CN110553621B - High-precision turret angle measurement system and method free of power failure influence - Google Patents
High-precision turret angle measurement system and method free of power failure influence Download PDFInfo
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Abstract
The invention relates to a high-precision turret angle measuring system and method which are not affected by power failure, and belongs to the technical field of turret angle measurement. The invention designs a high-precision turret angle measuring system and method which are not influenced by power failure, and the system and the method have the following advantages: firstly, because the turret angle measuring sensor is not limited by the matching of the number of teeth of the turret seat ring, the acquisition of the turret angle value of any seat ring can be realized by setting the number of teeth of the seat ring and the number of teeth of the speed-up gear; and secondly, the turret is rotated under the condition that the turret angle sensor is powered off, the angle output is not influenced by the power-off rotating turret after the turret is powered on for use again, the turret angle can be correctly output, and the function meets the service guarantee requirement.
Description
Technical Field
The invention belongs to the technical field of turret angle measurement, and particularly relates to a high-precision turret angle measurement system and method which are not affected by power failure.
Background
The angle between the turret and the chassis is one of indispensable parameters of the tank armored vehicle and is used for indicating the relative position of the turret and the chassis. The turret angle calculation is generally formed by a photoelectric encoder and a turret seat ring tooth arc transmission mechanism. A photoelectric encoder is a sensor that converts mechanical geometric displacement on an output shaft into pulses or digital quantities through photoelectric conversion. The photoelectric encoder can be divided into an incremental type, an absolute type and a mixed type according to a scale method and a signal output form. The position measurement generally adopts absolute type photoelectric encoder, and absolute type photoelectric encoder divide into single-stage encoder and multistage encoder again, and multistage encoder has increased rotatory number of turns record function on single-stage encoder basis, rotates the round and represents 360 if two-stage photoelectric encoder's first order encoder, and first order encoder changes to the second level encoder output numerical value after full round and adds 1 and represents that the number of turns increases 1 circle.
A commonly used method for measuring the turret angle is that a single-stage absolute photoelectric encoder is connected with a turret seat ring tooth arc through a speed reducing mechanism, a code wheel of the absolute photoelectric encoder is driven to rotate by the rotation of a turret, the absolute photoelectric encoder is driven to rotate by one circle of the rotation of the turret, and the code wheel collecting numerical value output by the absolute photoelectric encoder is the actual angle of the turret (obtained by setting the output value of the encoder to zero). The method is influenced by the number of the encoder and the transmission precision of the speed reducing mechanism, the precision of the measured angle is low, and the requirement of high-precision turret angle data measurement cannot be met.
In the other method, a two-stage absolute photoelectric encoder is connected with a turret seat ring through a speed increasing mechanism in a tooth arc manner, the turret rotates to drive a code disc of the photoelectric encoder to rotate, the turret rotates for one circle to drive the photoelectric encoder to rotate for multiple circles, the photoelectric encoder respectively outputs values acquired by the first-stage encoder and the second-stage encoder, and an angle calculation program calculates the current turret chassis included angle. The method has the problems that firstly, the number of teeth of the turret seat ring is required to be matched with the number of teeth of the speed increasing mechanism of the encoder or the algorithm adaptation of the software needs to be modified, the universality of the software is influenced, secondly, the turret is rotated after the photoelectric encoder is powered off, and the error of the angle measurement value of the turret can be caused if the software compensation calculation is not carried out. Therefore, the universal gun turret angle measuring system and method for the tank armored vehicle are designed and engineered, and have important significance correspondingly.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to design a system and a method which can adapt to various universal gun towers and realize high-precision measurement of the angle position of the gun tower of the tank armored vehicle on the premise of not being influenced by power failure.
(II) technical scheme
In order to solve the technical problem, the invention provides a high-precision turret angle measuring system which is not influenced by power failure, and the system comprises four modules: the device comprises a rotation speed increasing mechanism, a secondary photoelectric encoder, an angle calculating module and a storage module;
wherein, at the turret rotation in-process, realize the rotation transmission of turret seat circle pitch arc to second grade photoelectric encoder input shaft through the rotation acceleration mechanism of turret, rotate the transmission relation and be:
the secondary photoelectric encoder is used as a turret angle sensor and is used for measuring the angle of the current rotating speed-increasing mechanism; the second-stage photoelectric absolute encoder directly outputs a first-stage angle value and a second-stage rotation circle value;
the angle calculation module is used for calculating the current turret angle position according to the data output by the secondary photoelectric encoder and the data stored by the storage module;
the storage module is used for periodically storing a first-stage angle value and a second-stage rotation number output by the second-stage photoelectric encoder and storing a zero-crossing number N of the second-stage rotation number; wherein the initial value of N is 0, and the number of secondary rotation turns is gradually increased to 2nAfter 1 turn, when counting from 0 again, called a positive zero crossing of two rotations, once every positive zero crossing, the value N is increased by 1; after the number of secondary rotation turns is gradually reduced to 0, the number of secondary rotation turns is increased from 2n-1 is gradually reduced, called a secondary number of revolutions once zero-crossing backwards, by 1 for each zero-crossing backwards; wherein n is the digit of the second-level code disc of the second-level photoelectric encoder, and the digit of the first-level code disc of the second-level photoelectric encoder is m.
Preferably, the angle calculation module, the storage module and the secondary photoelectric encoder are integrated into one calculation processing unit.
Preferably, the two-stage photoelectric encoder is a two-stage absolute photoelectric encoder.
Preferably, for a 1216 absolute type photoelectric encoder, m is 16 and n is 12.
The invention also provides a method for realizing high-precision measurement of the angular position of the turret of the tank armored vehicle by using the system, which comprises the following steps:
(1) setting a first-level code disc digit M and a second-level code disc digit n, and configuring a turret seat ring gear tooth number MpSpeed-increasing gear tooth number M of two-stage photoelectric encodercRecording zero position fd of first-level code disc0Zero position sd of secondary code wheel0；
(2) Setting N as the zero-crossing times of the secondary rotation turns, wherein the initial value is 0, and adding 1 to the N value when the positive zero-crossing times of the secondary rotation turns; when the zero crossing is carried out reversely, subtracting 1 from the N value;
(3) the storage module periodically stores a first-stage rotation angle value and a second-stage rotation number output by the second-stage photoelectric encoder, and stores a zero-order-passing numerical value of the current second-stage rotation number; if the second-level photoelectric encoder rotates the turret after power failure, the second-level rotating circle value stored in the storage module is read after the second-level photoelectric encoder is powered on again and is set as sd1The stored zero-crossing number of the second-stage rotation turns is N1And the secondary photoelectric encoder outputs the secondary rotation number sd after power-ont(ii) a Memory module according to sd1And sdtJudging whether the secondary rotation turns have zero-crossing condition or not, if the secondary rotation turns have positive zero-crossing, carrying out zero-crossing on the number N1Adding 1; if the reverse zero crossing occurs, the zero crossing times N are counted1Subtracting 1;
(4) the angle calculation module outputs a first-level code disc number fd according to the current second-level photoelectric encodertAnd the number of secondary rotations sdtTwo-stage code wheel digit M and n of two-stage photoelectric encoder, and number of teeth M of speed-increasing gear of two-stage photoelectric encodercNumber of teeth M of gear with turret seat ringpAnd the number N of the secondary rotation turns passing zero is calculated, and the angle value of the turret is calculated and output.
Preferably, in step four, the angular value α of the turrettThe formula (2) is shown as formula (1):
selecting an appropriate value of R such that the angle value alpha istIs located between 0 and 360 degrees.
Preferably, the operation of updating the zero-time value of the storage module is performed only once after each power-on.
Preferably, after the step four, a step five is further included, and the storage module stores the primary angle value and the secondary rotation number of the current secondary photoelectric encoder before power failure, and the secondary rotation number of the current secondary photoelectric encoder passes through the zero-order value N. (III) advantageous effects
The invention designs a high-precision turret angle measuring system and method which are not influenced by power failure, and the system and the method have the following advantages: firstly, because the turret angle measuring sensor is not limited by the matching of the number of teeth of the turret seat ring, the acquisition of the turret angle value of any seat ring can be realized by setting the number of teeth of the seat ring and the number of teeth of the speed-up gear; secondly, the turret is rotated under the condition that the turret angle sensor is powered off, the angle output is not influenced by the power-off rotating turret after the turret is powered on again for use, the turret angle can be correctly output, and the function meets the service guarantee requirement
Drawings
FIG. 1 is a schematic diagram of the components of a turret angle measurement system of the present invention;
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 1, the high-precision turret angle measurement system without being affected by power failure provided by the invention comprises four modules: the device comprises a rotation speed increasing mechanism, a secondary photoelectric encoder, an angle calculating module and a storage module.
Wherein, (1) the rotation speed-increasing mechanism
In the rotating process of the turret, the rotating speed-increasing mechanism of the turret realizes the rotating transmission from the tooth arc of the turret seat ring to the input shaft of the secondary photoelectric encoder, and the rotating transmission relationship is as follows:
(2) two-stage photoelectric encoder
As a turret angle sensor, a two-stage photoelectric absolute encoder is used for measuring the angle of the current rotation speed increasing mechanism. The second-stage photoelectric absolute encoder directly outputs a first-stage angle value and a second-stage rotation circle value.
(3) Angle calculation module
And calculating the current turret angle position according to the data output by the secondary photoelectric encoder and the data stored by the storage module.
(4) Memory module
Periodically storing a first-stage angle value and a second-stage rotation number output by a second-stage photoelectric encoder, and storing a zero-crossing number N of the second-stage rotation number; wherein N has an initial value of 0, and the number of secondary rotations is gradually increased to (2)n-1) after the turn, when counting again from 0, called a positive zero crossing of the number of secondary revolutions, every positive zero crossing, adding 1 to the value N; when the number of secondary rotation turns is gradually reduced to 0, the number of secondary rotation turns is increased from (2)n-1) gradually decreasing, called a secondary number of revolutions once zero crossing backwards, by 1 for each zero crossing backwards; wherein n is the digit of a secondary coded disc of the secondary photoelectric encoder, and the digit of a first coded disc of the secondary photoelectric encoder is m;
the angle calculation module, the storage module and the secondary photoelectric encoder can be integrated into a calculation processing unit.
The method for realizing high-precision measurement of the angle position of the turret of the tank armored vehicle comprises the following steps:
(1) a primary code disc digit m and a secondary code disc digit n are set, for example, a 1216 type absolute secondary photoelectric encoder, where the primary code disc digit m is 16 and the secondary code disc digit n is 12. Number of gear teeth M for allocating turret seat ringpSpeed-increasing gear tooth number M of two-stage photoelectric encodercRecording zero position fd of first-level code disc0Zero position sd of secondary code wheel0。
(2) Setting N as the zero-crossing times of the secondary rotation turns, wherein the initial value is 0, and adding 1 to the N value when the positive zero-crossing times of the secondary rotation turns; when the zero crossing is carried out reversely, subtracting 1 from the N value;
(3) storingThe module periodically stores a first-stage rotation angle value and a second-stage rotation number output by the second-stage photoelectric encoder, and stores a zero-order passing numerical value of the current second-stage rotation number; if the second-level photoelectric encoder rotates the turret after power failure, the second-level rotating circle value stored in the storage module is read after the second-level photoelectric encoder is powered on again and is set as sd1The stored zero-crossing number of the second-stage rotation turns is N1After power-on, the secondary photoelectric encoder outputs secondary rotation number sd (or called code disc number)t(ii) a Memory module according to sd1And sdtJudging whether the secondary rotation turns have zero-crossing condition or not, if the secondary rotation turns have positive zero-crossing, carrying out zero-crossing on the number N1Adding 1; if the reverse zero crossing occurs, the zero crossing times N are counted1Subtracting 1; the above-described operations of the memory module are performed only once after each power-up.
(4) The angle calculation module outputs a first-level code disc number fd according to the current second-level photoelectric encodertAnd the number of secondary rotations sdtTwo-stage code wheel digit M and n of two-stage photoelectric encoder, and number of teeth M of speed-increasing gear of two-stage photoelectric encodercNumber of teeth M of gear with turret seat ringpAnd the number N of the secondary rotation turns passing zero is calculated, and the angle value of the turret is calculated and output.
Turret angle value alphatThe calculation method of (2) is shown in formula (1):
selecting a proper R value to make the angle value between 0 and 360 degrees.
(5) The storage module stores the first-stage angle value and the second-stage rotation number of turns of the current second-stage photoelectric encoder before power failure, and the second-stage rotation number of turns passes zero number N.
The invention designs a high-precision turret angle measuring system and method which are not influenced by power failure, and the system and method are suitable for turret angle measurement. It has the following advantages: firstly, because the turret angle measuring sensor is not limited by the matching of the number of teeth of the turret seat ring, the acquisition of the turret angle value of any seat ring can be realized by setting the number of teeth of the seat ring and the number of teeth of the speed-up gear; and secondly, the turret is rotated under the condition that the turret angle sensor is powered off, the angle output is not influenced by the power-off rotating turret after the turret is powered on for use again, the turret angle can be correctly output, and the function meets the service guarantee requirement.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. The utility model provides a high accuracy gun turret angle measurement system who is not influenced by outage which characterized in that includes four modules: the device comprises a rotation speed increasing mechanism, a secondary photoelectric encoder, an angle calculating module and a storage module;
wherein, at the turret rotation in-process, realize the rotation transmission of turret seat circle pitch arc to second grade photoelectric encoder input shaft through the rotation acceleration mechanism of turret, rotate the transmission relation and be:
the secondary photoelectric encoder is used as a turret angle sensor and is used for measuring the angle of the current rotating speed-increasing mechanism; the second-stage photoelectric encoder directly outputs a first-stage angle value and a second-stage rotation circle value;
the angle calculation module is used for calculating the current turret angle position according to the data output by the secondary photoelectric encoder and the data stored by the storage module;
the storage module is used for periodically storing a first-stage angle value and a second-stage rotation number output by the second-stage photoelectric encoder and storing a zero-crossing number N of the second-stage rotation number; wherein the initial value of N is 0, and the number of secondary rotation turns is gradually increased to 2nAfter 1 turn, when counting from 0 again, called a positive zero crossing of two rotations, once every positive zero crossing, the value N is increased by 1; after the number of secondary rotation turns is gradually reduced to 0, the number of secondary rotation turns is increased from 2n-1 is gradually reduced, called a secondary number of revolutions once zero-crossing backwards, by 1 for each zero-crossing backwards; wherein n is the digit of a secondary coded disc of the secondary photoelectric encoder, and the digit of a first coded disc of the secondary photoelectric encoder is m;
the storage module periodically stores a first-stage rotation angle value and a second-stage rotation number output by the second-stage photoelectric encoder, and stores a zero-order-passing numerical value of the current second-stage rotation number; if the second-level photoelectric encoder rotates the turret after power failure, the second-level rotating circle value stored in the storage module is read after the second-level photoelectric encoder is powered on again and is set as sd1The stored zero-crossing number of the second-stage rotation turns is N1And the secondary photoelectric encoder outputs the secondary rotation number sd after power-ont(ii) a Memory module according to sd1And sdtJudging whether the secondary rotation turns have zero-crossing condition or not, if the secondary rotation turns have positive zero-crossing, carrying out zero-crossing on the number N1Adding 1; if the reverse zero crossing occurs, the zero crossing times N are counted1Subtracting 1;
the angle calculation module outputs a first-level code disc number fd according to the current second-level photoelectric encodertAnd the number of secondary rotations sdtTwo-stage code wheel digit M and n of two-stage photoelectric encoder, and number of teeth M of speed-increasing gear of two-stage photoelectric encodercNumber of teeth M of gear with turret seat ringpThe number N of the secondary rotation turns passing zero is calculated, and the angle value of the turret is calculated and output;
in the fourth step, the angle value alpha of the turrettThe formula (2) is shown as formula (1):
wherein, fd0Zero position of first-order code disc, sd0Selecting proper R value to make angle value alpha be zero position of secondary code disktIs positioned between 0 and 360 degrees;
the operation of updating the zero-time value of the storage module is only executed once after each power-on.
2. The system of claim 1, wherein the angle calculation module, the storage module, and the secondary photoelectric encoder are integrated into one calculation processing unit.
3. The system of claim 1, wherein the two-level photoelectric encoder is a two-level absolute photoelectric encoder.
4. A system as claimed in claim 1, 2 or 3, wherein for a type 1216 absolute photoelectric encoder, m-16 and n-12.
5. A method for achieving high precision measurement of the angular position of the turret of a tank armored vehicle using the system of any one of claims 1 to 4, comprising the steps of:
(1) setting a first-level code disc digit M and a second-level code disc digit n, and configuring a turret seat ring gear tooth number MpSpeed-increasing gear tooth number M of two-stage photoelectric encodercRecording zero position fd of first-level code disc0Zero position sd of secondary code wheel0；
(2) Setting N as the zero-crossing times of the secondary rotation turns, wherein the initial value is 0, and adding 1 to the N value when the positive zero-crossing times of the secondary rotation turns; when the zero crossing is carried out reversely, subtracting 1 from the N value;
(3) the storage module periodically stores a first-stage rotation angle value and a second-stage rotation number output by the second-stage photoelectric encoder, and stores a zero-order-passing numerical value of the current second-stage rotation number; if the second-level photoelectric encoder rotates the turret after power failure, the second-level rotating circle value stored in the storage module is read after the second-level photoelectric encoder is powered on again and is set as sd1The stored zero-crossing number of the second-stage rotation turns is N1And the secondary photoelectric encoder outputs the secondary rotation number sd after power-ont(ii) a Memory module according to sd1And sdtJudging whether the secondary rotation turns have zero-crossing condition or not, if the secondary rotation turns have positive zero-crossing, carrying out zero-crossing on the number N1Adding 1; if the reverse zero crossing occurs, the zero crossing times N are counted1Subtracting 1;
(4) the angle calculation module outputs a first-level code disc number fd according to the current second-level photoelectric encodertAnd the number of secondary rotations sdtOf two-stage photoelectric encodersTwo-stage code wheel digit M and n, two-stage photoelectric encoder speed-increasing gear tooth number McNumber of teeth M of gear with turret seat ringpThe number N of the secondary rotation turns passing zero is calculated, and the angle value of the turret is calculated and output;
in the fourth step, the angle value alpha of the turrettThe formula (2) is shown as formula (1):
selecting an appropriate value of R such that the angle value alpha istIs positioned between 0 and 360 degrees;
the operation of updating the zero-time value of the storage module is only executed once after each power-on.
6. The method as claimed in claim 5, wherein after the step four, a step five is further included, and the storage module stores the primary angle value and the secondary rotation number of the current secondary photoelectric encoder before the power is cut off, and the secondary rotation number passes through a zero-order value N.
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