CN112414321A - Multi-axis turntable composite angle measurement circuit based on PCI (peripheral component interconnect) interface - Google Patents
Multi-axis turntable composite angle measurement circuit based on PCI (peripheral component interconnect) interface Download PDFInfo
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- CN112414321A CN112414321A CN202011173221.0A CN202011173221A CN112414321A CN 112414321 A CN112414321 A CN 112414321A CN 202011173221 A CN202011173221 A CN 202011173221A CN 112414321 A CN112414321 A CN 112414321A
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- 238000012360 testing method Methods 0.000 abstract description 6
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
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Abstract
本发明公开了一种基于PCI接口的多轴转台复合测角电路，该测角电路包括3只同型号的差分信号转换器、6只同型号的RS485信号转换器、1只16位电平转换器、1只FPGA逻辑器件、4只同型号的8位电平转换器、2只同型号的LDO电源芯片、一只PCI接口芯片和PCI金手指。本电路可实现光栅和编码器角度信号的处理、解码及传输功能，具有无丢码、适应范围广、传输速度快的特点，可满足惯性测试设备转台对多轴多类型复合角度传感器的高精度高速角度测量要求。
The invention discloses a multi-axis turntable compound angle measurement circuit based on a PCI interface. The angle measurement circuit includes three differential signal converters of the same type, six RS485 signal converters of the same type, and one 16-bit level conversion. device, 1 FPGA logic device, 4 8-bit level converters of the same type, 2 LDO power chips of the same type, a PCI interface chip and a PCI gold finger. This circuit can realize the processing, decoding and transmission functions of grating and encoder angle signals. It has the characteristics of no code loss, wide adaptability and fast transmission speed. It can meet the high precision of inertial test equipment turntable for multi-axis and multi-type composite angle sensors. High-speed angle measurement requirements.
Description
Technical Field
The invention relates to a multi-axis rotary table composite angle measuring circuit based on a PCI (peripheral component interconnect) interface, in particular to a multi-axis composite high-speed angle measuring circuit suitable for an inertia test equipment rotary table with an angle feedback device of an encoder and a grating.
Background
The grating and the encoder are angle sensitive elements, and are commonly applied to a rotary transformer and a circular induction synchronizer as an angle feedback device in a rotary table of inertia test equipment. The rotary transformer has high adaptability to severe environment, high and low temperature resistance and strong shock vibration resistance, but the precision is lower; the circular induction synchronizer has higher precision, but the installation process is complex, the clearance between the rotor and the stator needs to be strictly controlled, the time drift is difficult to control, and the precision of the circular induction synchronizer can change along with the time; the grating and the encoder adopt advanced photoelectric and digital technologies, have high precision, simple use, convenient installation and small time drift, and are common and ideal angle feedback devices of the turntable of the inertia test equipment in a laboratory environment.
The turntable is an inertia test device used in a laboratory environment, and is an indispensable precision device for calibrating the gyro parameters of an inertia device. The conventional rotary table is generally divided into a single-axis rotary table, a double-axis rotary table, a three-axis rotary table and a five-axis rotary table and is used for providing standard attitude, position, speed information and the like for the gyroscope in a laboratory, so that the calibration of the gyroscope is realized.
In practical application, because the number of the axes of the rotary table is different, the types of the angle feedback devices adopted by each axis are also different, so that the rotary table is different in angle measuring circuits of the encoder and the grating, and currently, the rotary table is more applied, such as a single-axis encoder angle measuring circuit, a single-axis grating angle measuring circuit, a double-axis encoder angle measuring circuit, a double-axis grating angle measuring circuit, a three-axis encoder angle measuring circuit, a three-axis grating angle measuring circuit, a five-axis grating angle measuring circuit and the like.
The angle measuring circuit has the following problems:
1. the angle measuring circuit of a certain type can only be applied to a certain type of specific rotary table;
2. the angle measurement circuit boards are more, so that the design cost and the unreliable risk of the circuit are increased;
3. the angle measurement circuit board has single function and cannot be applied to occasions of multi-type multi-axis composite angle feedback devices;
4. the angle measuring circuit board mostly adopts an ISA interface or an RS232/422 serial interface to carry out data interaction with an upper computer, the transmission speed is slow, the ISA interface cannot be compatible with WIN7 and above systems, and the adaptability is poor.
Disclosure of Invention
The invention aims to provide a multi-axis turntable composite angle measuring circuit based on a PCI interface, which adopts 3 differential signal converters AM26LS32AIDR, 6 RS485 signal converters MAX3485ESA + and a PCI interface chip, fully considers the turntable condition that different shaft numbers and each shaft adopts different angle feedback devices and the PCI transmission technology with wide adaptability and high speed, can realize the composite no-missing-code parallel high-speed angle measuring function of the multi-axis turntable under the PCI interfaces of XP, WIN7 and the above systems, greatly expands the application range of the angle measuring circuit and improves the transmission speed, and can well solve the problems of the existing angle measuring circuit.
The technical scheme adopted for achieving the purpose is that the multi-axis rotary table composite angle measuring circuit based on the PCI interface comprises an angle measuring circuit board, a three-axis rotary table and an upper computer with a PCI slot, wherein the three-axis rotary table comprises an inner axis angle feedback device which is a grating, a middle axis angle feedback device which is a grating and an outer axis angle feedback device which is an encoder, and the angle measuring circuit board is characterized by comprising an FPGA (field programmable gate array) logic device, a PCI interface chip, a PCI golden finger and an LDO (low dropout regulator) power supply chip, the angle measuring circuit board is inserted into the PCI slot of the upper computer, the inner axis, the grating of the middle axis and the encoder of the outer axis of the three-axis rotary table are connected to the angle measuring circuit board in a signal mode, the angle measuring circuit board comprises the FPGA logic device, the FPGA logic device is connected with the encoder of the outer axis of the three-axis rotary table through 6 RS485 signal converters, the encoder of the outer axis The FPGA logic device respectively decodes angles after receiving grating signals of an inner shaft and a middle shaft and encoder signals of an outer shaft, completes conversion between FPGA 3.3V level and PCI interface chip 5V level through 4 8-bit level converters after decoding is completed, then realizes PCI transmission protocol through the PCI interface chip, and completes angle transmission with an upper computer through a PCI golden finger of an angle measuring circuit and a PCI slot of the upper computer, thereby realizing high-speed and high-precision angle measurement.
Advantageous effects
Compared with the prior art, the invention has the following advantages.
1. The application range is wide: the device can adapt to the situation that each axis of angle feedback devices are encoders or gratings and the composite angle of the turntable of up to 6 axes is measured in parallel, and can be used in PCI slots of industrial personal computers of XP and WIN7 systems at the same time, unlike the situation that an angle measuring circuit based on an ISA interface can only be used in ISA slots of industrial personal computers of XP systems (WIN 7 and the industrial personal computers have no ISA slots);
2. the angle measurement precision is high: decoding and transmitting angle without missing codes;
3. the transmission speed is fast: the transmission speed can reach 33 Mb/s.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a logic diagram of the principle of the angle measurement circuit according to the present invention;
fig. 2 is a schematic diagram of the composition and logic of an angle feedback system including a three-axis turntable, an upper computer, an encoder and a grating in the angle measuring circuit of the present invention.
Detailed Description
A multi-axis turntable composite angle measuring circuit based on a PCI interface comprises an angle measuring circuit board, a three-axis turntable and an upper computer with a PCI slot, wherein the three-axis turntable comprises an inner shaft angle feedback device which is a grating, a middle shaft angle feedback device which is a grating and an outer shaft angle feedback device which is an encoder, as shown in figures 1 and 2, the angle measuring circuit board comprises an FPGA (field programmable gate array) logic device, a PCI interface chip, a PCI golden finger and an LDO (low dropout regulator) power supply chip, the angle measuring circuit board is inserted into the PCI slot of the upper computer, signals of the encoders of the inner shaft, the middle shaft and the outer shaft of the three-axis turntable are connected to the angle measuring circuit board, the angle measuring circuit board comprises an FPGA logic device, the FPGA logic device is connected with an encoder of the outer shaft of the three-axis turntable through 6 RS485 signal converters, the encoder of the outer shaft then gives angle data, and meanwhile, ABZ differential signals of the gratings of the three-axis, the FPGA logic device respectively decodes the angle of the inner shaft, the middle shaft and the outer shaft after receiving the grating signals of the inner shaft and the middle shaft and the encoder signals of the outer shaft, the conversion of the FPGA 3.3V level and the PCI interface chip 5V level is completed through 4 level converters with 8 bits after the decoding is completed, then the PCI transmission protocol is realized through the PCI interface chip, and the angle transmission with an upper computer is completed through a PCI golden finger of an angle measuring circuit and a PCI slot of the upper computer, so that the high-speed and high-precision angle measurement is realized.
The 3 differential signal converters are differential signal converters of the same type, the differential signal converter is AM26LS32AIDR, the 6 RS485 signal converters are RS485 signal converters of the same type, the RS485 signal converter is MAX3485ESA +, the FPGA logic device is EP2C8T144I8N, the PCI interface chip is CH365P, the 4 8-bit level converters are 8-bit level converters of the same type, and the 2 LDO power chips are LDO power chips of the same type.
Examples
The utility model provides a multiaxis revolving stage compound angle measurement circuit based on PCI interface, this angle measurement circuit include 3 differential signal converters of the same model, 6 RS485 signal converters of the same model, 1 16 bit level converters, 1 FPGA logic device, 48 bit level converters of the same model, 2 LDO power chip of the same model, a PCI interface chip and PCI golden finger. The circuit can realize the processing, decoding and transmission functions of the grating and encoder angle signals, has the characteristics of no code loss, wide application range and high transmission speed, and can meet the high-precision and high-speed angle measurement requirements of the rotary table of the inertia test equipment on multi-axis and multi-type composite angle sensors.
The model of the differential signal converter is AM26LS32AIDR, and the model of the RS485 signal converter is MAX3485ESA +. The differential signal converter converts an ABZ differential signal input by a grating into an ABZ single-ended signal, and the RS485 signal converter converts a data signal in an RS485 format input by the encoder into a 3.3V level pulse data signal on one hand and converts a 3.3V level pulse clock signal into a clock signal in an RS485 format on the other hand and outputs the clock signal to the encoder. The combination of 3 differential signal converters and 6 RS485 signal converters can realize the parallel angle signal processing function of up to 6 shafts of the rotary table, and can meet most of application occasions of the conventional rotary table for measuring the angles of the grating and the encoder.
The FPGA logic device is EP2C8T144I8N in model, and is used for carrying out angle counting decoding on 3 paths of grating ABZ signals output by a 16-bit level converter and carrying out angle decoding on encoder data signals input by an RS485 signal converter, so that no-missing-code decoding of a multi-axis encoder and grating angle signals is realized, and meanwhile, 3.3V/5V level conversion is carried out through 4 8-bit level converters and data interaction is carried out with a PCI interface chip.
The PCI interface chip is in a model number of CH365P and is used for converting an encoder and a grating angle signal transmission protocol which are decoded by the FPGA logic device into a PCI protocol. The 8-bit data line, the 8-bit address line, the read-write control line and the interrupt signal line of the CH365P are respectively connected with the corresponding IO pins of the FPGA logic device through 4 8-bit level shifters, so that the angle signal is transmitted to the upper computer in real time at high speed through the PCI interface.
As shown in fig. 2, the present embodiment includes an angle measurement circuit board, a three-axis turntable (an inner shaft angle feedback device is a grating, a middle shaft angle feedback device is a grating, an outer shaft angle feedback device is an encoder), and an upper computer (an industrial personal computer) with a PCI slot.
And the angle measuring circuit board is inserted into a PCI slot of an upper computer, and the signals of the encoders of the inner shaft, the grating of the middle shaft and the outer shaft of the three-shaft turntable are connected to the angle measuring circuit board to electrify the system. After the power is on, an FPGA logic device in the angle measuring circuit board gives out a clock signal to the rotary table outer shaft encoder, the outer shaft encoder then gives out angle data, the angle data are input to the FPGA logic device through the RS485 converter, and meanwhile grating ABZ differential signals of the rotary table inner shaft and the rotary table middle shaft are converted into single-ended ABZ signals through the differential signal converter and input to the FPGA logic device. The FPGA logic device respectively decodes the angle of the inner shaft, the middle shaft and the outer shaft after receiving the grating signals of the inner shaft and the middle shaft and the encoder signals of the outer shaft, the conversion of the FPGA 3.3V level and the PCI interface chip 5V level is completed through 4 level converters with 8 bits after the decoding is completed, then the PCI transmission protocol is realized through the PCI interface chip, and the angle transmission with an upper computer is completed through a PCI golden finger of an angle measuring circuit and a PCI slot of the upper computer, so that the high-speed and high-precision angle measuring function is realized.
Claims (2)
1. A multi-axis turntable composite angle measurement circuit based on a PCI interface comprises an angle measurement circuit board, a three-axis turntable and an upper computer with a PCI slot, wherein the three-axis turntable comprises an inner axis angle feedback device which is a grating, a middle axis angle feedback device which is a grating and an outer axis angle feedback device which is an encoder, and the angle measurement circuit board comprises an FPGA (field programmable gate array) logic device, a PCI interface chip, a PCI golden finger and an LDO (low dropout regulator) power supply chip, the angle measurement circuit board is inserted into the PCI slot of the upper computer, the encoder signals of the inner axis, the grating of the middle axis and the outer axis of the three-axis turntable are connected to the angle measurement circuit board, the angle measurement circuit board comprises an FPGA logic device, the FPGA logic device is connected with the encoder of the outer axis of the three-axis turntable through 6 RS485 signal converters, the encoder of the outer axis gives angle data later, meanwhile, the ABZ differential signals of the gratings of the inner axis and the, the FPGA logic device respectively decodes the angle of the inner shaft, the middle shaft and the outer shaft after receiving the grating signals of the inner shaft and the middle shaft and the encoder signals of the outer shaft, the conversion of the FPGA 3.3V level and the PCI interface chip 5V level is completed through 4 level converters with 8 bits after the decoding is completed, then the PCI transmission protocol is realized through the PCI interface chip, and the angle transmission with an upper computer is completed through a PCI golden finger of an angle measuring circuit and a PCI slot of the upper computer, so that the high-speed and high-precision angle measurement is realized.
2. The compound angle measurement circuit of the multi-axis turntable based on the PCI interface of claim 1, wherein the 3 differential signal converters are differential signal converters of the same type, the differential signal converter is AM26LS32AIDR, the 6 RS485 signal converters are RS485 signal converters of the same type, the RS485 signal converters are MAX3485ESA +, the FPGA logic device is EP2C8T144I8N, the PCI interface chip is CH365P, the 48 level converters are 8 level converters of the same type, and the 2 LDO power chips are LDO power chips of the same type.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011173221.0A CN112414321A (en) | 2020-10-28 | 2020-10-28 | Multi-axis turntable composite angle measurement circuit based on PCI (peripheral component interconnect) interface |
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| CN202011173221.0A CN112414321A (en) | 2020-10-28 | 2020-10-28 | Multi-axis turntable composite angle measurement circuit based on PCI (peripheral component interconnect) interface |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113819926A (en) * | 2021-10-15 | 2021-12-21 | 九江精密测试技术研究所 | Protection system for opening incubator door by misoperation of double-shaft rotary table with incubator |
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| CN113819926B (en) * | 2021-10-15 | 2023-11-24 | 九江精密测试技术研究所 | Protection system for misoperation of refrigerator door with incubator and double-shaft turntable |
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