CN112665531B - Multi-pair-level rotation-transformation coordinate transformation angle solving method - Google Patents
Multi-pair-level rotation-transformation coordinate transformation angle solving method Download PDFInfo
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Abstract
The invention relates to an angle resolving method suitable for single-channel multi-pair-level rotation transformation, which comprises the following steps: step one: power-on operation solutionCode program, collecting zero jump edge of photoelectric switch through IO port, collecting current rotation angle theta through RDC 1 The method comprises the steps of carrying out a first treatment on the surface of the Step two: when the zero-position baffle plate passes through the photoelectric switch groove, the zero-position condition is met, the angle is the zero-position initial value, n is set to be 0, and the current angle value is changed into theta in a rotating way 0 Calculating the zero initial angle of the system; step three: powering on again, setting the zero initial angle 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 of the last moment, updating n, and calculating the current accumulated angle value n which is 360 degrees plus theta 1 The value range is between 0 and N360 degrees; step four: and (3) carrying out coordinate transformation, converting a 0-N360-degree coordinate system into a 0-360-degree coordinate system, carrying out zero correction on a result value, and carrying out anti-overflow treatment to obtain an angle value of resolution.
Description
Technical Field
The invention relates to a multi-pair-stage rotary transformer, in particular to a corner solving method suitable for the multi-pair-stage rotary transformer.
Background
Currently, the common angular components are of various types such as absolute encoders, gratings, rotary transformers, etc. However, in consideration of environmental adaptability, cost and other factors, 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 dual-channel multi-pair rotary transformer is generally adopted, and the angle resolution of more than 20 bits can be realized through coarse and fine dual-channel combination. However, the application of the double-channel rotation transformation has certain disadvantages, and compared with the single-channel multi-pair-stage rotation transformation, the double-channel rotation transformation has the advantages of high cost, large volume and more complex decoding circuit. While the coarse channel of the dual channel resolver has the most important function of providing an absolute initial zero reference. Therefore, an initial zero position needs to be determined, and the single-channel multi-pair-stage rotation transformation is applied to realize high-precision angle measurement.
Disclosure of Invention
The invention aims to provide an angle resolving method suitable for single-channel multi-pair-level rotation transformation, which is used for solving the problems in the prior art.
The invention discloses an angle resolving method suitable for single-channel multi-pair-level rotation transformation, which comprises the following steps: step one: powering up to run decoding program, collecting zero jump edge of photoelectric switch through IO port, and collecting current rotation angle theta through RDC 1 The method comprises the steps of carrying out a first treatment on the surface of the Step two: when the zero position baffle plate passes through the photoelectric switch groove, the zero position condition is met, and the angle is zero position initialSetting n to be 0, and changing the current angle value to be theta 0 Calculating the zero initial angle of the system; step three: powering on again, setting the zero initial angle 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 of the last moment, updating n, and calculating the current accumulated angle value n which is 360 degrees plus theta 1 The value range is between 0 and N360 degrees; step four: and (3) carrying out coordinate transformation, converting a 0-N360-degree coordinate system into a 0-360-degree coordinate system, carrying out zero correction on a result value, and carrying out anti-overflow treatment to obtain an angle value of resolution.
According to one embodiment of the angle resolving method suitable for single-channel multi-pair level rotation, wherein 16 pairs of level single-channel rotation are adopted, and N is 16.
According to one embodiment of the angle resolving method suitable for single-channel multi-pair level rotation, n is constrained between 0 and 16.
According to one embodiment of the angle resolving method suitable for single-channel multi-pair level rotation, an angle value with 20-bit resolution is obtained.
According to an embodiment of the angle resolving method suitable for single-channel multi-pair level rotation, the method comprises the following steps: and (3) carrying out coordinate transformation, converting a 0-N x 360 DEG coordinate system into a 0-360 DEG coordinate system, and directly dividing the coordinate system by 16.
According to one embodiment of the angle calculation method suitable for single-channel multi-pair level rotation, the zero initial angle theta of the system is calculated 0 /16。
According to an embodiment of the angle resolving method suitable for single-channel multi-pair-level rotation transformation, the increasing and decreasing change rule of n comprises:
the invention discloses an angle resolving method suitable for single-channel multi-pair-level rotation transformation. Compared with the existing double-channel rotary transformer, the double-channel rotary transformer has the advantages of cost, volume, simplicity and convenience. An initial zero position can be determined, and high-precision angle measurement can be realized by applying single-channel multi-pair-stage rotation variation. The method can be further applied to the rear shaft end of the servo motor with an encoder in an expanding mode, and the output shaft is subjected to angle analysis under the condition of a reduction gearbox.
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FIG. 1 is a diagram showing the relationship between real angle and multi-pair-level rotation angle change of 0-360 degrees;
FIG. 2 is a flow chart of multi-pair level rotation angle resolution;
Detailed Description
For the purposes of clarity, content, and advantages of the present invention, a detailed description of the embodiments of the present invention will be described in detail below with reference to the drawings and examples.
The invention aims to provide an angle resolving method suitable for single-channel multi-pair-level rotation transformation, which comprises the following steps:
the position sensor is assumed to be a single-channel multi-pair pole-rotating transformer, the pole pair number is N, the pole pair is considered to be installed on a motor rotating shaft, a photoelectric switch is installed on a mechanical zero position, and a baffle is arranged on a rotating part so as to trigger the photoelectric switch to output a zero pulse signal at the zero crossing position. The motor rotates for 360 degrees for one circle, but the rotation output angle is N360 degrees continuously, so that the rotation angle needs to be accumulated first in the angle analysis process, and then the rotation angle needs to be reduced. Zero initial angle θ considering the rotational measurement at the opto-electronic switch 0 The current angle value after n 360 degrees is theta 1 ，θ 0 And theta 1 All are between 0 and 360 degrees, the current angle analysis formula is as follows:
in the formula (1), N represents an N-th pole rotation angle interval from zero, which is equivalent to converting a coordinate system of 0-360 degrees of an actual rotation angle of the motor into a coordinate system of 0-N x 360 degrees. 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 for N rotations, the motor just rotates for 1 rotation, and the zero position is aligned again with θ 0 。
The anti-overflow treatment is also needed for the angle after zero correction, as the condition of more than 360 degrees does not occur, only the condition of less than zero is needed to be judged,
the cumulative calculation of the rotation angle needs to determine the number n of poles of the current interval of the rotation, namely the number n of 360-degree intervals from the photoelectric switch. The increase and decrease of n is constrained by a certain rule
Taking a 16-pair single-channel rotation as an example, N is 16, and as shown in the flow of fig. 2, the angle calculation steps are as follows:
step one: powering up to run decoding program, collecting zero jump edge of photoelectric switch through IO port, and collecting current rotation angle theta through RDC 1 。
Step two: when the zero-position baffle plate passes through the photoelectric switch groove, the zero-position condition is met, the angle is the zero-position initial value, n is set to be 0, and the current angle value is changed to be theta 0 The zero initial angle theta of the system can be calculated 0 /16。
Step three: re-electrifying, zero initial angle theta 0 And/16 is set to be constant. At this time, whether n is increased by 1 or decreased by 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. While constraining the n value between 0 and 16. Calculating the current accumulated angle value n is 360 degrees plus theta 1 The value range is between 0 and N.360 degrees.
Step four: and (3) carrying out coordinate transformation, namely converting a 0-N x 360-degree coordinate system into a 0-360-degree coordinate system, and directly dividing the coordinate system by 16. And carrying out zero correction on the result value, and carrying out anti-overflow treatment to finally obtain the angle value with 20-bit resolution.
The invention provides an angle resolving method suitable for single-channel multi-pair-level rotation transformation. Compared with the existing double-channel rotary transformer, the double-channel rotary transformer has the advantages of cost, volume, simplicity and convenience. High accuracy angle measurement can also be achieved using single channel multi-pair level rotation as long as an initial zero position can be determined. The method can be further applied to the rear shaft end of the servo motor with an encoder in an expanding mode, and the output shaft is subjected to angle analysis under the condition of a reduction gearbox.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (7)
1. An angle resolving method suitable for single-channel multi-pair-level rotation transformation, which is characterized by comprising the following steps:
step one: powering up to run decoding program, collecting zero jump edge of photoelectric switch through IO port, and collecting current rotation angle theta through RDC 1 ；
Step two: when the zero-position baffle plate passes through the photoelectric switch groove, the zero-position condition is met, the angle is the zero-position initial value, n is set to be 0, and the current angle value is changed into theta in a rotating way 0 Calculating the zero initial angle of the system;
step three: powering on again, setting the zero initial angle 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 of the last moment, updating n, and calculating the current accumulated angle value n which is 360 degrees plus theta 1 The value range is between 0 and N360 degrees;
step four: and (3) carrying out coordinate transformation, converting a 0-N360-degree coordinate system into a 0-360-degree coordinate system, carrying out zero correction on a result value, and carrying out anti-overflow treatment to obtain an angle value of resolution.
2. The method of claim 1, wherein the 16-pair single-channel rotation is performed with N being 16.
3. The angle resolving method for single-channel multi-pair level rotation as claimed in claim 2, wherein the n value is constrained between 0 and 16.
4. The angle resolution method for single-channel multi-pair level rotation as claimed in claim 1, wherein an angle value of 20 bits resolution is obtained.
5. The angle resolution method for single-channel multi-pair level rotation as claimed in claim 2, wherein the step four: and (3) carrying out coordinate transformation, converting a 0-N x 360 DEG coordinate system into a 0-360 DEG coordinate system, and directly dividing the coordinate system by 16.
6. The angle calculation method suitable for single-channel multi-pair level rotation as claimed in claim 2, wherein the zero initial angle θ of the system is calculated 0 /16。
7. The angle resolving method for single-channel multi-pair level rotation as claimed in claim 1, wherein the increasing/decreasing variation rule of n comprises:
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| CN109327174A (en) * | 2018-11-14 | 2019-02-12 | 苏州绿控传动科技股份有限公司 | Rotating transformer of permanent magnet synchronous motor zero-bit automatic identifying method |
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