CN109297516A - A kind of rotary transformer coding/decoding method suitable for small-angle movement range - Google Patents

A kind of rotary transformer coding/decoding method suitable for small-angle movement range Download PDF

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Publication number
CN109297516A
CN109297516A CN201811091549.0A CN201811091549A CN109297516A CN 109297516 A CN109297516 A CN 109297516A CN 201811091549 A CN201811091549 A CN 201811091549A CN 109297516 A CN109297516 A CN 109297516A
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CN
China
Prior art keywords
angle
rotary transformer
movement range
kind
small
Prior art date
Application number
CN201811091549.0A
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Chinese (zh)
Inventor
高栋
唐万强
张翔
李小艳
张守银
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西安电子工程研究所
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Application filed by 西安电子工程研究所 filed Critical 西安电子工程研究所
Priority to CN201811091549.0A priority Critical patent/CN109297516A/en
Publication of CN109297516A publication Critical patent/CN109297516A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING 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
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/22Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature differentially influencing two coils
    • G01D5/2291Linear or rotary variable differential transformers (LVDTs/RVDTs) having a single primary coil and two secondary coils

Abstract

The present invention relates to a kind of rotary transformer coding/decoding methods suitable for small-angle movement range, summation operation is carried out to the data in a signal period first, to obtain it is discrete after sinusoidal signal period area equivalence value, angle is calculated according to sinusoidal signal period area equivalence value, is so modified to the angle value of calculating.The angle decoding of rotary transformer can be completed using simple computation by the present invention.

Description

A kind of rotary transformer coding/decoding method suitable for small-angle movement range

Technical field

The invention belongs to rotary transformer angle field of measuring technique, are related to a kind of suitable for (± 45 °) of low-angle movements The rotary transformer coding/decoding method of range.

Background technique

Rotary transformer is a kind of widely used angle measurement element, but the simulation cosine and sine signal of its output cannot be direct It uses, angle signal can be just converted by needing to configure dedicated decoding circuit.If not using dedicated decoding circuit, need Collected cosine and sine signal is handled, surmounts function to obtain angle finally by arc tangent is calculated.

The present invention does not need to surmount function using dedicated decoding circuit without complicated algorithm to resolve arc tangent.Needle The characteristics of to trigonometric function, the angle that the decoding to signals of rotating transformer can be completed, while resolving using simple computation Precision index with higher is spent, the use suitable for general control systems.

As shown in Figure 1, rotary transformer feedback signal is just remaining by the fixed frequency of sinusoidal rule modulation by angle information String wave.The method of angle information is calculated from analog signal at present there are mainly two types of method, one of method uses dedicated Decoding chip, decoding principle are to construct second-order loop using phaselocked loop, carry out Closed loop track decoding;Another method is using A/ D chip acquires cosine and sine signal, tangent signal is formed after operation, then count by resolving arctan function (such as Cordic algorithm) Calculate angle.

Above two method has certain defect, at high cost using dedicated decoding chip, circuit is complicated;Using arc tangent Function computation need to consume a large amount of operational capability of processor, higher to system hardware Platform Requirements.

Summary of the invention

Technical problems to be solved

In order to avoid the shortcomings of the prior art, the present invention proposes one kind for low-angle (± 45 °) motion range Using the characteristics of making full use of trigonometric function is decoded using the angle that rotary transformer can be completed in simple computation.

Technical solution

A kind of rotary transformer coding/decoding method suitable for small-angle movement range, it is characterised in that steps are as follows:

Step 1: thick to calculate:

To in a signal period data carry out summation operation, thus obtain it is discrete after sine wave semi-area it is equivalent Value, such as following formula:

Wherein, UsFor the semi-area of sinusoidal signal, UcFor the semi-area of cosine signal;

It calculates

Angle is calculated by A

Step 2: essence calibration:

Photoelectric encoder and tested mechanism are co-axially mounted, multiple point datas are tested within the scope of mechanism kinematic and obtain one group Angle value;The angle value that test obtains and the angle value that step 1 is calculated are repaired using higher order polynomial-fitting method Just, polynomial order is between 3~10.

Beneficial effect

A kind of rotary transformer coding/decoding method being suitable for low-angle (± 45 °) motion range proposed by the present invention, is not required to Special circuit is wanted, algorithm calculates simple.

Detailed description of the invention

Fig. 1 rotary transformer feeds back sine and cosine analog signal

Angle error curve (abscissa: points, ordinate: angular error (unit °)) after Fig. 2 is slightly decoded

The revised angular error curve of Fig. 3 essence (abscissa: points, ordinate: angular error (unit °))

Specific embodiment

Now in conjunction with embodiment, attached drawing, the invention will be further described:

The present invention completes the rotary transformer decoding of small-angle movement range in two steps, and the first step is slightly to decode, and second Portion is essence calibration.

1.2.1 thick decoding principle

The signal that rotary transformer is fed back to is as shown in Figure 1, its mathematical expression are as follows:

Angle signal is modulated to the amplitude of fixed frequency sinusoidal signal, but the amplitude of sinusoidal signal is difficult to acquire, therefore Equivalent Calculation, such as following formula are carried out using the semi-area of sine wave in the present invention:

UsThe semi-area of sinusoidal signal, UcThe semi-area of cosine signal enablesBy can be calculated:

It can be obtained by (3),When the angle θ is in small angle range, it can be approximately considered cot θ ≈ θ, therefore (3) Formula transformation are as follows:

It can be obtained by (4),Therefore, angle can be solved by calculating the area of half-sine wave.

1.2.2 smart calibrating principle

The angular error curve obtained using 3.2.1 method is the parabola that Open Side Down in motion range, Zero point goes out error maximum.In order to reach higher angle measurement accuracy, the angle obtained to 3.2.1 method is needed to be modified.

Modification method employed in the present invention is higher order polynomial-fitting method, and polynomial order is (full between 3~10 Sufficient angular error is at 1 °).It needs coaxially to pacify using high-precision (≤0.05 °) photoelectric code disk with device is corrected in makeover process Dress, and synchronous acquisition photoelectric code disk data (angle) and 3.2.1 method calculated result.In makeover process, by adjusting multinomial Order satisfies the use demand error.

By taking certain control system as an example, angular movement range is ± 15 °, and the exciting signal frequency of rotary transformer is 2KHz, The acquisition of A/D data uses 100KHz sample rate.

In the processor in a signal period data carry out summation operation, thus obtain it is discrete after sinusoidal signal Period area equivalence value, such as following formula:

Real-time angular information is calculated further according to the algorithm in 3.2.1, completes thick decoded process.At this point, angular error Larger, error curve is as shown in Figure 2.

Photoelectric encoder and tested mechanism are co-axially mounted using test fixture, 40 points are tested within the scope of mechanism kinematic According to and carry out refine just.By adjusting polynomial order is corrected, final determine uses 5 rank multinomials, error curve such as Fig. 3 It is shown.

Claims (1)

1. a kind of rotary transformer coding/decoding method suitable for small-angle movement range, it is characterised in that steps are as follows:
Step 1: thick to calculate:
To in a signal period data carry out summation operation, thus obtain it is discrete after sine wave semi-area equivalence value, Such as following formula:
Wherein, UsFor the semi-area of sinusoidal signal, UcFor the semi-area of cosine signal;
It calculates
Angle is calculated by A
Step 2: essence calibration:
Photoelectric encoder and tested mechanism are co-axially mounted, multiple point datas are tested within the scope of mechanism kinematic and obtain one group of angle Value;The angle value that test obtains and the angle value that step 1 is calculated are modified using higher order polynomial-fitting method, it is more Item formula order is between 3~10.
CN201811091549.0A 2018-09-19 2018-09-19 A kind of rotary transformer coding/decoding method suitable for small-angle movement range CN109297516A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811091549.0A CN109297516A (en) 2018-09-19 2018-09-19 A kind of rotary transformer coding/decoding method suitable for small-angle movement range

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811091549.0A CN109297516A (en) 2018-09-19 2018-09-19 A kind of rotary transformer coding/decoding method suitable for small-angle movement range

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CN109297516A true CN109297516A (en) 2019-02-01

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101038182A (en) * 2006-03-15 2007-09-19 欧姆龙株式会社 Resolver signal processing device
CN102519353A (en) * 2011-11-18 2012-06-27 中国兵器工业第二〇六研究所 Method based on FPGA (Field Programmable Gate Array) for acquiring angle signal of magnetic position sensor
CN105703773A (en) * 2014-11-28 2016-06-22 中国科学院沈阳自动化研究所 Rotary transformer decoding method
CN107843227A (en) * 2017-12-09 2018-03-27 连云港杰瑞电子有限公司 A kind of method that encoder accuracy is improved based on collimation technique

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101038182A (en) * 2006-03-15 2007-09-19 欧姆龙株式会社 Resolver signal processing device
JP2007248246A (en) * 2006-03-15 2007-09-27 Omron Corp Resolver signal processing device
CN102519353A (en) * 2011-11-18 2012-06-27 中国兵器工业第二〇六研究所 Method based on FPGA (Field Programmable Gate Array) for acquiring angle signal of magnetic position sensor
CN105703773A (en) * 2014-11-28 2016-06-22 中国科学院沈阳自动化研究所 Rotary transformer decoding method
CN107843227A (en) * 2017-12-09 2018-03-27 连云港杰瑞电子有限公司 A kind of method that encoder accuracy is improved based on collimation technique

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