CN112284323A - Strong robustness data sampling method of speed ratio programmable shaft angle measuring system - Google Patents

Abstract

The invention relates to a method for sampling strong robustness data of a speed ratio programmable shaft angle measuring system, and belongs to the field of airborne servo motion control. The invention comprises two aspects: on one hand, the resistance of the programmable speed ratio selection signal to external interference is enhanced; another aspect is to prevent the coarse/fine channel data read timing from being abnormal. The method effectively prevents the dynamic measurement data from having overlarge error and large jump of the measurement data when the speed ratio programmable shaft angle measurement system is interfered, has stronger robustness, and provides accurate angle information for the airborne servo system to realize accurate closed-loop control.

Description

Strong robustness data sampling method of speed ratio programmable shaft angle measuring system

Technical Field

The invention is applied to the field of airborne servo motion control, and relates to a high robustness data sampling method of a speed ratio programmable shaft angle measuring system.

Background

The airborne servo motion control system adopts a speed ratio programmable shaft angle measuring system as an angle measuring device, collects the angle of a servo mechanism in real time and converts the angle into digital quantity to carry out high-precision digital closed-loop control. Because the airborne servo motion system works under the conditions of airborne vibration and complex electromagnetic environment, the execution devices and the sensors of the airborne servo motion system are required to have stronger robustness.

The speed ratio programmable shaft angle measuring system is used as one of core sensors of an airborne servo motion control system, mainly comprises a coarse channel rotary transformer, a fine channel rotary transformer and a double-speed rotary transformer-digital converter, relates to various disciplines such as mechanical design, electromechanics, digital signal processing and the like, and directly influences the control precision and the reporting precision of the airborne servo system. Once interfered, the dynamic measurement data error is too large, and more seriously, the measurement data jumps greatly, and the normal operation of the airborne equipment is finally influenced.

Disclosure of Invention

Technical problem to be solved

In order to ensure that the speed ratio programmable shaft angle measuring system can normally work under the conditions of complex airborne vibration and electromagnetic environment, the invention provides a high-robustness data sampling method of the speed ratio programmable shaft angle measuring system, which comprises the following two aspects: on one hand, the resistance of the programmable speed ratio selection signal to external interference is enhanced; another aspect is to prevent the coarse/fine channel data read timing from being abnormal.

Technical scheme

A strong robustness data sampling method of a speed ratio programmable shaft angle measuring system is characterized by comprising the following two aspects:

firstly, the speed ratio selection signal is connected with a fixed level according to the speed ratio requirement to enhance the resistance to external interference

Connecting SC1 and SC2 of the double-speed rotary transformer-digital converter with fixed level, wherein the fixed level is connected with +5V level when being set as '1', and the fixed level is connected with GND level when being set as '0'; according to the requirements of speed ratio selection of the rotary transformer, the logic table of the table 1 is converted into the requirements of '1' and '0', and the +5V level and the GND level are correspondingly gated by SC1 and SC2 on a circuit board through jumper caps, so that the speed ratio signals can be kept unchanged under the condition of interference:

TABLE 1 speed ratio selection logic

SC2	SC1	Speed ratio
			0	0	1:8
0	1	1:16
			1	0	1:32
1	1	1:64

Second, the use of an inhibit signal prevents the coarse/fine channel data read timing from being abnormal

And starting the inhibiting signal of the rotary transformer-digital converter, setting the inhibiting signal to be low level, and reading data through the enabling signal.

Advantageous effects

The method for sampling the high-robustness data of the speed ratio programmable shaft angle measuring system effectively prevents the dynamic measured data from having overlarge error and greatly jumping the measured data when the shaft angle measuring system is interfered, has high robustness, provides accurate angle information for the airborne servo system to realize accurate closed-loop control, and ensures that equipment normally works under the airborne condition.

Drawings

FIG. 1 is a schematic diagram of the operation of a programmable speed ratio shaft angle measuring system

FIG. 2 is a schematic diagram of coarse/fine double-speed processing

FIG. 3 resolver-to-digitizer reading timing

Detailed Description

The invention will now be further described with reference to the following examples and drawings:

the operating principle of the speed ratio programmable shaft angle measuring system is shown in figure 1. The coarse channel rotary transformer-digital conversion circuit is used for converting a rotary variable signal of a coarse channel into 10-bit binary digital quantity; the fine channel rotary transformer-digital conversion circuit converts a rotary signal of a fine channel into 14-bit binary digital quantity; the double-speed processing circuit performs combined error correction on the coarse channel data and the fine channel data according to speed ratio selection signals SC1 and SC2(1: 8-1: 64), and outputs combined 20-bit binary digital quantity.

The invention relates to a method for sampling strong robustness data of a speed ratio programmable shaft angle measurement system, which comprises the following two aspects:

firstly, the speed ratio selection signal is connected with a fixed level according to the speed ratio requirement to enhance the resistance to external interference.

The programmable speed ratio selection signal is an important parameter of the shaft angle measurement system resolving angle, and has 4 combinational logics, as shown in table 1. When the I/O port control is adopted, a high-low level signal of the I/O is output by setting 1 or 0 through software, and then is transmitted to SC1 and SC2 terminals (speed ratio selection control terminals) of the two-speed resolver-to-digital converter. Interference is easily caused in the signal transmission process, and accordingly reading jumps of the shaft angle measuring system are caused.

In order to improve the resistance of the programmable speed ratio selection signal to external interference, SC1 and SC2 are connected with fixed levels, wherein the fixed levels are connected with +5V levels when being set to be 1, and the fixed levels are connected with GND levels when being set to be 0. According to the requirements of the speed ratio selection of the rotary transformer, the logic table of the table 1 is converted into the requirements of '1' and '0', and the +5V level and the GND level are correspondingly gated by SC1 and SC2 through jumper caps on a circuit board, so that the speed ratio signals can be kept unchanged under the condition of interference.

TABLE 1 speed ratio selection logic

SC2	SC1	Speed ratio
			0	0	1:8
0	1	1:16
			1	0	1:32
1	1	1:64

Second, the use of the inhibit signal prevents the coarse/fine channel data read timing from being abnormal.

The coarse/fine double-speed processing is to combine the coarse channel data and the fine channel data of the resolver, and the schematic diagram is shown in fig. 2, and the coarse channel digital angle is multiplied by the speed ratio N to obtain the coarse channel digital angle

Weighting, and using the fine channel digital angle

And carrying out error correction processing on the coarse channel digital angle. Using fine-channel digital angles

High 4 bits of and weighted coarse channel digital angle

The corresponding 4 bits form an error correction table to realize the error correction of the fine digital angle to the coarse digital angle. And after error correction processing, replacing corresponding bits of the coarse channel data with the fine channel data to realize data combination of the coarse channel and the fine channel. Finally, the combined data is divided by the speed ratio N to output the combined numerical angle of the multipole rotation.

In order to prevent the data reading time sequence of the coarse/fine channel from being abnormal, the data updating rhythm of the coarse/fine channel can be limited by operating the inhibit signal, the module data is ensured not to be updated during the data reading period, the data reading time sequence of the coarse/fine channel is synchronized, and the angle abnormal problem is prevented. The disable signal of the resolver-to-digital converter is enabled, the disable signal is set to a low level first, and then data is read by the enable signal, and a timing chart is shown in fig. 3.

Claims (1)

1. A strong robustness data sampling method of a speed ratio programmable shaft angle measuring system is characterized by comprising the following two aspects:

firstly, the speed ratio selection signal is connected with a fixed level according to the speed ratio requirement to enhance the resistance to external interference

Connecting SC1 and SC2 of the double-speed rotary transformer-digital converter with fixed level, wherein the fixed level is connected with +5V level when being set as '1', and the fixed level is connected with GND level when being set as '0'; according to the requirements of speed ratio selection of the rotary transformer, the logic table of the table 1 is converted into the requirements of '1' and '0', and the +5V level and the GND level are correspondingly gated by SC1 and SC2 on a circuit board through jumper caps, so that the speed ratio signals can be kept unchanged under the condition of interference:

TABLE 1 speed ratio selection logic

SC2 SC1 Speed ratio 0 0 1:8 0 1 1:16 1 0 1:32 1 1 1:64

Second, the use of an inhibit signal prevents the coarse/fine channel data read timing from being abnormal

And starting the inhibiting signal of the rotary transformer-digital converter, setting the inhibiting signal to be low level, and reading data through the enabling signal.

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