CN112284244B - Angular displacement measuring device and system - Google Patents
Angular displacement measuring device and system Download PDFInfo
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- CN112284244B CN112284244B CN202011205715.2A CN202011205715A CN112284244B CN 112284244 B CN112284244 B CN 112284244B CN 202011205715 A CN202011205715 A CN 202011205715A CN 112284244 B CN112284244 B CN 112284244B
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- G—PHYSICS
- 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 embodiment of the invention discloses an angular displacement measuring device and a system, wherein the measuring device comprises: the rheostat unit comprises a first rheostat and a second rheostat which are arranged at intervals; the first rheostat is used for generating a first voltage signal according to the rotation angle of the rotary contact piece; the second rheostat is used for generating a second voltage signal according to the rotation angle of the rotary contact piece; the first voltage signal and the second voltage signal have a certain phase angle difference; the voltage signal acquisition unit is connected with the rheostat unit and used for receiving the first voltage signal and the second voltage signal; and the processing unit is connected with the voltage signal acquisition unit and is used for calculating the angular displacement according to the first voltage signal and the second voltage signal. The technical scheme provided by the embodiment of the invention improves the measuring range of the angular displacement measuring device while ensuring the measuring precision.
Description
Technical Field
The embodiment of the invention relates to the technical field of sensors, in particular to an angular displacement measuring device and system.
Background
In the process of realizing intelligent control of the loader, accurate control of the working device is realized, and a sensor is inevitably required to be used for detecting the position posture of the working device of the loader, wherein an angular displacement sensor is used for measuring the rotation angle of the working device of the loader, the angle measurement range of the sensor corresponds to 0-5V voltage signals, for example, the measurement angle of the sensor is 110 degrees, 0-110 degrees corresponds to 0-5V output, but because the output accuracy is difficult to ensure at the two ends of the measurement range of the sensor, the middle interval of the measurement range of the angular sensor is usually used for measurement, the effective measurement range is about 0.5V-4.5V, and if the effective measurement angle is 90 degrees, the slope of the measurement signal is about 44 mV/degree.
Due to the large turning radius of the loader work device, there is a possibility that the position of the end of the work device may be greatly deviated even if there is a small error in the turning angle measured at the turning shaft of the work device. Because the signal acquisition system inevitably has certain acquisition error, so in order to guarantee measurement accuracy, the signal slope of sensor can not be too little, need satisfy certain requirement just can reduce because acquisition error causes whole measurement system error increase. The sensor signal slope causes the measurement angle of the sensor to be limited under the condition that certain conditions are met.
Disclosure of Invention
The embodiment of the invention provides an angular displacement measuring device and an angular displacement measuring system, which aim to improve the measuring range of the angular displacement measuring device while ensuring the measuring precision.
In a first aspect, an embodiment of the present invention provides an angular displacement measuring device, including:
the varistor unit comprises a first varistor and a second varistor which are arranged at intervals; each rheostat comprises a rotary contact piece, and the first rheostat is used for generating a first voltage signal according to the rotation angle of the rotary contact piece; the second rheostat is used for generating a second voltage signal according to the rotation angle of the rotary contact piece; the first voltage signal and the second voltage signal have a certain phase angle difference;
the voltage signal acquisition unit is connected with the first rheostat and the second rheostat and used for receiving the first voltage signal output by the first rheostat and receiving the second voltage signal output by the second rheostat;
and the processing unit is connected with the voltage signal acquisition unit and is used for calculating an angular displacement according to the first voltage signal and the second voltage signal.
Optionally, each varistor further includes an annular resistor body and a rotary contact terminal, the two rotary contacts are both fixed on the same rotating shaft, and the rotating shaft is used for driving the rotary contacts to rotate on the resistor body; the position of the rotary contact piece on the resistor body corresponds to a voltage signal output by the binding post of the rotary contact piece; the rotary contact terminal is connected with the voltage signal acquisition unit and is used for outputting the voltage signal to the voltage signal acquisition unit;
the first rheostat further comprises a first voltage signal input end, a second voltage signal input end, a third voltage signal input end and a fourth voltage signal input end; the first voltage signal input end, the second voltage signal input end, the third voltage signal input end and the fourth voltage signal input end are arranged on the resistor body of the first rheostat at intervals;
the second varistor further comprises a fifth voltage signal input terminal, a sixth voltage signal input terminal, a seventh voltage signal input terminal, and an eighth voltage signal input terminal; the fifth voltage signal input terminal, the sixth voltage signal input terminal, the seventh voltage signal input terminal and the eighth voltage signal input terminal are arranged on the second varistor resistor body at intervals.
Optionally, along the rotation direction, the first voltage signal input end and the second voltage signal input end are separated by a first preset angle; the second voltage signal input end and the third voltage signal input end are separated by a second preset angle; the third voltage signal input end and the fourth voltage signal input end are separated by the first preset angle; the fourth voltage signal input end and the first voltage signal input end are separated by the second preset angle;
along the rotating direction, the fifth voltage signal input end and the sixth voltage signal input end are separated by the second preset angle; the sixth voltage signal input end and the seventh voltage signal input end are separated by the first preset angle; the seventh voltage signal input end and the eighth voltage signal input end are separated by the second preset angle; the eighth voltage signal input end and the fifth voltage signal input end are separated by the first preset angle;
in the rotation direction, the difference between the first voltage signal input end and the fifth signal input end is a third preset angle;
the rotating direction is a counterclockwise rotating direction or a clockwise rotating direction with the rotating shaft as an axis.
Optionally, the measuring device further includes a power supply module, and each of the voltage signal input ends is connected to the power supply module;
a first voltage value is input to the first voltage signal input end and the fourth voltage signal input end, a second voltage value is input to the second voltage signal input end and the third voltage signal input end, and a first voltage signal output by a rotary contact terminal of the first rheostat linearly changes during the rotation of the rotary contact from the first voltage signal input end to the second voltage signal input end along the rotation direction and during the rotation from the third voltage signal input end to the fourth voltage signal input end; during the process that the rotary contact piece rotates from the second voltage signal input end to the third voltage signal input end along the rotation direction, and during the process that the rotary contact piece rotates from the fourth voltage signal input end to the first voltage signal input end, the first voltage signal output by the rotary contact piece binding post of the first rheostat is a fixed value.
Optionally, the measuring device further includes a power supply module, and each of the voltage signal input ends is connected to the power supply module;
a first voltage value is input into the fifth voltage signal input end and the sixth voltage signal input end, a second voltage value is input into the seventh voltage signal input end and the eighth voltage signal input end, and a second voltage signal output by a rotary contact terminal of the second rheostat is a fixed value in the process that the rotary contact rotates from the fifth voltage signal input end to the sixth voltage signal input end along the rotation direction and from the seventh voltage signal input end to the eighth voltage signal input end; during the rotation of the rotary contact from the sixth voltage signal input end to the seventh voltage signal input end and during the rotation of the rotary contact from the eighth voltage signal input end to the fifth voltage signal input end in the rotation direction, a second voltage signal output by a rotary contact terminal of the second varistor changes linearly.
Optionally, the processing unit includes a single chip microcomputer, and the processing unit is configured to determine a first calculation interval, a second calculation interval, a third calculation interval, and a fourth calculation interval according to three intersection points of a waveform corresponding to the first voltage signal and a waveform corresponding to the second voltage signal within a circumferential angle range; the three intersection points comprise a first intersection point, a second intersection point and a third intersection point; the voltage values corresponding to the first intersection point and the third intersection point are equal;
the processing unit is configured to determine the first calculation interval based on:
S1≥S2and S is2＜a；
The processing unit is configured to determine the second calculation interval based on:
S1≥S2and S is2≥a；
The processing unit is configured to determine the third calculation section based on:
S2≥S1and S is1≥a；
The processing unit is configured to determine the fourth calculation section based on:
S2≥S1and S is1＜a；
Wherein S is1Is the voltage value, S, of the first voltage signal2And a is a voltage value corresponding to the first intersection point and the third intersection point.
Optionally, in the first calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U1v; wherein U is1＝S1-a；
In the second calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U2v; wherein U is2＝b+S2-2a；
In the third calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U3v; wherein U is3＝3b-2a-S1；
In the fourth calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U4v; wherein U is4＝4b-3a-S2；
And b is a voltage value corresponding to the second intersection point, and V is an angular displacement corresponding to the unit voltage.
Optionally, the power module is further connected to the voltage signal acquisition unit and the processing unit, and is configured to supply power to the voltage signal acquisition unit and the processing unit.
Optionally, the measuring device further includes a data sending unit, the data sending unit is connected to the processing unit, and the data sending unit is configured to send the angular displacement calculated by the processing unit to an external device.
In a second aspect, embodiments of the present invention provide an angular displacement measurement system, including an angular displacement measurement device according to any one of the first aspects.
The embodiment of the invention provides an angular displacement measuring device and a system, wherein the measuring device comprises: a varistor unit including a first varistor and a second varistor connected in series; each rheostat comprises a rotary contact piece, and the first rheostat is used for generating a first voltage signal according to the rotation angle of the rotary contact piece; the second rheostat is used for generating a second voltage signal according to the rotation angle of the rotary contact piece; the first voltage signal and the second voltage signal have a certain phase angle difference; the voltage signal acquisition unit is connected with the first rheostat and the second rheostat and used for receiving a first voltage signal output by the first rheostat and receiving a second voltage signal output by the second rheostat; and the processing unit is connected with the voltage signal acquisition unit and is used for calculating the angular displacement according to the first voltage signal and the second voltage signal. According to the technical scheme provided by the embodiment of the invention, two rheostats which are arranged in series according to a certain structural form are used for obtaining two measurement signals, namely a first voltage signal and a second voltage signal, the voltage signals output by the two rheostats change according to a certain waveform according to the rotation angle of the rotary contact piece, and the processing unit is used for calculating according to a certain algorithm according to the first voltage signal and the second voltage signal, so that the measurement precision is ensured, and the measuring range of the angular displacement measurement device is improved.
Drawings
Fig. 1 is a block diagram of an angular displacement measuring device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a varistor unit according to an embodiment of the present invention;
FIG. 3 is a block diagram of another angular displacement measuring device provided by an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a relationship between a rotation angle of a rotating shaft and an output voltage according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
An embodiment of the present invention provides an angular displacement measuring device, fig. 1 is a structural block diagram of an angular displacement measuring device provided in an embodiment of the present invention, and referring to fig. 1, the device includes:
the varistor unit 10, the varistor unit 10 includes the first varistor and second varistor set up at interval; each rheostat comprises a rotary contact piece, and the first rheostat is used for generating a first voltage signal according to the rotation angle of the rotary contact piece; the second rheostat is used for generating a second voltage signal according to the rotation angle of the rotary contact piece; the first voltage signal and the second voltage signal have a certain phase angle difference;
the voltage signal acquisition unit 20 is connected with the first rheostat and the second rheostat, and is used for receiving a first voltage signal output by the first rheostat and receiving a second voltage signal output by the second rheostat;
and the processing unit 30, the processing unit 30 is connected with the voltage signal acquisition unit 20, and the processing unit 30 is used for calculating an angular displacement according to the first voltage signal and the second voltage signal.
Specifically, the angular displacement measuring device is a measuring device which converts the change of a mechanical angle into the change of other physical quantities and outputs a corresponding electric signal. The angular displacement measuring device of the present application includes a varistor unit 10, a voltage signal acquisition unit 20, and a processing unit 30. The varistor unit 10 is a double-layer varistor including a first varistor and a second varistor arranged in series in a certain configuration, the first varistor and the second varistor being spaced apart from each other. Each varistor comprises a rotary contact piece which can be a metal sheet. The positions of the rotary contact pieces in the rheostat are different according to the rotation angle of the rotary contact pieces. When the rotary contact piece rotates to different positions of the rheostat, the rheostat can generate and output different voltage signals. Therefore, the first rheostat can generate a first voltage signal with certain waveform change according to the rotation angle of the rotary contact piece; the second rheostat can generate a second voltage signal with a certain waveform change according to the rotation angle of the rotary contact piece, and a certain phase angle is formed between the first voltage signal generated by the first rheostat and the second voltage signal generated by the second rheostat. The voltage signal collecting unit 20 is connected to the voltage signal output terminal of the first varistor and the voltage signal output terminal of the second varistor, and the voltage signal collecting unit 20 may receive the first voltage signal output by the first varistor and receive the second voltage signal output by the second varistor. The voltage signal collecting unit 20 sends the received first voltage signal output by the first rheostat and the received second voltage signal output by the second rheostat to the processing unit 30 in real time. The processing unit 30 performs a superposition calculation according to a set algorithm based on the first voltage signal and the second voltage signal that differ by a certain phase angle, so as to obtain a measured angular displacement. The angular displacement measuring device may further include a housing and an auxiliary mount, the first varistor and the second varistor being located within the housing for protecting the first varistor and the second varistor.
According to the embodiment of the invention, two rheostats which are arranged in series according to a certain structural form are used for obtaining two measuring signals, the output signals of the two rheostats change according to a certain waveform according to a rotation angle, and a certain phase angle is formed between a first voltage signal and a second voltage signal; the voltage signal acquisition unit is used for acquiring output signals of the two rheostats, the processing unit is used for superposing the output signals according to a certain algorithm, the measurement of 0-360-degree angular displacement can be realized, and the measuring range of the angular displacement measuring device is improved while the measuring precision is ensured.
Optionally, fig. 2 is a schematic structural diagram of a varistor unit according to an embodiment of the present invention, referring to fig. 2, each varistor further includes an annular resistor 100 and a rotary contact terminal 120, two rotary contacts 110 are fixed on a same rotation shaft L, and the rotation shaft L is used to drive the rotary contacts 110 to rotate on the resistor 100; the position of the rotary contact on the resistor 100 corresponds to the voltage signal output by the rotary contact post 120; the rotary contact terminal 120 is connected with the voltage signal acquisition unit 20, and the rotary contact terminal 120 is used for outputting a voltage signal to the voltage signal acquisition unit 20;
the first varistor 11 further includes a first voltage signal input terminal a, a second voltage signal input terminal B, a third voltage signal input terminal C, and a fourth voltage signal input terminal D; the first voltage signal input terminal a, the second voltage signal input terminal B, the third voltage signal input terminal C and the fourth voltage signal input terminal D are arranged on the resistor body 100 of the first varistor 11 at intervals;
the second varistor 12 further includes a fifth voltage signal input terminal E, a sixth voltage signal input terminal F, a seventh voltage signal input terminal G, and an eighth voltage signal input terminal H; the fifth voltage signal input terminal E, the sixth voltage signal input terminal F, the seventh voltage signal input terminal G, and the eighth voltage signal input terminal H are disposed at intervals on the resistor 100 of the second varistor 12.
Specifically, the first varistor 11 further includes a resistor 100 and a rotary contact terminal 120 for outputting a voltage signal to an external device, and the second varistor 12 similarly includes the resistor 100 and the rotary contact terminal 120 for outputting a voltage signal to an external device. The resistor 100 of the first varistor 11 has an annular structure, the resistor 100 of the second varistor 12 has an annular structure, and the resistor 100 of the first varistor 11 and the resistor 100 of the second varistor 12 are coaxial with each other via the rotation axis L. That is, the resistor 100 of the first varistor 11 and the resistor 100 of the second varistor 12 are fitted on the rotation axis L with a space therebetween. The rotary contact of the first varistor 11 and the rotary contact of the second varistor 12 are both fixed on the rotating shaft L, and the two rotary contacts can rotate on the respective resistor 100 under the driving of the rotating shaft L. The position of the rotary contact on the resistor 100 corresponds to the voltage signal output from the rotary contact post 120. The rotary contact of the first varistor 11 is connected to the rotary contact terminal 120 at the position of the rotation axis L, and the voltage value corresponding to the voltage signal output from the rotary contact terminal 120 of the first varistor 11 is the voltage value corresponding to the position of the rotary contact on the resistor 100. The rotary contact of the second varistor 12 is connected to the rotary contact terminal 120 at the same position of the rotation axis L, and the voltage value corresponding to the voltage signal output from the rotary contact terminal 120 of the second varistor 12 is the voltage value corresponding to the position of the rotary contact on the resistor 100. Each rotary contact terminal 120 is connected to the voltage signal collecting unit 20, and the rotary contact terminal 120 is used for outputting a corresponding voltage signal to the voltage signal collecting unit 20.
The first varistor 11 further includes a first voltage signal input terminal a, a second voltage signal input terminal B, a third voltage signal input terminal C, and a fourth voltage signal input terminal D; the first voltage signal input terminal a, the second voltage signal input terminal B, the third voltage signal input terminal C and the fourth voltage signal input terminal D are arranged on the resistor body 100 of the first varistor 11 at intervals; the second varistor 12 further includes a fifth voltage signal input terminal E, a sixth voltage signal input terminal F, a seventh voltage signal input terminal G, and an eighth voltage signal input terminal H; the fifth voltage signal input terminal E, the sixth voltage signal input terminal F, the seventh voltage signal input terminal G, and the eighth voltage signal input terminal H are disposed at intervals on the resistor 100 of the second varistor 12. A plurality of signal input terminals are provided at intervals on the resistor body 100 of the first varistor 11, and a voltage signal is input through the voltage signal input terminal, whereby a voltage signal can be applied to the resistor body 100. The voltage signals at different positions of the resistor 100 can be set based on the voltage signals inputted from the plurality of voltage signal input terminals.
For example, the first voltage signal input terminal a and the second voltage signal input terminal B are disposed adjacent to each other at an interval. The third voltage signal input end C and the second voltage signal input end B are arranged adjacently at intervals. If the voltage signal input from the first voltage signal input terminal a is 0V and the voltage signal input from the second voltage signal input terminal B is 5V, the voltage distribution of the resistor 100 between the first voltage signal input terminal a and the second voltage signal input terminal B is in the range of 0-5V. In the process of rotating the rotary contact of the first varistor 11 from the first voltage signal input terminal a to the second voltage signal input terminal B, the first voltage signal output by the rotary contact terminal 120 changes linearly from 0V to 5V. If the voltage signal input from the second voltage signal input terminal B is 0V and the voltage signal input from the third voltage signal input terminal C is 0V, the voltage of the resistor 100 distributed between the second voltage signal input terminal B and the third voltage signal input terminal C is a fixed value and is always 0V. The first voltage signal output by the rotary contact terminal 120 is constantly 0V while the rotary contact of the first varistor 11 rotates from the second voltage signal input terminal B to the third voltage signal input terminal C. The two varistors provided in the embodiment of the present invention each have at least four voltage signal input terminals, and by setting the magnitude of the voltage signal input by the voltage signal input terminals, the voltage value corresponding to the position of the rotary contact piece on the resistor 100 can be set. Thereby obtaining the corresponding relation between the rotation angle of the rotary contact 110 and the output voltage signal, i.e. the output voltage signal varies according to the rotation angle and a certain waveform. The voltage signal acquisition unit 20 acquires output signals of the two rheostats, and the processing unit 30 superposes the output signals according to a certain algorithm, so that the measurement of 0-360-degree angular displacement can be realized, the measurement precision is ensured, and the measuring range of the angular displacement measuring device is improved.
Optionally, with reference to fig. 2, along the rotation direction, the first voltage signal input end a and the second voltage signal input end B are separated by a first preset angle Q1; the second voltage signal input end B and the third voltage signal input end C are separated by a second preset angle Q2; the third voltage signal input end C and the fourth voltage signal input end D are separated by a first preset angle Q1; the fourth voltage signal input end D and the first voltage signal input end A are separated by a second preset angle Q2;
in the rotation direction, the fifth voltage signal input end E and the sixth voltage signal input end F are separated by a second preset angle Q2; the sixth voltage signal input end F and the seventh voltage signal input end G are separated by a first preset angle Q1; the seventh voltage signal input end G and the eighth voltage signal input end H are separated by a second preset angle Q2; the eighth voltage signal input end H and the fifth voltage signal input end E are separated by a first preset angle Q1;
along the rotation direction, the difference between the first voltage signal input end A and the fifth signal input end is a third preset angle;
the rotation direction is a counterclockwise rotation direction or a clockwise rotation direction about the rotation axis L, and the rotation direction given in the example of fig. 2 is a counterclockwise direction.
Specifically, the rotation direction of the rotary contact piece is the rotation direction of the rotating shaft L. The rotation direction of the rotary contact piece may be a counterclockwise rotation direction or a clockwise rotation direction about the rotation axis L. In the rotation direction, for example, in the counterclockwise rotation direction, the first voltage signal input terminal a and the second voltage signal input terminal B are separated by a first preset angle Q1; the second voltage signal input end B and the third voltage signal input end C are separated by a second preset angle Q2; the third voltage signal input end C and the fourth voltage signal input end D are separated by a first preset angle Q1; the fourth voltage signal input terminal D is spaced apart from the first voltage signal input terminal a by a second predetermined angle Q2. In the counterclockwise rotation direction, the fifth voltage signal input end E and the sixth voltage signal input end F are separated by a second preset angle Q2; the sixth voltage signal input end F and the seventh voltage signal input end G are separated by a first preset angle Q1; the seventh voltage signal input end G and the eighth voltage signal input end H are separated by a second preset angle Q2; the eighth voltage signal input terminal H is spaced apart from the fifth voltage signal input terminal E by a first predetermined angle Q1. The first voltage signal input terminal a, the second voltage signal input terminal B, the third voltage signal input terminal C, and the fourth voltage signal input terminal D are provided at intervals on the annular resistor 100 of the first varistor 11. The fifth voltage signal input terminal E, the sixth voltage signal input terminal F, the seventh voltage signal input terminal G, and the eighth voltage signal input terminal H are provided at intervals on the annular resistor 100 of the first varistor 11. That is, the angle corresponding to the sum of the two first preset angles Q1 and the two second preset angles Q2 is a circumferential angle. In the rotation direction, the difference between the first voltage signal input terminal a and the fifth voltage signal input terminal is a third predetermined angle, so that the difference between the first voltage signal output by the first varistor 11 and the second voltage signal output by the second varistor 12 is a certain phase angle.
Illustratively, the first predetermined angle Q1 is 110 °, the second predetermined angle Q2 is 70 °, and the third predetermined angle is 20 °. The first voltage signal input end a and the second voltage signal input end B are spaced by 110 degrees along the rotation direction; the second voltage signal input end B and the third voltage signal input end C are separated by 70 degrees; the interval between the third voltage signal input end C and the fourth voltage signal input end D is 110 degrees; the fourth voltage signal input terminal D is spaced 70 ° from the first voltage signal input terminal a. The interval between the fifth voltage signal input end E and the sixth voltage signal input end F is 70 degrees; the sixth voltage signal input end F and the seventh voltage signal input end G are separated by 110 degrees; the seventh voltage signal input end G and the eighth voltage signal input end H are separated by 70 degrees; the eighth voltage signal input terminal H is spaced 110 ° from the fifth voltage signal input terminal E. The first voltage signal output by the first varistor 11 and the second voltage signal output by the second varistor 12 differ in phase by 20 °.
Optionally, fig. 3 is a block diagram of another angular displacement measurement device according to an embodiment of the present invention, and referring to fig. 3 in combination with fig. 2, the measurement device further includes a power module 40, and each voltage signal input terminal is connected to the power module 40;
the first voltage signal input end A and the fourth voltage signal input end A input a first voltage value, the second voltage signal input end B and the third voltage signal input end input a second voltage value, the first voltage signal output by the rotary contact binding post 120 of the first rheostat 11 changes linearly during the rotation of the rotary contact from the first voltage signal input end A to the second voltage signal input end B along the rotation direction and during the rotation from the third voltage signal input end C to the fourth voltage signal input end D; the first voltage signal output by the rotary contact terminal 120 of the first varistor 11 is of a fixed value during the rotation of the rotary contact from the second voltage signal input B to the third voltage signal input C and from the fourth voltage signal input D to the first voltage signal input a in the direction of rotation.
Illustratively, the measuring device may further include a power module 40, and each voltage signal input terminal is connected to the power module 40. The power module 40 inputs a first voltage value of 0V to the first voltage signal input terminal a and the fourth voltage signal input terminal D, and inputs a second voltage value of 5V to the second voltage signal input terminal B and the third voltage signal input terminal C. During the rotation of the rotary contact 110 from the first voltage signal input terminal a to the second voltage signal input terminal a in the rotation direction, the first voltage signal output from the terminal 120 of the rotary contact 110 of the first varistor 11 varies linearly from 0V to 5V. During the rotation of the rotary contact 110 from the second voltage signal input B to the third voltage signal input C in the rotation direction, the first voltage signal output by the rotary contact post 120 of the first varistor 11 is a constant voltage value of 5V. In the course of the rotation from the third voltage signal input terminal C to the fourth voltage signal input terminal D, the first voltage signal output from the rotary contact terminal 120 of the first varistor 11 varies linearly from 5V to 0V. During the rotation of the rotary contact 110 from the fourth voltage signal input end D to the first voltage signal input end a, the first voltage signal output from the rotary contact post 120 of the first varistor 11 is a constant voltage value of 0V.
Optionally, referring to fig. 2 to 3, the measuring apparatus further includes a power module 40, and each voltage signal input end is connected to the power module 40;
the first voltage value is input to the fifth voltage signal input end E and the sixth voltage signal input end F, the second voltage value is input to the seventh voltage signal input end G and the eighth voltage signal input end H, the second voltage signal output by the rotary contact terminal 120 of the second varistor 12 is a fixed value in the process that the rotary contact 110 rotates from the fifth voltage signal input end E to the sixth voltage signal input end along the rotation direction and from the seventh voltage signal input end G to the eighth voltage signal input end H; the second voltage signal output by the rotary contact terminal 120 of the second varistor 12 varies linearly during the rotation of the rotary contact 110 in the direction of rotation from the sixth voltage signal input terminal F to the seventh voltage signal input terminal G and from the eighth voltage signal input terminal H to the fifth voltage signal input terminal E.
Illustratively, the measuring device may further include a power module 40, and each voltage signal input terminal is connected to the power module 40. The power module 40 inputs the first voltage value of 0V to the fifth voltage signal input terminal E and the sixth voltage signal input terminal F, and inputs the second voltage value of 5V to the seventh voltage signal input terminal G and the eighth voltage signal input terminal H. During the rotation of the rotary contact 110 in the rotation direction from the fifth voltage signal input E to the sixth voltage signal input F, the second voltage signal output by the rotary contact post 120 of the second varistor 12 is a constant voltage value of 0V. During the rotation of the rotary contact 110 in the direction of rotation from the sixth voltage signal input terminal F to the seventh voltage signal input terminal G, the second voltage signal output by the rotary contact post 120 of the second varistor 12 varies linearly from 0V to 5V. During the rotation from the seventh voltage signal input terminal G to the eighth voltage signal input terminal H, the second voltage signal outputted from the rotary contact terminal 120 of the second varistor 12 is a constant voltage value of 5V. During the rotation of the rotary contact 110 from the eighth voltage signal input terminal H to the fifth voltage signal input terminal E, the second voltage signal output from the rotary contact post 120 of the second varistor 12 varies linearly from 5V to 0V.
Optionally, fig. 4 is a schematic diagram of a relationship between a rotation angle of a rotating shaft and an output voltage according to an embodiment of the present invention, referring to fig. 4 and fig. 2, a processing unit 30 includes a single chip, and the processing unit 30 is configured to determine a first calculation interval, a second calculation interval, a third calculation interval, and a fourth calculation interval according to three intersections of a waveform corresponding to a first voltage signal S1 and a waveform corresponding to a second voltage signal S2 within a range of a circumferential angle; the three intersection points include a first intersection point P1, a second intersection point P2, and a third intersection point P3; the voltage values corresponding to the first intersection point P1 and the third intersection point P3 are equal;
the processing unit 30 is configured to determine the first calculation interval based on the following condition:
S1≥S2and S is2＜a；
The processing unit 30 is configured to determine the second calculation interval based on the following condition:
S1≥S2and S is2≥a；
The processing unit 30 is configured to determine the third calculation section based on the following condition:
S2≥S1and S is1≥a；
The processing unit 30 is configured to determine the fourth calculation section based on the following condition:
S2≥S1and S is1＜a；
Wherein S is1Is the voltage value, S, of the first voltage signal2A is a voltage value of the first intersection P1 and the third intersection P3.
Specifically, the position of the first voltage signal input end a is calibrated to be 0 °, and the rotation direction of the rotating shaft L is counterclockwise. In the process that the rotary contact of the first rheostat 11 rotates from 0 degrees to 110 degrees in the counterclockwise direction, the first voltage signal output by the rotary contact post 120 changes from 0V to 5V linearly; in the process of rotating from 110 degrees to 180 degrees in the counterclockwise direction, the rotary contact terminal 120 keeps outputting 5V; in the process of rotating from 180 degrees to 290 degrees in the counterclockwise direction, the first voltage signal output by the rotary contact post 120 is linearly changed from 5V to 0V; during the course of the counterclockwise rotation from 290 deg. to 360 deg., the rotating contact post 120 maintains a 0V output. In the process that the second rheostat 12 rotates from 20 degrees to 90 degrees in the counterclockwise direction, the rotary contact terminal 120 keeps 0V output; in the process of rotating from 90 ° to 200 ° in the counterclockwise direction, the second voltage signal output by the rotary contact terminal 120 linearly changes from 0V to 5V; in the process of rotating from 200 degrees to 270 degrees in the counterclockwise direction, the rotary contact terminal 120 keeps outputting 5V; during the counterclockwise rotation from 270 ° to 20 °, the second voltage signal output by the rotary contact post 120 changes linearly from 5V to 0V.
And establishing a plane direct coordinate system by taking the rotation angle of the rotating shaft L as an abscissa axis and the output voltage as an ordinate. The first voltage signal output by the first varistor 11 and the second voltage signal output by the second varistor 12 are represented in the established planeIn a direct coordinate system. The waveform corresponding to the first voltage signal S1 and the waveform corresponding to the second voltage signal S2 may form a 360 ° range section by 3 intersections. The processing unit 30 determines a first calculation section, a second calculation section, a third calculation section and a fourth calculation section according to the three intersection points; the three intersection points include a first intersection point P1, a second intersection point P2, and a third intersection point P3. The voltage values at the first intersection point P1 and the third intersection point P3 are equal. The second intersection point P2 is located between the first intersection point P1 and the third intersection point P3. The voltage value at the first intersection point P1 and the third intersection point P3 is a, and the voltage value at the second intersection point P2 is b. Wherein the first calculation section satisfies the condition S1>＝S2And S2<a; the second calculation section satisfies the condition S1>S2And S2>A; the third calculation section satisfies the condition S2>＝S1And S1>A; the fourth calculation section satisfies the condition S2>＝S1And S1<a。S1Is the voltage value, S, of the first voltage signal2Is the voltage value of the second voltage signal.
Optionally, in the first calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U1v; wherein U is1＝S1-a；
In the second calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U2v; wherein U is2＝b+S2-2a；
In the third calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U3v; wherein U is3＝3b-2a-S1；
In a fourth calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U4v; wherein U is4＝4b-3a-S2；
Wherein b is a voltage value corresponding to the second intersection point, and V is an angular displacement corresponding to the unit voltage.
Illustratively, the first preset angle is 110 °, the second preset angle is 70 °, the third preset angle is 20 °, the first voltage value is 0V, the second voltage value is 5V, and the rotation axis L is in the counterclockwise direction. It can be calculated that the voltage value a corresponding to the first intersection and the third intersection is equal to 0.5V, and the voltage value b corresponding to the second intersection is equal to 50/11V. V is the angular displacement corresponding to the unit voltage, namely the measurement division value of 110 degrees correspondingly measured by 5V voltage in the background technology, and the embodiment of the invention can ensure the measurement precision. The values of a, b and V are substituted into equations. If the collected first voltage signal S1 and the second voltage limit S2 satisfy the condition of the first calculation interval: s1>＝S2And S2<0.5. The processing unit 30 calculates the angular displacement based on the formula D-U1-V, where U1-S1-a, and the angular displacement that can be obtained at this time is in the range of 0 ° to 90 °. If the collected first voltage signal S1 and the second voltage limit S2 satisfy the condition of the second calculation interval: s1≥S2And S is2A is more than or equal to a. The processing unit 30 is based on the formula D-U2V, where U2＝b+S2-2a, calculating the angular displacement, the angular displacement obtainable in this case ranging from 90 ° to 180 °. If the first voltage signal S is collected1And a second voltage limit S2The condition of the third calculation section is satisfied: s2≥S1And S is1A is more than or equal to a. The processing unit 30 is based on the formula D-U3V, where U3＝3b-2a-S1And calculating to obtain the angular displacement, wherein the angular displacement which can be obtained at the moment ranges from 180 degrees to 270 degrees. If the collected first voltage signal S1 and the second voltage limit S2 satisfy the condition of the fourth calculation interval: s2≥S1And S is1< a. The processing unit 30 is based on the formula D ═ U4V, wherein U4＝4b-3a-S2And calculating to obtain the angular displacement, wherein the angular displacement which can be obtained at the moment is in a range of 270-360 degrees. The angular displacement measuring device provided by the embodiment of the invention can realize 360-degree measurement, and improves the measuring range of the angular displacement while ensuring the measuring precision. As can be seen from FIG. 4, in the four calculation intervals, the first voltage signal and the second voltage signal used in the voltage calculation formula range from a to bNamely, the middle measuring interval (namely the ideal measuring interval) of the measuring range is adopted, the deviation of the using interval to one of two ends of the measuring range is avoided, and the problem that the output precision is difficult to ensure at two ends of the measuring range of the sensor can be solved. The rotating angle of the rotating shaft L of the measuring device provided by the embodiment of the invention is not limited, and the measuring device is convenient to install.
Optionally, referring to fig. 3, the power module 40 is further connected to the voltage signal acquiring unit 20 and the processing unit 30, and is configured to supply power to the voltage signal acquiring unit 20 and the processing unit 30.
Optionally, referring to fig. 3, the measuring device further includes a data transmitting unit 50, the data transmitting unit 50 is connected to the processing unit 30, and the data transmitting unit 50 is configured to transmit the angular displacement calculated by the processing unit 30 to an external device. The data sending module CAN be a CAN module, and the CAN module outputs the angular displacement of 0-360 degrees and the corresponding voltage value to the external display device for displaying.
The embodiment of the invention also provides an angular displacement measuring system which comprises the angular displacement measuring device in any embodiment.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. An angular displacement measuring device, comprising:
the rheostat unit comprises a first rheostat and a second rheostat which are arranged at intervals; each rheostat comprises a rotary contact piece, and the first rheostat is used for generating a first voltage signal according to the rotation angle of the rotary contact piece; the second rheostat is used for generating a second voltage signal according to the rotation angle of the rotary contact piece; the first voltage signal and the second voltage signal have a certain phase angle difference;
the voltage signal acquisition unit is connected with the first rheostat and the second rheostat and used for receiving the first voltage signal output by the first rheostat and receiving the second voltage signal output by the second rheostat;
the processing unit is connected with the voltage signal acquisition unit and used for calculating an angular displacement according to the first voltage signal and the second voltage signal;
the first voltage signal and the second voltage signal output by the rheostat unit change according to the rotation angle in a waveform mode, the voltage signal acquisition unit acquires output signals of the two rheostats, the processing unit performs superposition according to an algorithm, and the processing unit calculates the angular displacement according to different formulas in a first calculation interval, a second calculation interval, a third calculation interval and a fourth calculation interval;
each rheostat also comprises an annular resistor body and a rotary contact piece binding post, wherein the two rotary contact pieces are fixed on the same rotating shaft, and the rotating shaft is used for driving the rotary contact pieces to rotate on the resistor body; the position of the rotary contact piece on the resistor body corresponds to a voltage signal output by the binding post of the rotary contact piece; the rotary contact terminal is connected with the voltage signal acquisition unit and is used for outputting the voltage signal to the voltage signal acquisition unit;
the first rheostat further comprises a first voltage signal input end, a second voltage signal input end, a third voltage signal input end and a fourth voltage signal input end; the first voltage signal input end, the second voltage signal input end, the third voltage signal input end and the fourth voltage signal input end are arranged on the resistor body of the first rheostat at intervals;
the second varistor further comprises a fifth voltage signal input terminal, a sixth voltage signal input terminal, a seventh voltage signal input terminal, and an eighth voltage signal input terminal; the fifth voltage signal input terminal, the sixth voltage signal input terminal, the seventh voltage signal input terminal and the eighth voltage signal input terminal are arranged on the second varistor resistor body at intervals.
2. The angular displacement measurement device of claim 1,
along the rotation direction, the first voltage signal input end and the second voltage signal input end are separated by a first preset angle; the second voltage signal input end and the third voltage signal input end are separated by a second preset angle; the third voltage signal input end and the fourth voltage signal input end are separated by the first preset angle; the fourth voltage signal input end and the first voltage signal input end are separated by the second preset angle;
along the rotating direction, the fifth voltage signal input end and the sixth voltage signal input end are separated by the second preset angle; the sixth voltage signal input end and the seventh voltage signal input end are separated by the first preset angle; the seventh voltage signal input end and the eighth voltage signal input end are separated by the second preset angle; the eighth voltage signal input end and the fifth voltage signal input end are separated by the first preset angle;
in the rotation direction, the difference between the first voltage signal input end and the fifth signal input end is a third preset angle;
the rotating direction is a counterclockwise rotating direction or a clockwise rotating direction with the rotating shaft as an axis.
3. The angular displacement measurement device of claim 1, further comprising a power module, each of the voltage signal inputs being connected to the power module;
a first voltage value is input to the first voltage signal input end and the fourth voltage signal input end, a second voltage value is input to the second voltage signal input end and the third voltage signal input end, and a first voltage signal output by a rotary contact terminal of the first rheostat linearly changes during the rotation of the rotary contact from the first voltage signal input end to the second voltage signal input end along the rotation direction and during the rotation from the third voltage signal input end to the fourth voltage signal input end; during the process that the rotary contact piece rotates from the second voltage signal input end to the third voltage signal input end along the rotation direction, and during the process that the rotary contact piece rotates from the fourth voltage signal input end to the first voltage signal input end, the first voltage signal output by the rotary contact piece binding post of the first rheostat is a fixed value.
4. The angular displacement measurement device of claim 1, further comprising a power module, each of the voltage signal inputs being connected to the power module;
a first voltage value is input into the fifth voltage signal input end and the sixth voltage signal input end, a second voltage value is input into the seventh voltage signal input end and the eighth voltage signal input end, and a second voltage signal output by a rotary contact terminal of the second rheostat is a fixed value in the process that the rotary contact rotates from the fifth voltage signal input end to the sixth voltage signal input end along the rotation direction and from the seventh voltage signal input end to the eighth voltage signal input end; during the rotation of the rotary contact from the sixth voltage signal input end to the seventh voltage signal input end and during the rotation of the rotary contact from the eighth voltage signal input end to the fifth voltage signal input end in the rotation direction, a second voltage signal output by a rotary contact terminal of the second varistor changes linearly.
5. The angular displacement measuring device of claim 1, wherein the processing unit comprises a single chip microcomputer, and the processing unit is configured to determine a first calculation interval, a second calculation interval, a third calculation interval, and a fourth calculation interval according to three intersection points of a waveform corresponding to the first voltage signal and a waveform corresponding to the second voltage signal within a circumferential angle range; the three intersection points comprise a first intersection point, a second intersection point and a third intersection point; the voltage values corresponding to the first intersection point and the third intersection point are equal;
the processing unit is configured to determine the first calculation interval based on:
S1≥S2and S is2＜a；
The processing unit is configured to determine the second calculation interval based on:
S1≥S2and S is2≥a；
The processing unit is configured to determine the third calculation section based on:
S2≥S1and S is1≥a；
The processing unit is configured to determine the fourth calculation section based on:
S2≥S1and S is1＜a；
Wherein S is1Is the voltage value, S, of the first voltage signal2And a is a voltage value corresponding to the first intersection point and the third intersection point.
6. The angular displacement measuring device of claim 5, wherein, during the first calculation interval, the processing unit is configured to calculate the angular displacement based on the following equation:
D＝U1v; wherein U is1＝S1-a；
In the second calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U2v; wherein U is2＝b+S2-2a；
In the third calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U3v; wherein U is3＝3b-2a-S1；
In the fourth calculation interval, the processing unit is configured to calculate the angular displacement based on the following formula:
D＝U4v; wherein U is4＝4b-3a-S2；
And b is a voltage value corresponding to the second intersection point, and V is an angular displacement corresponding to the unit voltage.
7. The angular displacement measuring device of any one of claims 3 or 4, wherein the power module is further connected to the voltage signal acquisition unit and the processing unit for supplying power to the voltage signal acquisition unit and the processing unit.
8. The angular displacement measuring device of claim 1, further comprising a data transmitting unit, the data transmitting unit being connected to the processing unit, the data transmitting unit being configured to transmit the angular displacement calculated by the processing unit to an external device.
9. An angular displacement measurement system comprising an angular displacement measurement device according to any of claims 1 to 8.
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