CN112665531A - Multi-pair-level rotation coordinate transformation angle-solving method - Google Patents
Multi-pair-level rotation coordinate transformation angle-solving method Download PDFInfo
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Abstract
The invention relates to an angle calculating method suitable for single-channel multi-pair rotary transformer, which comprises the following steps: the method comprises the following steps: electrifying to run a decoding program, acquiring zero jump edge of the photoelectric switch through an IO port, and acquiring the current rotation angle theta through RDC1(ii) a Step two: when the zero position blocking piece passes through the photoelectric switch groove, the zero position condition is met, the angle is the initial value of the zero position at the moment, n is set to be 0, and the current angle value of the rotary transformer is theta0Calculating a zero initial angle of the system; step three: electrifying again, setting the initial angle of the zero position as a constant, determining whether n is increased by 1 or decreased by 1 according to the current angle value and the angle value deviation at the previous moment, updating n, and calculating the current accumulated angle value n x 360 degrees + theta1The value range is 0-N × 360 degrees; step four: performing coordinate transformation, converting 0-N360 ° coordinate system to 0-360 °, performing zero correction on the result value, and performing anti-overflow treatment to obtain angle of resolutionThe value is obtained.
Description
Technical Field
The invention relates to a multi-pair rotary transformer, in particular to a de-angling method suitable for the multi-pair rotary transformer.
Background
At present, the commonly used angle measuring elements include various types such as absolute encoders, optical gratings, and rotary transformers. But considering the factors of environmental adaptability, cost and the like, the rotary transformer is used as a position sensor for angle measurement in the photoelectric searching and tracking system. In order to improve the precision, a two-channel multi-pair rotary transformer is generally adopted, and the angular resolution of more than 20 bits can be realized through the combination of a coarse channel and a fine channel. However, the application of the dual-channel rotary transformer also has certain disadvantages, and compared with the single-channel multi-pair rotary transformer, the double-channel rotary transformer has high cost, large volume and more complex decoding circuit. The most important function of the coarse machine channel of the two-channel rotary transformer is to provide an absolute initial zero reference. Therefore, an initial zero position needs to be determined, and high-precision angle measurement is realized by applying single-channel multi-pair-stage rotation transformation.
Disclosure of Invention
The invention aims to provide an angle calculation method suitable for single-channel multi-pair rotary transformation, which is used for solving the problems in the prior art.
The invention relates to an angle calculating method suitable for single-channel multi-pair rotary transformer, which comprises the following steps: the method comprises the following steps: electrifying to run a decoding program, acquiring zero jump edge of the photoelectric switch through an IO port, and acquiring the current rotation angle theta through RDC1(ii) a Step two: when the zero position blocking piece passes through the photoelectric switch groove, the zero position condition is met, the angle is the initial value of the zero position at the moment, n is set to be 0, and the current angle value of the rotary transformer is theta0Calculating a zero initial angle of the system; step three: electrifying again, setting the initial angle of the zero position as a constant, determining whether n is increased by 1 or decreased by 1 according to the current angle value and the angle value deviation at the previous moment, updating n, and calculating the current accumulated angle value n x 360 degrees + theta1The value range is 0-N × 360 degrees; step four: and (4) carrying out coordinate transformation, converting a 0-N360-degree coordinate system to 0-360 degrees, carrying out zero correction on the result value, and carrying out anti-overflow treatment to obtain the angle value of the resolution.
According to an embodiment of the angle calculation method applicable to the single-channel multi-pair rotary transformer, 16 pairs of single-channel rotary transformers are provided, and N is 16.
According to an embodiment of the angle calculation method applicable to the single-channel multi-pair rotary transformer, the value of n is constrained to be between 0 and 16.
According to an embodiment of the angle calculation method for single-channel multi-pair rotary transformation, the angle value with 20-bit resolution is obtained.
According to an embodiment of the angle calculation method applicable to the single-channel multi-pair rotary transformer, the method comprises the following steps: and (4) performing coordinate transformation, converting the 0-N360-degree coordinate system to 0-360 degrees, and directly dividing by 16.
According to an embodiment of the angle calculation method applicable to the single-channel multi-pair rotary transformer, the zero initial angle theta of the system is calculated0/16。
According to an embodiment of the angle calculation method applicable to the single-channel multi-pair rotary transformer, the increasing and decreasing rules of n include:
the invention relates to an angle calculating method suitable for single-channel multi-pair rotary transformer. Compared with the existing double-channel rotary transformer, the rotary transformer has the advantages of cost, size and convenience in simplification. An initial zero position can be determined, and high-precision angle measurement can be realized by applying single-channel multi-pair-stage rotary transformation. The method can also be applied to the angle analysis of the condition that the output shaft passes through the reduction gear box by expanding the encoder at the rear shaft end of the servo motor.
Drawings
FIG. 1 is a schematic diagram showing the relationship between a real angle of 0-360 DEG and a multi-pair rotary angle variation;
FIG. 2 is a flow chart of multi-pair level resolver angle resolution;
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The invention aims to provide an angle calculation method suitable for single-channel multi-pair rotary transformation, which comprises the following steps of:
assuming that the position sensor is a single-channel multi-pair-pole rotary transformer, the number of pole pairs is N, considering that the rotary transformer is arranged on a motor rotating shaft, a photoelectric switch is arranged on a mechanical zero position, and a rotating part is provided with a baffle plate so as to be convenient for passing throughThe zero position triggers the photoelectric switch to output a zero position pulse signal. The motor rotates for one circle for 360 degrees, but the rotation change output angle is N continuous 360 degrees, so the rotation change angles need to be accumulated firstly in an angle analysis formula and then reduced. The initial zero angle considering the rotation measurement at the photoelectric switch is theta0The current angle value after n 360 degrees is theta1，θ0And theta1All between 0-360 deg., then the current angle resolution formula is as follows:
in the formula (1), N represents the N-th polar rotation angle interval from the zero position, which is equivalent to converting the 0-360-degree coordinate system of the actual rotation angle of the motor into the 0-N360-degree coordinate system. At this time, the angle of one rotation of the rotary transformer is equivalent to N × 360 °, as shown in fig. 1, when the rotary transformer rotates N times, the motor just rotates 1 time, and the zero position is realigned with θ0。
The angle after zero correction needs to be subjected to anti-overflow treatment, and only the condition of being less than zero needs to be judged because the condition of being more than 360 degrees does not occur,
the cumulative calculation of the rotation angle requires the determination of the number of poles n of the current section of the rotation, i.e. the nth 360 ° section from the photoelectric switch. The increase and decrease of n need to be restricted by a certain rule
Taking an example of a 16-pair single-channel rotation, N is 16, as shown in the flow chart of fig. 2, the angle calculation steps are as follows:
the method comprises the following steps: electrifying to run a decoding program, acquiring zero jump edge of the photoelectric switch through an IO port, and acquiring the current rotation angle theta through RDC1。
Step two: when the zero position blocking piece passes through the photoelectric switch groove, the zero position condition is met, the angle is the initial value of the zero position, n is set to be 0, and the current angle value of the rotary transformer is theta0Then the zero initial angle theta of the system can be calculated0/16。
Step three: re-electrifying and zero initial angle theta0The/16 is set to a constant. At the moment, whether n is added with 1 or subtracted with 1 is determined according to the current angle value and the angle value deviation at the previous moment, and n is updated in real time. And simultaneously, the value of n is restricted to be between 0 and 16. Calculating the current accumulated angle value n x 360 degrees + theta1The value range is 0-N360 degrees.
Step four: and (4) performing coordinate transformation, namely converting a 0-N360-degree coordinate system into a range of 0-360 degrees, and directly dividing by 16. And carrying out zero correction on the result value, and carrying out anti-overflow treatment to finally obtain an angle value with 20-bit resolution.
The invention provides an angle calculating method suitable for single-channel multi-pair rotary transformer. Compared with the existing double-channel rotary transformer, the rotary transformer has the advantages of cost, size and convenience in simplification. High-precision angle measurement can be realized by applying single-channel multi-pair-stage rotary transformation as long as an initial zero position can be determined. The method can also be applied to the angle analysis of the condition that the output shaft passes through the reduction gear box by expanding the encoder at the rear shaft end of the servo motor.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. An angle calculation method suitable for single-channel multi-pair-level rotary transformer is characterized by comprising the following steps of:
the method comprises the following steps: electrifying to run a decoding program, acquiring zero jump edge of the photoelectric switch through an IO port, and acquiring the current rotation angle theta through RDC1；
Step two: judging zero position baffle sheet passingWhen the photoelectric switch groove is used, a zero condition is met, the angle is the initial value of the zero at the moment, n is set to be 0, and the current value of the rotary change angle is theta0Calculating a zero initial angle of the system;
step three: electrifying again, setting the initial angle of the zero position as a constant, determining whether n is increased by 1 or decreased by 1 according to the current angle value and the angle value deviation at the previous moment, updating n, and calculating the current accumulated angle value n x 360 degrees + theta1The value range is 0-N × 360 degrees;
step four: and (4) carrying out coordinate transformation, converting a 0-N360-degree coordinate system to 0-360 degrees, carrying out zero correction on the result value, and carrying out anti-overflow treatment to obtain the angle value of the resolution.
2. The angle solution method for the single-channel multi-pair rotary transformer of claim 1, wherein 16 pairs of single-channel rotary transformers have N of 16.
3. The angle calculation method suitable for the single-channel multi-pair rotary transformer of claim 2, wherein the n value is constrained to be between 0 and 16.
4. The angle solution method for single-channel multi-pair rotary transformation of claim 1, wherein the angle value with 20-bit resolution is obtained.
5. The angle calculation method suitable for single-channel multi-pair rotary transformer of claim 2, characterized by comprising the following steps: and (4) performing coordinate transformation, converting the 0-N360-degree coordinate system to 0-360 degrees, and directly dividing by 16.
6. The angle calculation method suitable for single-channel multi-pair rotary transformer of claim 2, wherein a zero initial angle θ of the system is calculated0/16。
7. The angle calculation method suitable for the single-channel multi-pair rotary transformer of claim 1, wherein the increasing and decreasing rules of n comprise:
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115347838A (en) * | 2022-10-20 | 2022-11-15 | 深圳市好盈科技有限公司 | Method, system, equipment and medium for correcting initial zero position of motor |
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