CN112033278B - Initial angle detection device and detection method for multi-turn limited-rotation-angle rotary table - Google Patents
Initial angle detection device and detection method for multi-turn limited-rotation-angle rotary table Download PDFInfo
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- CN112033278B CN112033278B CN202010906029.1A CN202010906029A CN112033278B CN 112033278 B CN112033278 B CN 112033278B CN 202010906029 A CN202010906029 A CN 202010906029A CN 112033278 B CN112033278 B CN 112033278B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention belongs to the technical field of angle calibration and measurement, and particularly relates to an initial angle detection device and a detection method of a multi-turn limited-rotation-angle rotary table. The detection device comprises an industrial personal computer, a DSP motion controller, an absolute angle sensor and a multi-turn potentiometer; the absolute angle sensor is used for acquiring absolute angle information of the multi-turn limited-angle rotary table; the multi-turn potentiometer is used for collecting voltage values of the current absolute angle of the multi-turn limited-angle rotary table; the DSP motion controller is used for acquiring absolute angle information acquired by the absolute angle sensor and a voltage value under the current absolute angle acquired by the multi-turn potentiometer, and calculating to obtain absolute initial angle information of the multi-turn limited-angle rotary table according to the absolute angle information and the voltage value under the current absolute angle. The detection device and the detection method provided by the invention can accurately and quickly obtain the absolute initial angle of the multi-turn limited-rotation-angle rotary table, and greatly reduce the operation complexity of the whole machine system.
Description
Technical Field
The invention belongs to the technical field of angle calibration and measurement, and particularly relates to an initial angle detection device and a detection method of a multi-turn limited-rotation-angle rotary table.
Background
With the development of modern weaponry technology, the inertia test equipment is widely applied to various fields such as aviation, aerospace, navigation and weaponry development. The turntable plays an increasingly important role as an inertia test device.
Turntables that can rotate continuously and infinitely are usually equipped with conductive slip rings, but in some tests that only need to be performed in limited rotational angles, conductive slip rings can also be eliminated in the design of the turntable to improve system reliability and reduce equipment cost. When the test is carried out on the rotary table without the conductive slip ring, all cables of the tested equipment can only be directly connected to the ground acquisition equipment, and once the rotary table is out of control, the safety of the tested equipment is threatened. Mechanical stoppers are usually added to the turntable with limited rotation angle to protect the equipment under test.
In a turntable with multiple limited rotation angles, an absolute angle sensor can only give a positive angle within 360 degrees, and the specific position of the whole limit operation interval cannot be distinguished. For example, the operating range of a certain multi-turn limited-angle rotary table is-100 degrees to 540 degrees, the absolute angle sensor is read to be 350 degrees for the first time after the system is initialized, whether the actual angle is-10 degrees or 350 degrees cannot be determined according to the absolute angle sensor, and if the initial value is set incorrectly, the system cannot be used normally.
Disclosure of Invention
Aiming at the problems, the invention provides an initial angle detection device of a multi-turn limited rotation angle rotary table, which comprises an industrial personal computer, a DSP motion controller, an absolute angle sensor and a multi-turn potentiometer;
the absolute angle sensor is arranged on the multi-turn limited-angle rotary table and used for acquiring absolute angle information of the multi-turn limited-angle rotary table;
the multi-turn potentiometer is arranged on the multi-turn limited-angle rotary table and is used for collecting the voltage value of the current absolute angle of the multi-turn limited-angle rotary table;
the DSP motion controller is respectively electrically connected with the absolute angle sensor and the multi-turn potentiometer and is used for acquiring absolute angle information acquired by the absolute angle sensor and a voltage value under the current absolute angle acquired by the multi-turn potentiometer and calculating absolute initial angle information of the multi-turn limited-turn turntable according to the absolute angle information and the voltage value under the current absolute angle;
the industrial personal computer is electrically connected with the DSP motion controller and is used for acquiring absolute initial angle information calculated by the DSP motion controller.
Furthermore, the industrial personal computer is also used for issuing an operation instruction to the DSP motion controller;
the operating instructions include a get initial angle command.
Furthermore, the DSP motion controller comprises a data processing module, an industrial personal computer interface, an absolute angle sensor interface and a multi-turn potentiometer interface;
the absolute angle sensor interface is electrically connected with the absolute angle sensor and used for acquiring absolute angle information acquired by the absolute angle sensor and sending the absolute angle information to the data processing module;
the multi-turn potentiometer interface is electrically connected with the multi-turn potentiometer and is used for acquiring a voltage value under a current absolute angle acquired by the multi-turn potentiometer and sending the voltage value under the current absolute angle to the data processing module;
the data processing module is used for calculating absolute initial angle information of the multi-turn limited rotation angle rotary table according to the absolute angle information and the voltage value under the current absolute angle;
and the industrial personal computer interface is electrically connected with the industrial personal computer and is used for sending the absolute initial angle information obtained by the calculation of the data processing module to the industrial personal computer.
Further, the multi-turn potentiometer is also used for acquiring a first reference voltage value and a second reference voltage value and sending the first reference voltage value and the second reference voltage value to the DSP motion controller;
the first reference voltage value is an acquisition value of a multi-turn potentiometer when the multi-turn rotary table with limited rotation angles is rotated to a negative limit position and then the rotary table is rotated in a positive direction to enable the rotary table to rotate to the zero crossing point of an absolute angle encoder;
and the second reference voltage value is the acquired value of the multi-turn potentiometer when the turntable continues to rotate in the forward direction after the first reference voltage value is acquired, so that the turntable rotates to the zero crossing point of a second absolute angle encoder.
The invention also provides an initial angle detection method of the multi-turn limited rotation angle rotary table, which comprises the following steps:
acquiring current absolute angle information and a voltage value under the current absolute angle of a multi-turn limited angle rotary table;
calculating to obtain absolute initial angle information of the multi-turn limited rotation angle rotary table according to the absolute angle information and the voltage value under the current absolute angle;
and transmitting the absolute initial angle information.
Further, the detection method further comprises: acquiring a reference voltage value of the multi-turn potentiometer;
the reference voltage value comprises a first reference voltage value and a second reference voltage value;
the first reference voltage value is an acquisition value of a multi-turn potentiometer when the multi-turn rotary table with limited rotation angles is rotated to a negative limit position and then the rotary table is rotated in a positive direction to enable the rotary table to rotate to the zero crossing point of an absolute angle encoder;
and the second reference voltage value is the acquired value of the multi-turn potentiometer when the turntable continues to rotate in the forward direction after the first reference voltage value is acquired, so that the turntable rotates to the zero crossing point of a second absolute angle encoder.
Further, the absolute initial angle information is calculated by the following formula:
α＝θ+n×360，
wherein alpha is absolute initial angle information, and theta is absolute angle information obtained by an absolute angle sensor; n is the loop factor.
Further, the calculation formula of the loop coefficient is as follows:
when 0 is less than or equal to theta and less than or equal to 90 degrees, if Vr0> (Vr1+ Vr2)/2, n is 1; if Vr0 is not more than (Vr1+ Vr2)/2, n is 0;
when 90< θ <270 degrees, if Vr0> Vr2, then n is 1; if Vr0< Vr1, then n is-1; if Vr0 is not less than Vr1, n is 0;
when 270 ≦ θ <360 degrees, if Vr0< (Vr1+ Vr2)/2, then n is — 1; if Vr0 is not less than (Vr1+ Vr2)/2, n is 0;
in the above formula, θ is absolute angle information acquired by the absolute angle sensor, Vr0 is a voltage value at the current absolute angle acquired by the multi-turn potentiometer, Vr1 is a first reference voltage value, Vr2 is a second reference voltage value, and n is a turn coefficient.
The detection device and the detection method provided by the invention can accurately and quickly obtain the absolute initial angle of the multi-turn limited-rotation-angle rotary table, and greatly reduce the operation complexity of the whole machine system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 shows a schematic structural diagram of a detection apparatus according to an embodiment of the present invention;
fig. 2 is a schematic view showing a scene in which a detection device according to an embodiment of the present invention is mounted on a multi-turn limited-angle turntable.
In the figure: 1. a base; 2. a turntable; 3. a multi-turn potentiometer; 4. an absolute angle sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an initial angle detection device of a multi-turn limited-rotation-angle rotary table, which comprises an industrial personal computer, a DSP (digital signal processor) motion controller, an absolute angle sensor and a multi-turn potentiometer as an example shown in figure 1.
As shown in fig. 2, the absolute angle sensor 4 and the multi-turn potentiometer 3 are both mounted on a multi-turn turntable with a limited rotation angle, specifically, the housing of the turntable 2 is mounted on the base 1, the absolute angle sensor 4 is mounted on the rotation shaft of the turntable 2, the rotation shaft of the multi-turn potentiometer 3 is stably connected with the rotation shaft of the turntable 2 and makes the two coaxial, and the housing of the multi-turn potentiometer 3 is fixed on the base 1. The multi-turn limited-angle rotary table can rotate in a limited-angle area exceeding 360 degrees; the multi-turn potentiometer is used for acquiring a voltage value of the turntable at the current absolute angle; the absolute angle sensor is used for acquiring the current absolute angle information of the rotary table.
The DSP motion controller is used for acquiring absolute angle information acquired by the absolute angle sensor and a voltage value under the current absolute angle acquired by the multi-turn potentiometer, calculating absolute initial angle information of the multi-turn limited-angle rotary table according to the absolute angle information and the voltage value under the current absolute angle, and transmitting the absolute initial angle information to the industrial personal computer; and the industrial personal computer is used for acquiring the absolute initial angle information and displaying the absolute initial angle information.
It should be noted that the industrial personal computer is also used for issuing an operation instruction to the DSP motion controller.
Specifically, the DSP motion controller comprises a data processing module, an industrial personal computer interface, an absolute angle sensor interface and a multi-turn potentiometer interface; the absolute angle sensor interface is electrically connected with the absolute angle sensor and used for acquiring absolute angle information acquired by the absolute angle sensor and sending the absolute angle information to the data processing module; the multi-turn potentiometer interface is electrically connected with the multi-turn potentiometer and is used for acquiring a voltage value under a current absolute angle acquired by the multi-turn potentiometer and sending the voltage value under the current absolute angle to the data processing module; the data processing module is used for calculating absolute initial angle information of the multi-turn limited rotation angle rotary table according to the absolute angle information and the voltage value under the current absolute angle; and the industrial personal computer interface is electrically connected with the industrial personal computer and is used for sending the absolute initial angle information obtained by the calculation of the data processing module to the industrial personal computer.
For example, the DSP motion controller may use, but is not limited to, a TMS320C32 chip of TI corporation as a data processing module to implement data processing functions; the absolute angle sensor interface can adopt a data fusion processing circuit; the multi-turn potentiometer interface circuit can adopt a 14-bit analog-to-digital conversion circuit; the interface part of the industrial personal computer can adopt an IDT7006 dual-port RAM chip to realize the communication interface of the DSP motion controller and the industrial personal computer.
On the basis of the detection device, the embodiment of the invention also provides an initial angle detection method of a multi-turn turntable with limited rotation angle, which comprises the following steps:
acquiring current absolute angle information and a voltage value under the current absolute angle of a multi-turn limited angle rotary table;
calculating to obtain absolute initial angle information of the multi-turn limited rotation angle rotary table according to the absolute angle information and the voltage value under the current absolute angle;
and transmitting the absolute initial angle information.
For example, when the detection device detects the initial angle of the multi-turn limited rotation angle, the reference voltage value of the multi-turn potentiometer needs to be acquired firstly. Specifically, a multi-turn limited-angle rotary table is rotated to a negative limit position, then the rotary table is rotated in a positive direction, the rotary table is rotated to the zero crossing point of an absolute angle encoder, and the collected value of the multi-turn potentiometer at the moment is recorded and recorded as a first reference voltage value Vr 1; continuing to rotate the rotary table in the forward direction, enabling the rotary table to rotate to the zero crossing point of a second absolute angle encoder, recording the collected value of the multi-turn potentiometer at the moment, and recording the collected value as a second reference voltage value Vr 2; and saving the first reference voltage value Vr1 and the second reference voltage value Vr2 into the DSP motion controller.
When the industrial personal computer issues an initial angle acquisition command to the DSP motion controller, the DSP motion controller respectively acquires absolute angle information theta and a voltage value Vr0 under the current absolute angle through an absolute angle sensor interface and a multi-turn potentiometer interface.
The calculation formula of the absolute initial angle information α is: α ═ θ + n × 360, where θ is absolute angle information acquired by the absolute angle sensor; n is the loop factor.
Specifically, the calculation formula of the loop coefficient n is as follows:
when 0 is less than or equal to theta and less than or equal to 90 degrees, if Vr0> (Vr1+ Vr2)/2, n is 1; if Vr0 is not more than (Vr1+ Vr2)/2, n is 0;
when 90< θ <270 degrees, if Vr0> Vr2, then n is 1; if Vr0< Vr1, then n is-1; if Vr0 is not less than Vr1, n is 0;
when 270 ≦ θ <360 degrees, if Vr0< (Vr1+ Vr2)/2, then n is — 1; if Vr0 ≧ (Vr1+ Vr2)/2, n is 0.
And the DSP motion controller calculates to obtain absolute initial angle information alpha of the multi-turn limited rotation angle rotary table through the formula, and sends the absolute initial angle information alpha to an industrial personal computer through an industrial personal computer interface, and the industrial personal computer displays the absolute initial angle information alpha.
The detection device and the detection method provided by the embodiment of the invention can accurately and quickly obtain the absolute initial angle of the multi-turn limited-rotation-angle rotary table, and greatly reduce the operation complexity of the whole machine system.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. An initial angle detection device of a multi-turn limited rotation angle rotary table is characterized in that the detection device comprises an industrial personal computer, a DSP motion controller, an absolute angle sensor and a multi-turn potentiometer;
the absolute angle sensor is arranged on the multi-turn limited-angle rotary table and used for acquiring absolute angle information of the multi-turn limited-angle rotary table;
the multi-turn potentiometer is arranged on the multi-turn limited-angle rotary table and is used for collecting the voltage value of the current absolute angle of the multi-turn limited-angle rotary table;
the DSP motion controller is respectively electrically connected with the absolute angle sensor and the multi-turn potentiometer and is used for acquiring absolute angle information acquired by the absolute angle sensor and a voltage value under the current absolute angle acquired by the multi-turn potentiometer and calculating absolute initial angle information of the multi-turn limited-turn turntable according to the absolute angle information and the voltage value under the current absolute angle;
the industrial personal computer is electrically connected with the DSP motion controller and is used for acquiring absolute initial angle information calculated by the DSP motion controller;
the multi-turn potentiometer is also used for acquiring a first reference voltage value and a second reference voltage value and sending the first reference voltage value and the second reference voltage value to the DSP motion controller;
the first reference voltage value is an acquisition value of a multi-turn potentiometer when the multi-turn rotary table with limited rotation angles is rotated to a negative limit position and then the rotary table is rotated in a positive direction to enable the rotary table to rotate to the zero crossing point of an absolute angle encoder;
the second reference voltage value is the acquired value of the multi-turn potentiometer when the turntable continues to rotate in the forward direction after the first reference voltage value is acquired, so that the turntable rotates to the zero crossing point of a second absolute angle encoder;
the absolute initial angle information is calculated by the formula:
α=θ+ n×360，
wherein alpha is absolute initial angle information, and theta is absolute angle information obtained by an absolute angle sensor; n is a circle coefficient;
the calculation formula of the loop coefficient is as follows:
when the theta is more than or equal to 0 and less than or equal to 90 degrees, if Vr0> (Vr1+ Vr2)/2, n = 1; if Vr0 is less than or equal to (Vr1+ Vr2)/2, n = 0;
when 90< θ <270 degrees, if Vr0> Vr2, n = 1; if Vr0< Vr1, then n = -1; if Vr0 is not less than Vr1, n = 0;
when the angle is 270-360 degrees, if Vr0< (Vr1+ Vr2)/2, n = -1; if Vr0 is not less than (Vr1+ Vr2)/2, n = 0;
in the above formula, θ is absolute angle information acquired by the absolute angle sensor, Vr0 is a voltage value at the current absolute angle acquired by the multi-turn potentiometer, Vr1 is a first reference voltage value, Vr2 is a second reference voltage value, and n is a turn coefficient.
2. The initial angle detection device of a multi-turn limited rotation angle turntable as claimed in claim 1, wherein the industrial personal computer is further configured to issue an operation instruction to the DSP motion controller;
the operating instructions include a get initial angle command.
3. The initial angle detection device of a multi-turn limited rotation angle turntable as claimed in claim 1, wherein the DSP motion controller comprises a data processing module, an industrial personal computer interface, an absolute angle sensor interface and a multi-turn potentiometer interface;
the absolute angle sensor interface is electrically connected with the absolute angle sensor and used for acquiring absolute angle information acquired by the absolute angle sensor and sending the absolute angle information to the data processing module;
the multi-turn potentiometer interface is electrically connected with the multi-turn potentiometer and is used for acquiring a voltage value under a current absolute angle acquired by the multi-turn potentiometer and sending the voltage value under the current absolute angle to the data processing module;
the data processing module is used for calculating absolute initial angle information of the multi-turn limited rotation angle rotary table according to the absolute angle information and the voltage value under the current absolute angle;
and the industrial personal computer interface is electrically connected with the industrial personal computer and is used for sending the absolute initial angle information obtained by the calculation of the data processing module to the industrial personal computer.
4. An initial angle detection method of a multi-turn limited rotation turntable, which is characterized by comprising the following steps:
acquiring current absolute angle information and a voltage value under the current absolute angle of a multi-turn limited angle rotary table;
calculating to obtain absolute initial angle information of the multi-turn limited rotation angle rotary table according to the absolute angle information and the voltage value under the current absolute angle;
transmitting the absolute initial angle information;
the detection method further comprises the following steps: acquiring a reference voltage value of the multi-turn potentiometer;
the reference voltage value comprises a first reference voltage value and a second reference voltage value;
the first reference voltage value is an acquisition value of a multi-turn potentiometer when the multi-turn rotary table with limited rotation angles is rotated to a negative limit position and then the rotary table is rotated in a positive direction to enable the rotary table to rotate to the zero crossing point of an absolute angle encoder;
the second reference voltage value is the acquired value of the multi-turn potentiometer when the turntable continues to rotate in the forward direction after the first reference voltage value is acquired, so that the turntable rotates to the zero crossing point of a second absolute angle encoder;
the absolute initial angle information is calculated by the formula:
α=θ+ n×360，
wherein alpha is absolute initial angle information, and theta is absolute angle information obtained by an absolute angle sensor; n is a circle coefficient;
the calculation formula of the loop coefficient is as follows:
when the theta is more than or equal to 0 and less than or equal to 90 degrees, if Vr0> (Vr1+ Vr2)/2, n = 1; if Vr0 is less than or equal to (Vr1+ Vr2)/2, n = 0;
when 90< θ <270 degrees, if Vr0> Vr2, n = 1; if Vr0< Vr1, then n = -1; if Vr0 is not less than Vr1, n = 0;
when the angle is 270-360 degrees, if Vr0< (Vr1+ Vr2)/2, n = -1; if Vr0 is not less than (Vr1+ Vr2)/2, n = 0;
in the above formula, θ is absolute angle information acquired by the absolute angle sensor, Vr0 is a voltage value at the current absolute angle acquired by the multi-turn potentiometer, Vr1 is a first reference voltage value, Vr2 is a second reference voltage value, and n is a turn coefficient.
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