CN109520550B - High-precision encoder code hopping evaluation method suitable for multi-pole rotary transformer - Google Patents
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Abstract
The invention provides a high-precision encoder code hopping assessment method suitable for multi-pole rotary transformer, which can assess the current encoding state of equipment, early warn the future code hopping fault and effectively solve the problem of code hopping sudden fault by monitoring and analyzing the encoding original data. The equipment user can check and maintain the equipment in time in daily operation through the assessment and the early warning data, the code hopping fault in tasks or daily operation is avoided, the preventive maintenance of the equipment is convenient to realize, and the current equipment requirements are met. The invention is used for solving the problem of encoder angle jump caused by unqualified installation, long-term operation, sudden failure and the like of encoding equipment on the premise that a high-precision encoder can ensure encoding precision and original various functions and performances, and realizes encoding monitoring, evaluation and early warning based on an encoding principle, data analysis and a failure model.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a high-precision encoder code hopping evaluation method suitable for multi-pole rotary transformer.
Background
The multi-stage rotary transformer is a sensor device for obtaining an antenna angle, and can provide high angle resolution precision. The shaft angle encoder acquires a return signal of the rotary transformer, decodes the return signal through the encoding chip, and obtains an absolute position on an antenna moving shaft by combining sampling values of different channels, and the shaft angle encoder is important equipment for realizing control and finishing an angle measurement task of an antenna system. The shaft angle encoder using the multi-stage rotary transformer as the angle sensor is widely applied to various measurement and control, remote measurement, remote sensing and communication antennas, and for satellite measurement and control, remote measurement and reception and satellite communication shaft angle encoders, data of a fine channel and a coarse channel which are obtained by multi-stage rotation are required to be combined, so that high-precision angle data meeting the requirement of angle measurement precision and directional control are obtained.
The multipole resolver comprises a rough measurement channel consisting of a pair of pole resolvers and a fine measurement channel consisting of P pairs of multipole resolvers, wherein the P value is generally 16, 32, 64 and 128, and the greater the P value, the more the number of pole pairs. The high-precision encoder uses a multipole rotary transformer to measure the angle position so as to provide high-precision encoding, and meanwhile, because the encoding principle of multi-stage rotary transformer can generate angle code hopping to cause the abnormal rear end control of an angle closed loop, the code hopping evaluation method of the high-precision encoder aiming at the multipole rotary transformer is needed to be utilized, the angle code hopping evaluation is carried out by utilizing the data analysis of fine and coarse code values, and the evaluation and early warning of the angle code hopping are realized.
The angle code hopping is a problem frequently encountered by multi-stage rotary transformer coding, the code hopping can be triggered when the angle combination, the installation structure, the rotary transformer or the rotary transformer coding signal acquisition channel has a problem, the equipment is in a fault state and cannot carry out angle closed loop, and the angle guide working mode in telemetering reception and satellite measurement and control cannot work, so that the target loss and data loss are caused, and the work abnormity or task failure is caused.
The existing shaft angle encoder can enable the angle measurement precision to reach within ten angle seconds by combining data acquired by a fine and coarse channel, but has no monitoring and evaluation early warning capabilities for code hopping caused by abnormal fine and coarse data matching during the operation of equipment or caused by long-term service of equipment, and as a result, the angle code hopping is often used as a sudden fault and can not be responded by equipment users. After the problem occurs, technicians are required to go to the site, the accurate conclusion of code hopping is obtained through field coding data test analysis, and the fault reason is obtained according to on-site inspection measures. When the structure problem or the rotary transformer has code hopping caused by serious faults, the faults can not be solved in time due to the problems of long production and processing periods and the like of the structure and the rotary transformer equipment, and the equipment work is seriously influenced. The resulting equipment working abnormality or mission failure in the commercial field will bring about a small economic loss, while in the military field, the economic loss will also bring about a threat to national defense security.
The same and similar papers have not been published in any publications for the code hopping evaluation method of a multi-stage rotary encoder with high precision.
Disclosure of Invention
Technical problem to be solved
With the continuous development of the fields of aerospace measurement and control industry and satellite remote sensing, the use and maintenance requirements of antenna related equipment in the fields are greatly improved so as to support high-strength commercial, aerospace and national defense tasks. Under the background, the device operation maintenance support mode has new requirements along with the use mode of the device, and the angle code hopping is often used as a sudden fault with large influence and great harm, so that a coding evaluation function needs to be added to realize the early warning of the angle code hopping.
The code hopping evaluation method for the multistage rotary-transformer high-precision encoder can evaluate the current encoding state of equipment by monitoring and analyzing the encoding original data, can early warn the future code hopping fault and can effectively solve the sudden fault problem. The equipment user can check and maintain the equipment in time in daily operation through the assessment and the early warning data, the code hopping fault in tasks or daily operation is avoided, the preventive maintenance of the equipment is convenient to realize, and the current equipment requirements are met.
The code hopping assessment method for the multi-level rotary transformer high-precision encoder is used for solving the problem of encoder angle hopping caused by unqualified installation, long-term operation, sudden failure and the like of encoding equipment on the premise that the high-precision encoder can guarantee encoding precision and original functions and performances, and achieves encoding monitoring, assessment and early warning based on an encoding principle, data analysis and a failure model.
The code hopping evaluation method for the multi-stage rotary-transformer high-precision encoder provides a scheme with low cost, easy implementation and high efficiency for engineering application.
The technical scheme of the invention is as follows:
the code hopping evaluation method of the high-precision encoder suitable for the multi-pole rotary transformer is characterized by comprising the following steps of: the method comprises the following steps:
step 1: according to the combination requirement of the encoding precision, calculating the phase difference value of the original data of the fine sampling encoding and the coarse sampling encoding converted to 0-360 degrees in real time:
firstly, calculating the phase difference of corresponding angles of a coarse branch and a fine branch, wherein the corresponding angle of a fine code is 0 to 360/N, and N is a rotary pole number:
phi is (the coarse code corresponds to the angle pair 360/N and takes the remainder) -the fine code corresponds to the angle 360/360/N;
wherein: phi is the phase difference of the coarse code to the fine code;
step 2: measuring and recording phi values in the whole encoding range to form a group of phase difference data phi 1 ～Φ n The number of sampling points of the phase difference cannot be less than the integral multiple of the encoding range to 360/N, and the number of the sampling points is determined according to the storage space of the equipment;
and step 3: obtaining the maximum value phi of the phase difference data according to the step 2 max Sum minimum value Φ min Determining a correction value phi for an initial encoding of a device 0 ；
Φ 0 ＝(Φ max –Φ min )/2；
And 4, step 4: according to phi 0 Integrally correcting the angles of the fine and coarse combinations, and uniformly subtracting phi from the phase difference data obtained in the step 2 0 The angle combination of the equipment at any position in the initial state meets the coding rule and does not generate code hopping;
and 5: using the phase difference data phi processed by the step 4 i And the corresponding angle value theta i As an initial reference value for device evaluation;
and 6: according to the initial reference value obtained in the step 5, when the equipment is maintained and operated daily, the specific evaluation process is as follows:
a) calculating phase value phi of current fine and coarse sampling codes in real time j And angle theta j ；
b) Judgment of phi j Phi in the initial reference value i And phi i-1 And calculating the current theoretical phase difference according to data fitting:
Φ T ＝[(Φ i -Φ j )/(θ i -θ j )]*[(Φ i –Φ i-1 )/(θ i –θ i-1 )]
c) will be compared with the actually calculated phi j And (3) comparison:
ΔΦ＝|Φ T -Φ j |；
and 7: according to a set phase threshold phi which can generate code hopping Δ The evaluation gives the device status:
health: Δ Φ is no greater than 20% of the threshold;
and (3) normal: the delta phi is not more than 80 percent of the threshold and is more than 20 percent of the threshold;
exception: the delta phi is not more than 100 percent of the threshold and is more than 80 percent of the threshold;
and (4) failure: Δ Φ is greater than 100% of the threshold.
Advantageous effects
The method is used by matching with a multi-stage rotation-high-precision encoder with a variable ratio of 64, which is applied more at present, and an evaluation method, and can perform early warning and alarm on problems such as typical faults occurring during installation, rotation performance deterioration occurring after long-time operation, line faults and the like according to data analysis, provide data for fault preventive maintenance of equipment level, quickly diagnose sudden faults and provide basic data for system evaluation and health management.
The high-precision encoder with the code hopping evaluation function is used in cooperation with the multi-stage rotary transformer, preventive maintenance of rotary transformer related branches in antenna system coding is achieved, slow-varying type code hopping faults affecting tasks are avoided, diagnosis time can be shortened for mutant type code hopping, equipment maintenance time is shortened integrally, and maintenance guarantee capability of equipment is improved.
Because the high-precision encoder of multistage whirl becomes wide application in fields such as space flight measurement and control career, satellite remote sensing, the equipment maintenance cost is high, and failure analysis solves and wastes time and energy, and the current functional state of equipment can not adapt to the demand of equipping the guarantee, simultaneously along with the proposition of the health management demand of new equipment, all need possess the aassessment early warning function to the jump code to the high-precision encoder of multistage whirl.
By means of remote evaluation and diagnosis, the maintenance and guarantee cost (routing inspection and maintenance) of equipment is estimated to be reduced by 70% in one year, and the political and economic benefits of effective guarantee of tasks through effective early warning of code hopping are immeasurable.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1: a coding circuit;
FIG. 2 is a schematic diagram: control and interface circuits;
FIG. 3: main hardware components and software extension.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
1. Working principle of high-precision encoder
The working principle of the high-precision encoder is that a multi-stage sine and cosine rotary transformer is used as an angle measuring element, and an RDC converter is used as an angle conversion circuit to carry out position angle encoding on an azimuth axis and a pitch axis.
1) Hardware principle of encoder
The hardware of the encoder is mainly divided into two parts, namely an encoding circuit and a control circuit and an interface circuit according to the requirements of encoding and angle processing and external interface functions.
The main hardware of the coding circuit is: the device comprises an oscillator, a power circuit, an analog signal interface adjusting circuit, an RDC converting circuit and the like. The oscillator makes the output signal as a rotary excitation signal source through the power amplifier, and makes a reference signal for the RDC conversion circuit through the adjusting circuit. The RDC device converts the spin-variant analog signal into a binary digital angle signal. The composition is shown in figure 1.
The main hardware of the control and interface circuit is a CYGNAL single chip microcomputer, an FPGA, an RS422 interface circuit, an electric regulation memory device, a direct current power supply and the like, the single chip microcomputer processes read angle original information when the single chip microcomputer arrives synchronously, and the angle information corresponding to each rotary transformer in the system is obtained by combining original binary data according to an angle coding rule. And finally, sending the data to external equipment through a data bus according to the interface requirement. The composition is shown in fig. 2.
2) Encoder software composition
The main software of the encoder includes: the device comprises an initialization module, a main control module, an RDC original data reading module, an angle combination module, a coding zero value correction module, an interface interaction module and the like.
The initialization module is used for reading parameters in the power-down register and initializing related interrupt functions, register states and the like in hardware.
The main control module is responsible for generating synchronous signals required by equipment work, packaging and sending angle data when the synchronous signals arrive, and managing and storing the received data such as external zero-value calibration and the like.
And the RDC original data reading module obtains the rotary transformation binary original data obtained by RDC sampling coding through reading and writing with the RDC according to the set frequency.
And the angle combination module performs combination of a fine channel and a coarse channel on binary original data obtained by RDC sampling coding according to the requirements of the rotary variable series and the coding precision in a control period to form an angle value of 0-360 degrees.
And the zero value correction module corrects the angle calibration of the coded angle value according to the initialized and read angle zero value to obtain a system shafting working angle value meeting the requirement of a measurement coordinate system.
The interface interaction module is responsible for sending out the finally obtained working angle value according to the designed hardware interface interaction frequency and mode, and can receive external data and convert the external data into internal data according to the equipment requirements.
2. Code hopping evaluation early warning method principle
Taking the number of pole pairs as 1: 64, the coarse channel is 1 pair of poles, the fine channel is 64 pairs of poles, the rotor rotates a circle around the space axis, the potential of the coarse channel in the stator winding alternates a circle according to the sine and cosine law, the potential of the fine channel alternates 64 circles according to the sine and cosine law, the period of change of the effective value of the output voltage of the coarse channel is 360 degrees, and the period of change of the effective value of the output voltage of the fine channel is 360 degrees/64 degrees which is 5.625 degrees.
And according to the equipment coding precision requirement and the rotary variable series, sampling the binary number of the RDC and generating a corresponding relation with the fine and coarse angle, and combining the fine and coarse data on the basis to obtain the required angle value. In the process of combination, due to factors such as rotating transformer installation and transmission lines, the fine and coarse data have certain asynchronism, which is called phase difference, and when the difference is abnormal, angle combination matching abnormity is generated, and code hopping can be caused.
The code hopping assessment early warning method mainly has the functions of processing and analyzing original data of the rotary transformer fine sampling codes and the rough sampling codes, combining a coding model on the basis of phase difference to obtain the current coding state, and completing assessment and code hopping early warning according to the rules and the trend of data change.
The processing result generated by each work is stored in a power-down storable device of the encoder, the rule and the trend of data change are formed through data analysis, and the result is obtained through model comparison.
The analyzed data and the evaluation state are transmitted to the external equipment in real time through a serial interface between the encoder and the external equipment, and are used by other equipment in the system.
The specific method is as follows, and the flow is shown in figure 3:
1) according to the combination requirement of the encoding precision, calculating the phase difference value of the original data of the fine sampling encoding and the coarse sampling encoding converted to 0-360 degrees in real time (taking 64-pole rotation as an example):
firstly, calculating the phase difference of the corresponding angles of the coarse branch and the fine branch, wherein the angle corresponding to the fine code is 0-360/64 and is 5.625 degrees:
phi is ((coarse code taking remainder for 5.625) -fine code corresponding angle) 360/5.625.
Wherein: phi is the phase difference of the coarse code to the fine code.
2) In thatMeasuring and recording phi values in the whole coding range to form a group of phi data (phi) 1 ～Φ n ) And the number of sampling points of phi is not less than the integral multiple of the coding range to 5.625, and the number of sampling points is determined according to the storage space of the equipment.
3) Determining a correction value phi for initial encoding of a device based on the maximum value and the minimum value of phi 0 ；
Φ 0 ＝(Φ max –Φ min )/2；
4) According to phi 0 Integrally correcting the angle of the fine and coarse combination, and uniformly subtracting phi 0 So that the angle combination of the equipment at any position in the initial state meets the coding rule and code hopping does not occur;
5) on the basis, original data of the fine and coarse sampling codes are obtained again, and the phase difference value phi is converted to 0-360 degrees i And the angle value theta i As an initial reference value for the device evaluation;
6) the evaluation can be performed during routine maintenance (testing within the whole coding range) and routine work (device working) of the device, and the main flow is as follows:
a) calculating phase value phi of current fine and coarse sampling codes in real time j
b) Judgment of phi j At phi i And phi i-1 And calculating the current theoretical phase difference according to data fitting:
Φ T ＝[(Φ i- Φ j )/(θ i- θ j )]*[(Φ i– Φ i-1 )/(θ i– θ i-1 )]
wherein phi is phase difference, and theta is angle;
c) and phi obtained by actual calculation j A comparison was made and recorded:
ΔΦ＝|Φ T -Φ j |；
7) according to phase threshold phi of code hopping possibly generated Δ Calculating and evaluating to give the equipment state:
health: Δ Φ is less than 20% of the threshold;
and (3) normal: Δ Φ is less than 80% of the threshold and greater than 20% of the threshold;
exception: Δ Φ is less than 100% of the threshold and greater than 80% of the threshold;
and (3) failure: Δ Φ is greater than 100% of the threshold.
The method is applied to a high-precision encoder suitable for multi-stage rotary transformation, can be realized by adding a data analysis and evaluation early warning software module, does not change the hardware structure of the original high-precision encoder, and does not influence the functions and the flow of the original software.
3. Code hopping evaluation method characteristics of high-precision encoder suitable for multi-stage rotary transformer
The hardware of the high-precision encoder using the code hopping evaluation method can be consistent with the design of the original encoder, and in order to realize the evaluation early warning function, the capacity of a power-down storage device needs to be expanded according to the data processing scale. The angle coding function is consistent with that of the original encoder, and the newly added monitoring, evaluating and early warning functions are realized by adding an evaluating and early warning software module.
On the premise of realizing the same function and meeting the requirement of antenna coding precision, the high-precision encoder with the code hopping evaluation function has the following characteristics:
1) the code hopping assessment early warning method is used, so that the high-precision encoder suitable for the multilevel rotary transformer has a code hopping assessment function, and assessment of code hopping in the operation process of equipment can be realized.
2) The code hopping assessment early warning method is used, so that the high-precision encoder suitable for the multilevel rotary transformer has a code hopping early warning function, and the early warning is carried out on the fault of code hopping triggered by slow change.
3) The code hopping assessment early warning method is used, so that the high-precision encoder suitable for the multilevel rotary transformer has a code hopping monitoring function, and the fault of sudden change triggering code hopping is alarmed.
4) The code hopping assessment early warning method is used, so that the high-precision encoder suitable for the multilevel rotary transformer can report assessment, early warning and fault results to external equipment, the system is favorable for realizing the health management functions of state monitoring, fault early warning and the like of the component, and remote assessment and diagnosis are supported.
The method is used for testing and verifying by using data on a plurality of sets of measurement and control equipment, and after being applied to a high-precision encoder, the method can be applied to a plurality of series of antenna systems such as measurement and control, remote measurement and the like.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (1)
1. A code hopping evaluation method of a high-precision encoder suitable for multi-pole rotary transformer is characterized by comprising the following steps: the method comprises the following steps:
step 1: according to the combination requirement of the encoding precision, calculating the phase difference value of the original data of the fine sampling encoding and the coarse sampling encoding converted to 0-360 degrees in real time:
firstly, calculating the phase difference of corresponding angles of a coarse branch and a fine branch, wherein the corresponding angle of a fine code is 0 to 360/N, and N is a rotary pole number:
phi is (the coarse code corresponds to the angle pair 360/N and takes the remainder) -the fine code corresponds to the angle 360/360/N;
wherein: phi is the phase difference of the coarse code to the fine code;
step 2: measuring and recording phi values over the entire encoding range to form a set of phase difference data phi 1 ～Φ n The number of sampling points of the phase difference cannot be less than the integral multiple of the encoding range to 360/N, and the number of the sampling points is determined according to the storage space of the equipment;
and step 3: obtaining the maximum value phi of the phase difference data according to the step 2 max And minimum value phi min Determining a correction value phi for an initial encoding of a device 0 ；
Φ 0 ＝(Φ max –Φ min )/2；
And 4, step 4: according to phi 0 Integrally correcting the angle of the fine and coarse combination, and uniformly subtracting phi from the phase difference data obtained in the step 2 0 To make the angle combination of the equipment at any position in the initial state fullCode hopping does not occur according to the foot coding rule;
and 5: using the phase difference data phi processed in step 4 i And the corresponding angle value theta i As an initial reference value for device evaluation;
step 6: according to the initial reference value obtained in the step 5, during daily maintenance and work of the equipment, the specific evaluation process is as follows:
a) calculating phase value phi of current fine and coarse sampling codes in real time j And an angle theta j ；
b) Determining phi j Phi in the initial reference value i And phi i-1 And calculating the current theoretical phase difference according to data fitting:
Φ T ＝[(Φ i- Φ j )/(θ i -θ j )]*[(Φ i –Φ i-1 )/(θ i– θ i-1 )]
c) will be compared with the actually calculated phi j And (3) comparison:
ΔΦ＝|Φ T -Φ j |；
and 7: according to the set phase threshold phi which can generate code hopping Δ The evaluation gives the device status:
health: Δ Φ is no greater than 20% of the threshold;
and (3) normal: Δ Φ is no greater than 80% of the threshold and greater than 20% of the threshold;
abnormality: the delta phi is not more than 100 percent of the threshold and is more than 80 percent of the threshold;
and (3) failure: Δ Φ is greater than 100% of the threshold.
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| CN113091797B (en) * | 2021-04-08 | 2023-01-13 | 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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