the present invention, photoelectric encoder（2）And magnetic coder（3）With rotating device（1）It is co-axially mounted；As shown in figure 1, photoelectricity
Encoder（2）Output pulse signal A, B, Z related to Angle Position, in the embodiment of the present invention, using 1000 linear light photoelectric coders,
That is A, B signal pulse number are 1000/all, impulse amplitude 3.3Vpp；Magnetic coder（3）Export the sine and cosine letter of Angle Position
Number, in the embodiment of the present invention, magnetic coder output signal is 1Vpp；
In the present invention, Interruption module（4）For STM32F103 internal modules, complete to A, B signal step-by-step counting m1,
Main pulse m2 and A/D conversion and algorithm discrete periodic T timing during M/T methods；As shown in Fig. 2 Interruption module（4）Including in
Disconnected trigger（41）, timer 1（42）, timer 2（43）, timer 3（44）, timer 4（45）；
Interrupt flip-flop（41）According to the Z signals of the photoelectric encoder of reception, start timer 1（42）And timer 2（43）；
Timer 1（42）And timer 2（43）Complete orthogonal encoder decoding and counting module（QEP）, output photoelectric encoder
A, B signal count value m1；
Timer 3（44）Main pulse m2 during output, m2 are main pulse when M/T methods aid in, in the embodiment of the present invention, timer 3
（44）Timing be 200us；
Timer 4（45）Commutator pulse T, T are exported as A/D conversions and algorithm discrete periodic, in the embodiment of the present invention, timer 4
（45）Timing T is 200ms；
In the present invention, M/T methods calculator（5）The is calculated using M/T methodsjThe angular speed of moment photoelectric encoder；
In the present invention, feedover generator（6）Complete thejMoment feedforward angular speedCalculating,k f For depending on estimation
The coefficient of angular acceleration, the mathematical relationship of specific implementation are：
In the present invention, as shown in figure 3, signal processor（7）Include A/D converter（71）And low pass filter（72）, it is complete
A/D and filtering into magnetic coder output signal, use the time as T；In embodiments of the present invention, filtering uses Butterworth number
Word low pass filter, cut-off frequency 10kHz.
In the present invention, as shown in figure 4, phase sensitive detector（8）Complete thejMoment angle estimation error signale ( j )
Calculating, it is by cos operation table（81）, sine operation table（62）, multiplier 1（83）, multiplier 2（84）And subtracter（85）
Composition；Cos operation table（81）, sine operation table（62）Deposit in STM32F103 internal storages；
Cos operation table（81）According tojMoment angle estimation valueTable look-up, output thejMoment angle cosine value；
Sine operation table（82）According tojMoment angle estimation valueTable look-up, output thejMoment sine value；
Multiplier 1（83）By the of receptionjMoment cosine valueWithjMoment magnetic coder exports sinusoidal signalV s (j)It is multiplied, exports the first intermediate variable；
Multiplier 2（84）By the of receptionjMoment sine valueWithjMoment magnetic coder exports cosine signalV c (j)It is multiplied, exports the second intermediate variable；
Subtracter（85）First intermediate variable of reception is subtracted each other with the second intermediate variable, output thejMoment angle estimation error
Signale ( j )；
Phase sensitive detector（8）Described mathematical relationship can be described as：
In the present invention, as shown in figure 5, three rank angles/angular speed tracker（9）For three-stage shape state observer, the is completedWhen
Carve angleAnd angular speedEstimation；Including angular speed tracker（901）And angle-tracking unit（902）Two parts；
Angular speed tracker（901）Include multiplier 3（91）, multiplier 4（92）, adder 1（93）, buffer 1（94）, multiplier
5（95）, adder 2（96）, multiplier 6（97）, adder 3（98）, buffer 2（99）, adder 4（910）；Angle-tracking unit
（902）Include multiplier 7（911）, buffer 3（912）, adder 5（913）, multiplier 8（914）, adder 6（915）、
Buffer 4（916）；
Multiplier 3（91）By the of receptionjMoment angle estimation error signale ( j )Withk 1 It is multiplied, among output the 3rd
Variable；
Multiplier 4（92）By multiplier 3（91）3rd intermediate variable of output multiplies with discrete periodic T-phase, anaplasia in output the 4th
Amount；
Adder 1（93）By buffer 1（94）Depositedj - 1Moment angular acceleration estimate is added with the 4th intermediate variable,
Output thejMoment angular acceleration estimate；
Multiplier 5（95）By the of receptionjMoment angle estimation error signale ( j )Withk 2 It is multiplied, among output the 5th
Variable；
Adder 2（96）By multiplier 5（95）5th intermediate variable of output and moment angular acceleration estimatePhase
Add, export the 6th intermediate variable；
Multiplier 6（97）By adder 2（96）6th intermediate variable of output multiplies with discrete periodic T-phase, anaplasia in output the 7th
Amount；
Adder 3（98）By buffer 2（99）Depositedj - 1Moment feeds back Attitude rate estimator valueWith in the 7th
Between addition of variables, output thejMoment feeds back Attitude rate estimator value；
Adder 4（910）By adder 3（98）The feedback Attitude rate estimator value of outputWith feed forward signal generator（6）
The angular speed feedforward amount of outputIt is added, Output speed estimate；
Multiplier 7（911）By the of receptionjMoment angle estimation error signale ( j )Withk 3 It is multiplied, in output the 8th
Between variable；
Adder 5（913）By buffer 3（912）Depositedj - 1Moment Attitude rate estimator valueIt is added, output the
Nine intermediate variables；
Multiplier 8（914）By adder 5（913）6th intermediate variable of output multiplies with discrete periodic T-phase, among output the tenth
Variable；
Adder 6（915）By multiplier 8（914）Tenth intermediate variable of output and buffer 4（916）Preservej - 1When
Carve angle estimation valueIt is added, outputjMoment angle estimation value；
Three rank angles/angular speed tracker（9）Described mathematical relationship is represented by：
In embodiments of the present invention, three rank tracker coefficientk 1 Value is 40000,k 2 Value is 8000,k 3 Value is 100.
D/A converter（10）And amplifier（11）It is rightjMoment angle and Attitude rate estimator value、D/A turn
Change, amplify, the analog quantity of output angle and Attitude rate estimator value、。
In the present invention, a kind of low-cost and high-precision digital composite shaft angle detector is devised, is compiled using inexpensive photoelectricity
As angular transducer, the cosine and sine signal exported using three rank trackers to magnetic coder is demodulated, adopted for code device and magnetic coder
With M/T methods to photoelectric encoder output signal demodulation, the angular speed obtained from photoelectric encoder is incorporated into three as feedforward amount
Rank tracker, to obtain the angle of higher precision and angular velocity information, cost of the present invention is low, and precision is high, is adapted to promote.
Embodiment
For ease of the effect of the checking present invention, full-scale investigation has been carried out.High precision photoelectric encoder in full-scale investigation platform
It is coaxially connected with low precision photoelectric encoder of the present invention and magnetic coder.High-precision encoder exports weekly 220It is individual
Square-wave pulse, reference signal can be used as；Low precision encoding device exports weekly 1000 pulses；Magnetic coder output 1Vpp is just
Cosine signal；Servomotor is operated at the uniform velocity respectively by servo driver drives in experimentationω=10rad/s, even accelerationω=8t rad/s and sinusoidal velocityωUnder=10+8sin2 π t rad/s operating modes；When at the uniform velocity, angle demodulating error of the invention
For 0.004rad, angular speed demodulating error is 0.06rad/s, than being missed using magnetic coder or the demodulation of photoelectric encoder angle merely
Difference reduces 0.008rad and 0.1rad, than being reduced using magnetic coder or photoelectric encoder angular speed demodulating error merely
0.06rad/s and 0.2rad/s；During even acceleration, angle demodulating error of the invention is 0.004rad, and angular speed demodulating error is
0.09rad/s, than reducing 0.008rad and 0.1rad using magnetic coder or photoelectric encoder angle demodulating error merely, than list
It is pure that 0.08rad/s and 0.2rad/s is reduced using magnetic coder or photoelectric encoder angular speed demodulating error；During sinusoidal velocity, this
The angle demodulating error of invention is 0.01rad, and angular speed demodulating error is 0.48rad/s, than using magnetic coder or light merely
Photoelectric coder angle demodulating error reduces 0.03rad and 0.3rad, than using magnetic coder or photoelectric encoder angular speed merely
Demodulating error reduces 0.6rad/s and 0.5rad/s.
Symbol description
t：Continuous time variable；
A：Photoelectric encoder exports orthogonal pulses signalA；
B：Photoelectric encoder exports orthogonal pulses signalB；
Z：Photoelectric encoder exports cycle trigger signalZ；
m1：Photoelectric encoderA 、BSignal-count value；
m2：The when main pulse that timer 3 exports；
T：Timer 4 exports commutator pulse, and sampling time and algorithm discrete periodic are changed for A/D；
：The of M/T methods calculator outputjMoment Attitude rate estimator value；
：The of gained is calculated according to photoelectric encoder output signaljMoment angular speed feedforward amount；
V s ( t )：Magnetic coder outputtAnalog signal of the moment with rotor angle location into sine relation；
V c ( t )：Magnetic coder outputtAnalog signal of the moment with rotor angle location into cosine relation；
V s ( j )：ThejDis-crete sample values of the Vs (t) of moment magnetic coder output acquired in after signal condition；
V c ( j )：ThejDis-crete sample values of the Vc (t) of moment magnetic coder output acquired in after signal condition；
e ( j )：ThejThe angle estimation error of moment phase sensitive detector output；
：ThejMoment angular acceleration estimate；
：Thej - 1Moment angular acceleration estimate；
：ThejMoment feeds back Attitude rate estimator value；
：Thej - 1Moment feeds back Attitude rate estimator value；
：ThejMoment Attitude rate estimator value；
：Thej - 1Moment Attitude rate estimator value；
：ThejMoment angle estimation value；
：tMoment,The analog quantity of the Attitude rate estimator value exported after D/A is changed and is amplified；
：tMoment,The analog quantity of the angle estimation value exported after D/A is changed and is amplified；
k 1 ：Tracker coefficient 1；
k 2 ：Tracker coefficient 2；
k 3 ：Tracker coefficient 3；
k f ：Feed-forward coefficients；
：ThejMoment angle estimation valueCosine value；
：ThejMoment angle estimation valueSine value.
Claims (4)
- A kind of 1. low-cost and high-precision digital composite shaft angle detector, it is characterised in that：The detector includes photoelectric encoder （2）, magnetic coder（3）, Interruption module（4）, M/T method calculators（5）, feedforward generator（6）, signal conditioner（7）, phase Responsive detectors（8）, three rank angles/angular speed tracker（9）, D/A converter（10）And amplifier（11）；Photoelectric encoder（2）And magnetic coder（3）It is coaxially installed in rotating device rotary shaft；Interruption module（4）Including interrupt flip-flop（41）, timer 1（42）, timer 2（43）, timer 3（44）, it is fixed When device 4（45）；Interruption module（4）Output photoelectric encoder A, B signal count value m1, when main pulse m2, A/D conversion samplings Time and algorithm discrete periodic T；M/T method calculators（5）Complete the demodulation of photoelectric encoder angular speed；Feed forward signal generator（6）The Attitude rate estimator value and feed-forward coefficients exported according to M/T methods calculatork f , output thejWhen Carve angular speed feedforward amount；Signal processor（7）By A/D converter（71）And low pass filter（72）Composition, is completed to magnetic coder output signal A/D is changed and digital filtering；Phase sensitive detector（8）Output angle estimation error signal, it is by cos operation table（81）, sine operation table（82）, multiplier 1 （83）, multiplier 2（84）And subtracter（85）Composition；Cos operation table（81）With sine operation table（82）According tojMoment angle is estimated EvaluationTable look-up, export moment angle sine valueAnd cosine value；Multiplier 1（83）, multiplier 2（84） And subtracter（85）Complete angle estimation error Calculating；Three rank angles/angular speed tracker（9）Including angular speed tracker（901）And angle-tracking unit（902）Two parts；Angular speed tracker（901）Include multiplier 3（91）, multiplier 4（92）, adder 1（93）, buffer 1（94）, multiply Musical instruments used in a Buddhist or Taoist mass 5（95）, adder 2（96）, multiplier 6（97）, adder 3（98）, buffer 2（99）, adder 4（910）；Angle with Track device（902）Include multiplier 7（911）, buffer 3（912）, adder 5（913）, multiplier 8（914）, adder 6 （915）, buffer 4（916）；Multiplier 3（91）By the of receptionjMoment angle estimation error signale (j)Withk 1 It is multiplied, anaplasia in output the 3rd Amount；Multiplier 4（92）By multiplier 3（91）3rd intermediate variable of output multiplies with discrete periodic T-phase, anaplasia in output the 4th Amount；Adder 1（93）By buffer 1（94）Depositedj - 1Moment angular acceleration estimateAmong the 4th Addition of variables, output thejMoment angular acceleration estimate；Multiplier 5（95）The moment angle estimation of reception is missed Difference signale(j)Withk 2 It is multiplied, exports the 5th intermediate variable；Adder 2（96）By multiplier 5（95）Among the 5th of output Variable and moment angular acceleration estimateIt is added, exports the 6th intermediate variable；Multiplier 6（97）By adder 2 （96）6th intermediate variable of output multiplies with discrete periodic T-phase, exports the 7th intermediate variable；Adder 3（98）By buffer 2 （99）Depositedj - 1Moment feeds back Attitude rate estimator valueIt is added with the 7th intermediate variable, the output moment is anti- Present angular acceleration estimate；Adder 4（910）By adder 3（98）The feedback angular acceleration estimate of outputWith feed forward signal generator（6）The angular speed feedforward amount of outputIt is added, Output speed estimate；Multiplier 7（911）By the of receptionjMoment angle estimation error signale ( j )Withk 3 It is multiplied, among output the 8th Variable；Adder 5（913）By buffer 3（912）Depositedj - 1Moment Attitude rate estimator valueIt is added, output the Nine intermediate variables；Multiplier 8（914）By adder 5（913）6th intermediate variable of output multiplies with discrete periodic T-phase, exports the Ten intermediate variables；Adder 6（915）By multiplier 8（914）Tenth intermediate variable of output and buffer 4（916）Preservej - 1Moment angle estimation valueIt is added, outputjMoment angle estimation value；It is describedk 1 For tracker coefficient 1,k 2 For tracker coefficient 2,k 3 For tracker coefficient 3；D/A converter（10）And amplifier（11）Completion pairjMoment angle and Attitude rate estimator value、D/A turn Change, amplify, the analog quantity of output angle and Attitude rate estimator value、。
- A kind of 2. low-cost and high-precision digital composite shaft angle detector according to claim 1, it is characterised in that：In timing Disconnected module（4）, M/T method calculators（5）, feedforward generator（6）, signal conditioner（7）, phase sensitive detector（8）, three rank angles/ Angular speed tracker（9）And D/A converter（10）Realized by processor STM32F103.
- A kind of 3. low-cost and high-precision digital composite shaft angle detector according to claim 1, it is characterised in that：Feedforward is mended The amount of repayingThe angular velocity information and feed-forward coefficients obtained by photoelectric encoderk f Be multiplied gained, and the value of feed-forward coefficients takes Certainly in angular acceleration estimate, meet mathematical relationship：。
- A kind of 4. signals of rotating transformer converter suitable for Variable Velocity Condition according to claim 1, it is characterised in that： The Angle Position of three rank angles/angular speed tracker outputWith Attitude rate estimator valueMeet mathematical relationship：、、With。
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