CN109520550A - A kind of high-precision encoder frame hopping appraisal procedure become suitable for multipole rotation - Google Patents
A kind of high-precision encoder frame hopping appraisal procedure become suitable for multipole rotation Download PDFInfo
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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 present invention proposes a kind of high-precision encoder frame hopping appraisal procedure become suitable for multipole rotation, by being monitored and analyzed to encoded primary data, equipment current encoding state can be assessed, early warning is carried out to the following frame hopping failure, can effectively solve the problems, such as frame hopping catastrophic failure.Equipment user can carry out examination and maintenance to equipment in time in day-to-day operation, avoid occurring frame hopping failure in task or day-to-day operation by assessment and warning data, realize preventative maintenance convenient for equipment, adapt to current device demand.Under the premise of the present invention can guarantee encoding precision and original various functions, performance for high-precision encoder, encoding device is solved as installing encoder angular jump problem caused by unqualified, longtime running, catastrophic failure etc., based on coding principle and data analysis and fault model, coding monitoring and assessment early warning are realized.
Description
Technical field
The present invention relates to encoder techniques field, specially a kind of high-precision encoder frame hopping become suitable for multipole rotation is commented
Estimate method.
Background technique
Multipolar resolver is a kind of sensor device for obtaining aerial angle, can provide higher angle-resolved essence
Degree.Shaft-position encoder passes through the different channels of combination by the decoding of coding chip by the return signal of acquisition rotary transformer
Sampled value obtain antenna movement axis on absolute position, it be antenna system realize control and complete the important of angle measurement task set
It is standby.Various observing and controlling, telemetering, remote sensing is widely applied as the shaft-position encoder of angular transducer using multipolar resolver and leads to
Believe antenna, Satellite TT, telemetry receiving and satellite communication shaft-position encoder are needed that multistage rotation is become to be proficient in and be known a little about
The data in road are combined, and are obtained and are met the high-precision angle-data that angle measurement accuracy requires and is directed toward control.
The thick Measurement channel and P that multipolar resolver is made of a pair of of pole rotary transformer are to multipolar resolver
The smart Measurement channel of composition forms, P value generally selects 16,32,64,128, P value it is bigger, number of pole-pairs is more.High-precision encoder
Angle position measurement is carried out to provide high-precision coding using multipolar resolver, at the same time, is become due to multistage rotation
Coding principle can generate angle frame hopping, cause to control using the rear end of angle closed loop abnormal, it is therefore necessary to using for multipole
The frame hopping appraisal procedure for revolving the high-precision encoder become carries out the assessment of angle frame hopping using the data analysis of smart thick code value, realizes
The assessment and early warning of angle frame hopping.
Angle frame hopping be multipolar resolver coding frequently problem, angle combinations, mounting structure, rotation become or
Rotation becomes encoded signal acquisition access can trigger frame hopping when something goes wrong, and equipment, which is in malfunction and not can be carried out angle, at this time closes
Ring cannot work for the angle guidance working method in telemetry receiving and Satellite TT, target loss, data is caused to be lost
It loses, leads to operation irregularity or mission failure.
Current shaft-position encoder by combine the data of smart rough passage acquisition can make measuring angle precision reach ten rads with
It is interior, but for during equipment operation or smart raw data matching that equipment state variation caused by long service occurs is abnormal causes
Frame hopping do not have monitoring and assessment pre-alerting ability, it is such the result is that angle frame hopping occurs often as a kind of catastrophic failure,
Keep equipment user of service reply too late.After problem occurs, technical staff is generally required to scene, is tested by live coded data
Analysis obtains the accurate conclusion of frame hopping, and the investigation measure taken according to scene, obtains failure cause.When structure problem or rotation become
Occur catastrophe failure caused by frame hopping when, due to structure and rotation become equipment production and processing the period it is long the problems such as, failure cannot get and
When solve, seriously affect equipment work.Commercial kitchen area thus caused by equipment operation irregularity or mission failure will bring it is not small
Economic loss, and in military field in addition to economic loss will also bring threat for national defense safety.
For the frame hopping appraisal procedure for the high-precision encoder that multistage rotation becomes, phase was delivered currently without on any publication
Same and similar paper.
Summary of the invention
Technical problems to be solved
With space flight measurement and control cause, the continuous development in satellite remote sensing field, these field antenna relevant devices are used
It is greatly improved with maintenance needs, to support high-intensitive business, space flight and national defense mission.In this context, equipment
Operation and maintenance Support Mode has new demand with the use pattern of equipment, and angle frame hopping is often as a kind of catastrophic failure shadow
It rings greatly, harm is big, it is therefore desirable to increase coding evaluation function, realize the early warning of angle frame hopping.
The frame hopping appraisal procedure of the high-precision encoder become for multistage rotation by being monitored to encoded primary data and
Analysis, can assess equipment current encoding state, carry out early warning to the following frame hopping failure, can effectively solve this burst
Failure problems.Equipment user can be checked and be tieed up to equipment in time in day-to-day operation by assessment and warning data
Shield, avoids occurring frame hopping failure in task or day-to-day operation, realizes preventative maintenance convenient for equipment, and adapting to current device needs
It asks.
It can guarantee coding essence for high-precision encoder for the frame hopping appraisal procedure for the high-precision encoder that multistage rotation becomes
Under the premise of degree and original various functions, performance, encoding device is solved due to installing unqualified, longtime running, catastrophic failure etc.
Caused encoder angular jump problem realizes coding monitoring and assessment based on coding principle and data analysis and fault model
Early warning.
Frame hopping appraisal procedure for the high-precision encoder that multistage rotation becomes is that engineer application provides a kind of low cost, easy
It realizes, efficient scheme.
Technical solution of the present invention are as follows:
A kind of high-precision encoder frame hopping appraisal procedure become suitable for multipole rotation, it is characterised in that: including following
Step:
Step 1: combined and required according to encoding precision, calculate essence in real time, the initial data of thick sample code convert to 0~
Phase difference value in 360 angles:
Calculate the phase difference of thick branch and smart branch corresponding angle first, the corresponding angle of smart code is 0 to arrive 360/N, wherein N
To revolve pole-changing number:
Φ=((thick code corresponding angle takes the remainder 360/N)-essence code corresponding angle) * 360/360/N；
Wherein: Φ is phase difference of the thick code to smart code；
Step 2: measuring and recording Φ value in entire coding range, form one group of phase data Φ1~Φn, phase difference
Sampling number and sampling number can not be determined according to device memory less than coding range for the integral multiple of 360/N；
Step 3: according to the maximum value Φ for the phase data that step 2 obtainsmaxWith minimum value ΦminIt determines at the beginning of equipment
Begin the correction value Φ encoded0；
Φ0=(Φmax–Φmin)/2；
Step 4: according to Φ0Whole amendment is carried out to the angle that essence slightly combines, is united to the phase data that step 2 obtains
One subtracts Φ0, so that the angle combinations of equipment in the initial state at an arbitrary position is met coding rule and frame hopping do not occur；
Step 5: by step 4 treated phase data ΦiAnd corresponding angle value θiAs equipment evaluation
Initial reference value；
Step 6: the initial reference value obtained according to step 5, in equipment daily maintenance and work, specific evaluation process
Are as follows:
A) the phase value Φ of current essence, thick sample code is calculated in real timejAnd angle, θj；
B) judge ΦjΦ in initial reference valueiWith Φi-1Between, according to the current theoretical phase of data the Fitting Calculation
Potential difference:
ΦT=[(Φi-Φj)/(θi-θj)]*[(Φi–Φi-1)/(θi–θi-1)]
C) by with the Φ that is actually calculatedjIt is compared:
ΔΦ=| ΦT-Φj|；
Step 7: according to setting there may be the Phase Threshold Φ of frame hoppingΔ, it assesses and provides equipment state:
Health: ΔΦ is not more than the 20% of thresholding；
Normal: ΔΦ is not more than the 80% of thresholding, greater than the 20% of thresholding；
Abnormal: ΔΦ is not more than the 100% of thresholding, greater than the 80% of thresholding；
Failure: ΔΦ is greater than the 100% of thresholding.
Beneficial effect
The multistage rotation change high-precision encoder for being 64 for the more no-load voltage ratio of application at present is used cooperatively this method, cooperation
Appraisal procedure can be disliked according to the rotation denaturation that some typical faults, the long-play that occur when installation occurs in data analysis
Change, line fault the problems such as carry out early warning and alarm, for device level trouble-saving repair provide data, catastrophic failure it is fast
Speed diagnosis, and basic data can be provided to system evaluation and health control.
Become by multistage rotation and be used cooperatively the high-precision encoder with frame hopping evaluation function, to realize in antenna system coding
Rotation becomes the preventative maintenance of associated branch, avoids the generation of the slow change type frame hopping failure of influence task, can contract to saltant type frame hopping
Short Diagnostic Time, it is whole to shorten the maintenance of equipment time, improve the maintenance ability of equipment.
Since the high-precision encoder that multistage rotation becomes is widely used in the fields such as space flight measurement and control cause, satellite remote sensing, equipment
Maintenance cost is high, and accident analysis solution is time-consuming and laborious, and the current functional status of equipment does not adapt to the need of equipment Safeguard
It asks, while the proposition of the demand in health management with new equipment, the high-precision encoder that multistage rotation becomes is required to have pair
The assessment warning function of frame hopping.
Using band frame hopping evaluation function high-precision encoder by remote evaluation and diagnosis, it is contemplated that the maintenance of 1 year equipment is protected
Hinder cost (inspection and maintenance) reduction 70%, realizes the political affairs of effective guarantee generation to task by effective early warning to coding frame hopping
It is then immeasurable for controlling with economic benefit.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1: coding circuit composition；
Fig. 2: control and interface circuit composition；
Fig. 3: main hardware composition and software extensions.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
1, high-precision encoder working principle
The working principle of high-precision encoder is using multistage sine and cosine resolver as angle measurement element, with RDC converter
Azimuth axis and pitch axis position angle coding are carried out for angular transition circuit.
1) encoder hardware principle
Encoder is broadly divided into coding electricity according to coding and angle processing and the demand of external interface function, hardware
Road, control and interface circuit two parts.
The main hardware of coding circuit are as follows: oscillator, power circuit, analog signal interface adjustment circuit and RDC conversion electricity
Road etc..Output signal is made the excited signal source that rotation becomes by power amplifier by oscillator, and is converted by adjusting circuit to RDC
Circuit makees reference signal.The RDC device analog signal that spin becomes in the future is converted to binary digit angle signal.It is formed as schemed
Shown in 1.
The main hardware of control and interface circuit is CYGNAL single-chip microcontroller, FPGA, RS422 interface circuit, electricity tune memory
Part and DC power supply etc., single-chip microcontroller handle the angle raw information read when being synchronized to and, and according to angular coding rule, pass through
Original binary data is combined, each rotation in system is respectively obtained and becomes corresponding angle information.Finally by data
Data are sent to external equipment according to interface requirement by bus.It forms as shown in Figure 2.
2) encoder software forms
The main software of encoder includes: initialization module, main control module, RDC initial data read module, angle combinations
Module, coding zero calibration module, interactive interfacing module etc..
Initialization module is used to read the parameter in power down register and initialize relevant interrupt function in hardware and posts
Storage state etc..
Main control module be responsible for generate equipment need of work synchronization signal, and synchronization signal arrive when by angle-data into
Row transmits, and the data such as the external zero received calibration are managed and are stored.
RDC initial data read module, by the read-write with RDC, obtains the flexible RDC that crosses of rotation and samples according to the frequency of setting
Encode obtained binary system initial data.
Angle combinations module becomes what the requirement of sum of series encoding precision obtained RDC sample code according to rotation in the control period
Binary system initial data carries out the combination of smart rough passage, forms 0~360 degree of angle value.
The angle zero that zero calibration module is read according to initialization carries out repairing for angle calibration to the angle value after coding
Just, the system shafting operating angle value for meeting measurement coordinate system requirement is obtained.
Interactive interfacing module is responsible for finally obtained operating angle angle value according to the hardware interface frequency of interaction of design, mode
It sends out, external data can receive according to equipment requirement and be converted to internal data.
2, frame hopping assesses method for early warning principle
By taking number of pole-pairs is the multipolar resolver of 1:64 as an example, rough passage is 1 pair of pole, is proficient in for 64 pairs of poles, rotor
Be pivoted one week in space, the rough passage potential in stator winding then press just, cosine rule alternation one week, and the electricity being proficient in
Gesture then press just, cosine rule alternation 64 weeks, the virtual value period of change of rough passage output voltage is 360 °, and the output being proficient in
Voltage effective value period of change is 360 °/64=5.625 °.
According to device coding precision needs and change series is revolved, samples the binary number pass corresponding with smart slightly angle generation of RDC
System, on this basis, is combined smart raw data, obtains the angle value of needs.During combination, since rotation becomes peace
The factors such as dress, transmission line, there is centainly asynchronous in smart raw data, referred to herein as phase difference, will produce when difference exception
The male character types in Chinese operas, usu. referring tov the bearded character degree combinations matches are abnormal, can cause frame hopping.
Frame hopping assessment method for early warning major function be by becoming essence to rotation, the initial data of thick sample code carries out processing and
Analysis combines encoding model on the basis of phase difference, obtains the state of present encoding, and according to the rule of data variation and become
Gesture completes assessment and frame hopping early warning.
The processing result that each task generates can be stored in the power down of encoder in memory device, analyze shape by data
At the rule and trend of data variation, obtain a result by model comparison.
The data and evaluation status of analysis pass through the serial line interface of encoder and external equipment, are sent to outside in real time and set
It is standby, it is used for other equipment in system.
Specific method is as follows, and process is shown in Figure 3:
1) it is combined and is required according to encoding precision, calculate essence in real time, the initial data of thick sample code is converted to 0~360 jiao
Phase difference value (example is become with the rotation of 64 poles) on degree:
Calculate the phase difference of thick branch and smart branch corresponding angle first, the corresponding angle of smart code is 0 to 360/64 to be
5.625 degree:
Φ=((thick code takes the remainder to 5.625)-essence code corresponding angle) * 360/5.625.
Wherein: Φ is phase difference of the thick code to smart code.
2) Φ value is measured and recorded in entire coding range, forms the data (Φ of one group of Φ1~Φn), the sampled point of Φ
Number can not determine sampling number according to device memory less than coding range for 5.625 integral multiple.
3) the correction value Φ for being used for equipment initial code is determined according to the maximum value of Φ and minimum value0；
Φ0=(Φmax–Φmin)/2；
4) according to Φ0Whole amendment is carried out to the angle that essence slightly combines, uniformly subtracts Φ0, so that equipment is in original state
Under angle combinations at an arbitrary position meet coding rule frame hopping do not occur；
5) essence is retrieved on this basis, the initial data of thick sample code is converted to the phase difference in 0~360 angle
Value ΦiWith angle value θi, initial reference value as equipment evaluation；
6) assessment can be when equipment carries out daily maintenance (test in entire coding range) and routine work (equipment work)
It carries out, main flow:
A) the phase value Φ of current essence, thick sample code is calculated in real timej
B) judge ΦjIn ΦiWith Φi-1Between, according to data the Fitting Calculation, current notional phase is poor:
ΦT=[(Φi-Φj)/(θi-θj)]*[(Φi–Φi-1)/(θi–θi-1)]
Wherein Φ is phase difference, and θ is angle；
C) Φ and being actually calculatedjIt is compared, and records:
ΔΦ=| ΦT-Φj|；
7) according to there may be the Phase Threshold Φ of frame hoppingΔ, it calculates assessment and provides equipment state:
Health: ΔΦ is less than the 20% of thresholding；
Normal: ΔΦ is less than the 80% of thresholding, greater than the 20% of thresholding；
Abnormal: ΔΦ is less than the 100% of thresholding, greater than the 80% of thresholding；
Failure: ΔΦ is greater than the 100% of thresholding.
This method is used in and is suitable on the high-precision encoder that multistage rotation becomes has, can by increase data analysis with
It assesses early warning software module to realize, does not change the hardware configuration of original high-precision encoder, do not influence original software function and stream
Journey.
3, it is applicable in the frame hopping appraisal procedure feature for the high-precision encoder that multistage rotation becomes
It can be consistent using the hardware of high-precision encoder and the design of original encoding device of frame hopping appraisal procedure, for reality
Warning function is now assessed, according to the capacity for the power down memory device that data processing scale needs to extend.The function of its angular coding
It is consistent with original encoding device, realizes newly-increased monitoring, assessment and warning function by increasing assessment early warning software module.
Under the premise of realizing identical function and meeting the requirement of antenna encoding precision, band frame hopping evaluation function high-precision is encoded
Device has the following characteristics that
1) for having used frame hopping to assess method for early warning, the high-precision encoder for being suitable for multistage rotation change is allowed to have frame hopping
The assessment of the coding jump in equipment running process may be implemented in evaluation function.
2) for having used frame hopping to assess method for early warning, the high-precision encoder for being suitable for multistage rotation change is allowed to have frame hopping
Warning function, the carry out early warning to the failure of gradual triggering coding jump.
3) for having used frame hopping to assess method for early warning, the high-precision encoder for being suitable for multistage rotation change is allowed to have frame hopping
Monitoring function triggers alarming for the failure of coding jump to mutation.
4) for having used frame hopping to assess method for early warning, the high-precision encoder for being suitable for multistage rotation change is allowed to have to outside
Equipment reports assessment, early warning and fail result, the health controls such as status monitoring and fault pre-alarming for realizing this component conducive to system
Function supports remote evaluation and diagnosis.
This method is to be applied to high-precision encoder through carrying out test verifying using data on mostly set measuring and controlling equipment
Afterwards, engineer application will be realized in the antenna systems such as the observing and controlling of multiple series and telemetering.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (1)
1. a kind of high-precision encoder frame hopping appraisal procedure become suitable for multipole rotation, it is characterised in that: the following steps are included:
Step 1: being combined and required according to encoding precision, calculate essence in real time, the initial data of thick sample code is converted to 0~360 jiao
Phase difference value on degree:
Calculate the phase difference of thick branch and smart branch corresponding angle first, the corresponding angle of smart code is 0 to arrive 360/N, and wherein N is rotation
Pole-changing number:
Φ=((thick code corresponding angle takes the remainder 360/N)-essence code corresponding angle) * 360/360/N；
Wherein: Φ is phase difference of the thick code to smart code；
Step 2: measuring and recording Φ value in entire coding range, form one group of phase data Φ1~Φn, phase difference adopts
Number of samples can not be less than coding range for the integral multiple of 360/N, and determines sampling number according to device memory；
Step 3: according to the maximum value Φ for the phase data that step 2 obtainsmaxWith minimum value ΦminIt determines and is initially compiled for equipment
The correction value Φ of code0；
Φ0=(Φmax–Φmin)/2；
Step 4: according to Φ0Whole amendment is carried out to the angle that essence slightly combines, the phase data that step 2 obtains uniformly is subtracted
Remove Φ0, so that the angle combinations of equipment in the initial state at an arbitrary position is met coding rule and frame hopping do not occur；
Step 5: by step 4 treated phase data ΦiAnd corresponding angle value θiAs the initial of equipment evaluation
Reference value；
Step 6: the initial reference value obtained according to step 5, in equipment daily maintenance and work, specific evaluation process are as follows:
A) the phase value Φ of current essence, thick sample code is calculated in real timejAnd angle, θj；
B) judge ΦjΦ in initial reference valueiWith Φi-1Between, according to data the Fitting Calculation, current notional phase is poor:
ΦT=[(Φi-Φj)/(θi-θj)]*[(Φi–Φi-1)/(θi–θi-1)]
C) by with the Φ that is actually calculatedjIt is compared:
ΔΦ=| ΦT-Φj|；
Step 7: according to setting there may be the Phase Threshold Φ of frame hoppingΔ, it assesses and provides equipment state:
Health: ΔΦ is not more than the 20% of thresholding；
Normal: ΔΦ is not more than the 80% of thresholding, greater than the 20% of thresholding；
Abnormal: ΔΦ is not more than the 100% of thresholding, greater than the 80% of thresholding；
Failure: ΔΦ is greater than the 100% of thresholding.
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| CN113091797A (en) * | 2021-04-08 | 2021-07-09 | 北京首钢自动化信息技术有限公司 | Method and device for monitoring fault state of encoder |
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| CN109520550B (en) | 2022-09-20 |
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