CN113865516A - Method for measuring load pointing angle of vehicle-mounted turntable - Google Patents
Method for measuring load pointing angle of vehicle-mounted turntable Download PDFInfo
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- CN113865516A CN113865516A CN202110943261.7A CN202110943261A CN113865516A CN 113865516 A CN113865516 A CN 113865516A CN 202110943261 A CN202110943261 A CN 202110943261A CN 113865516 A CN113865516 A CN 113865516A
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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
Abstract
The invention discloses a method for measuring the load pointing angle of a vehicle-mounted turntable, which comprises the following steps: the method comprises the following steps: integrating an absolute multi-ring photoelectric coded disc on a relative photoelectric coded disc of a driving motor rotor shaft of the vehicle-mounted turntable to replace the absolute multi-ring photoelectric coded disc arranged at a seat ring gear of the vehicle-mounted turntable; step two: controlling the load of the vehicle-mounted turntable to a forward position of a vehicle body, and setting a coded disc value of an absolute multi-ring photoelectric coded disc at the current position as a zero value; step three: collecting a coded disc value of an absolute multi-turn photoelectric coded disc in real time through an outer ring controller; step four: and calculating the difference between the coded disc value of the absolute multi-turn photoelectric coded disc and the stored zero value in real time through an outer ring controller to obtain the pointing angle of the load.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted turntables, in particular to a method for measuring a load pointing angle of a vehicle-mounted turntable.
Background
The vehicle-mounted turntable is a vehicle-mounted and remotely operated turntable system, is placed on the roof of a vehicle, and can carry loads such as lighting equipment, fire fighting equipment and the like. The vehicle-mounted turntable generally uses a motor and a speed reducer to drive a load to move, so that the load pointing target is realized. At present, a permanent magnet alternating current synchronous motor is generally used as a driving motor, and a relative type photoelectric coded disc is arranged on a motor rotor shaft to measure a rotor angle for carrying out motor driving control.
To ensure personnel safety, the operator of the truck-mounted turret is generally located in the body of the vehicle and therefore cannot directly see the state of motion and the position of the load. In addition, the vehicle-mounted rotary table is generally provided with a fixer, and the rotary table is locked in a vehicle running and load power-off state to ensure safety. Therefore, the angle of the load relative to the vehicle body needs to be measured in real time, so that an operator can obtain the pointing information of the load in real time, and meanwhile, the turntable can be returned to the locking position to be locked.
In order to realize the function of measuring the load pointing angle, as shown in fig. 1, in the existing method, an absolute multi-turn photoelectric encoder is usually installed at a seat ring gear of a vehicle-mounted turntable, a control system acquires data of the absolute multi-turn photoelectric encoder in real time to obtain the pointing angle of the load, and in order to install the absolute multi-turn photoelectric encoder at the seat ring gear of the vehicle-mounted turntable, an additional structural member needs to be installed, which has the obvious disadvantage of increasing the complexity and cost of the system.
Disclosure of Invention
In view of the above, the invention provides a method for measuring a load pointing angle of a vehicle-mounted turntable, which integrates an absolute multi-turn photoelectric coded disc on a rotor shaft of a driving motor to replace the absolute multi-turn photoelectric coded disc arranged at a race ring gear of the vehicle-mounted turntable, so that the integration of a vehicle-mounted turntable system can be effectively improved, and the cost for measuring the load pointing angle of the vehicle-mounted turntable is effectively reduced.
The technical scheme of the invention is as follows: a method for measuring the load pointing angle of a vehicle-mounted turntable comprises the following steps:
the method comprises the following steps: integrating an absolute multi-ring photoelectric coded disc on a relative photoelectric coded disc of a driving motor rotor shaft of the vehicle-mounted turntable to replace the absolute multi-ring photoelectric coded disc arranged at a seat ring gear of the vehicle-mounted turntable;
step two: controlling the load of the vehicle-mounted turntable to a forward position of a vehicle body, and setting a coded disc value of an absolute multi-ring photoelectric coded disc at the current position as a zero value;
step three: collecting a coded disc value of an absolute multi-turn photoelectric coded disc in real time through an outer ring controller;
step four: and calculating the difference between the coded disc value of the absolute multi-turn photoelectric coded disc and the stored zero value in real time through an outer ring controller to obtain the pointing angle of the load.
Preferably, the driving motor is a permanent magnet synchronous motor.
Preferably, the zero value is recalculated and stored when the load rotates once through the boundary of the vehicle body forward direction and once through the boundary of the absolute multi-turn photoelectric coded disc.
Preferably, the reduction ratio from the permanent magnet synchronous motor to the load is 200; the absolute multi-turn photoelectric coded disc has 12 digits in multi-turn number and maximum 4096 turns; the single-circle digit is 12, and the single-circle resolution is 4096; the current pointing angle of the load is converted by the following method:
controlling the load to a preset zero position, setting a coded disc value of an absolute multi-ring photoelectric coded disc at the current position to be a zero value, and then:
preferably, the new value is stored once again for each time the load rotates by the forward zero value of the vehicle body, and the interval of zero change is 4096;
when the load pointing angle increases by 360 °, the new zero value is: new zero value is current zero value + 4096;
when the load pointing angle is reduced by 0 °, the new zero value is: new zero value-4096 as current zero value;
the maximum extreme value of the absolute multi-ring photoelectric coded disc 4096 rings is as follows: 4096 × 4096 ═ 16777216;
when the load pointing angle is increased to the boundary of the absolute multi-turn photoelectric code disc, the new zero value is as follows:
4096- (16777216-current zero value);
when the load pointing angle is reduced to the boundary of the absolute multi-turn photoelectric code disc, the new zero value is as follows:
16777216-.
Preferably, the precision of the load pointing angle neglecting the transmission backlash is: 360/4096/200 is 0.00044.
Preferably, the transmission clearance index of the vehicle-mounted turntable is 0.03 °, and the accuracy of the total pointing angle of the load is 0.03044 °.
Preferably, the absolute multi-turn photoelectric coded disc is connected with a rotor of the driving motor and rotates coaxially with the opposite photoelectric coded disc.
Preferably, the absolute multi-turn photoelectric coded disc is connected with a rotor of the driving motor and rotates coaxially with the opposite photoelectric coded disc.
Has the advantages that:
1. according to the invention, one path of absolute multi-ring photoelectric coded disc is integrated on the rotor shaft of the driving motor, and the pointing angle of the vehicle-mounted turntable load can be calculated through the difference between the coded disc value of the absolute multi-ring photoelectric coded disc and the stored zero value, so that the function of quickly measuring the pointing angle of the vehicle-mounted turntable load is realized.
2. The invention realizes that the angle is zero when the load of the vehicle-mounted turntable is parallel to the front direction of the vehicle body by a zero storage mode, and the calculated output value of the load pointing angle is obtained by subtracting the stored zero value from the real-time value of the coded disc of the absolute multi-ring photoelectric coded disc and then converting the value into the transmission ratio.
3. The multi-circle digit of the coded disc of the absolute multi-circle photoelectric coded disc is 12 digits, the maximum is 4096 circles, the single-circle digit is 12 digits, and the single-circle resolution is 4096; the transmission reduction ratio 200 and the transmission clearance index 0.5 are combined, and the pointing angle measuring accuracy of 0.03044 degrees can be realized.
Drawings
Fig. 1 is an overall schematic diagram of a prior art on-board turret system.
Fig. 2 is an overall schematic diagram of the vehicle-mounted turntable system of the present invention.
FIG. 3 is a flow chart of the change of the zero value of the vehicle body forward direction in the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a method for measuring the load pointing angle of a vehicle-mounted turntable, which integrates an absolute multi-turn photoelectric coded disc on a rotor shaft of a permanent magnet synchronous motor to replace the absolute multi-turn photoelectric coded disc arranged at a race ring gear of the vehicle-mounted turntable, can effectively improve the integration of a vehicle-mounted turntable system, and effectively reduces the cost for measuring the load pointing angle of the vehicle-mounted turntable.
The measuring method comprises the following steps:
the method comprises the following steps: as shown in fig. 2, an absolute multi-turn photoelectric encoder is integrated on a relative photoelectric encoder of a rotor shaft of a driving motor (in the embodiment, a permanent magnet synchronous motor) of a vehicle-mounted turntable to replace an absolute multi-turn photoelectric encoder separately arranged at a seat ring gear of the vehicle-mounted turntable, and a set of transmission gears and encoder mechanical shells for mounting the absolute multi-turn photoelectric encoder can be saved;
step two: controlling the load of the vehicle-mounted turntable to the forward position of the vehicle body, and setting the coded disc value of the absolute multi-turn photoelectric coded disc at the current position as a zero value;
step three: acquiring a coded disc value of an absolute multi-ring photoelectric coded disc which moves synchronously with a motor rotor shaft of the permanent magnet synchronous motor in real time through an outer ring controller;
step four: the outer ring controller calculates the difference between the coded disc value of the absolute multi-turn photoelectric coded disc and the stored zero value in real time, namely the pointing angle of the vehicle-mounted turntable load;
step five: and recalculating and storing the zero value when the load of the vehicle-mounted turntable rotates once through the boundary of the forward direction of the vehicle body and the absolute multi-ring photoelectric coded disc.
In this embodiment, the absolute multi-turn photoelectric encoder is connected to the rotor of the permanent magnet synchronous motor and rotates coaxially with the relative photoelectric encoder.
In the embodiment, because the reduction ratio from the permanent magnet synchronous motor to the load is known and fixed, in the embodiment, the reduction ratio from the permanent magnet synchronous motor to the load is 200; the absolute multi-turn photoelectric coded disc has 12 digits in multi-turn number and maximum 4096 turns; the single-circle digit is 12, and the single-circle resolution is 4096; the current pointing angle of the load can be obtained by the following conversion method:
as shown in fig. 3, when in use, the angle is zero when the turntable load and the vehicle body are required to be parallel in the forward direction, so that the control system needs to store the zero value of the load angle, manually control the load to the required zero position, set the code wheel value of the absolute multi-turn photoelectric code wheel at the current position to be the zero value through an instruction, and convert the output value of the load pointing angle into the transmission ratio after subtracting the stored zero value from the code wheel real-time value of the absolute multi-turn photoelectric code wheel, that is:
in the embodiment, the vehicle-mounted rotary table can rotate for a plurality of circles continuously, a new value needs to be stored once again when the forward zero value of the vehicle body is rotated once by the load, and the interval of zero change is 4096; when the load pointing angle increases by 360 °, the new zero value is:
new zero value is current zero value + 4096;
when the load pointing angle is reduced by 0 °, the new zero value is:
new zero value-4096 as current zero value;
the maximum extreme value of the absolute multi-ring photoelectric coded disc 4096 rings is as follows:
4096×4096＝16777216；
when the load pointing angle increases to the boundary of the absolute multiturn photoelectric code disc (from 16777216 to 0), the zero value also needs to be stored again, and the new zero value is:
4096- (16777216-current zero value);
when the load pointing angle decreases to the boundary of the absolute multiturn optical code disk (from 0 to 16777216), the new zero value is:
16777216-.
In this embodiment, neglecting the transmission clearance, the precision of the load pointing angle is:
360/4096/200＝0.00044°；
since the transmission clearance index of the vehicle-mounted turntable is 0.5 mil, i.e., 0.03 °, the accuracy of the total load pointing angle in this embodiment is 0.03044 °.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for measuring the load pointing angle of a vehicle-mounted turntable is characterized by comprising the following steps:
the method comprises the following steps: integrating an absolute multi-ring photoelectric coded disc on a relative photoelectric coded disc of a driving motor rotor shaft of the vehicle-mounted turntable to replace the absolute multi-ring photoelectric coded disc arranged at a seat ring gear of the vehicle-mounted turntable;
step two: controlling the load of the vehicle-mounted turntable to a forward position of a vehicle body, and setting a coded disc value of an absolute multi-ring photoelectric coded disc at the current position as a zero value;
step three: collecting a coded disc value of an absolute multi-turn photoelectric coded disc in real time through an outer ring controller;
step four: and calculating the difference between the coded disc value of the absolute multi-turn photoelectric coded disc and the stored zero value in real time through an outer ring controller to obtain the pointing angle of the load.
2. The method for measuring the pointing angle of a load on a vehicle-mounted turntable according to claim 1, wherein the driving motor is a permanent magnet synchronous motor.
3. The method for measuring the load pointing angle of the vehicle-mounted turntable according to claim 1 or 2, wherein the zero value is recalculated and stored every time the load rotates once in the forward direction of the vehicle body and every time the load rotates once through the boundary of the absolute multiturn photoelectric code disc.
4. The method for measuring the load pointing angle of the vehicle-mounted turntable according to claim 3, wherein the reduction ratio from the permanent magnet synchronous motor to the load is 200; the absolute multi-turn photoelectric coded disc has 12 digits in multi-turn number and maximum 4096 turns; the single-circle digit is 12, and the single-circle resolution is 4096; the current pointing angle of the load is converted by the following method:
controlling the load to a preset zero position, setting a coded disc value of an absolute multi-ring photoelectric coded disc at the current position to be a zero value, and then:
5. the method of claim 4, wherein the new value is restored once per each rotation of the load by the vehicle body forward zero value, and the interval of the zero change is 4096;
when the load pointing angle increases by 360 °, the new zero value is: new zero value is current zero value + 4096;
when the load pointing angle is reduced by 0 °, the new zero value is: new zero value-4096 as current zero value;
the maximum extreme value of the absolute multi-ring photoelectric coded disc 4096 rings is as follows: 4096 × 4096 ═ 16777216;
when the load pointing angle is increased to the boundary of the absolute multi-turn photoelectric code disc, the new zero value is as follows:
4096- (16777216-current zero value);
when the load pointing angle is reduced to the boundary of the absolute multi-turn photoelectric code disc, the new zero value is as follows:
16777216-.
6. The method of claim 5, wherein the accuracy of the load pointing angle, neglecting transmission backlash, is: 360/4096/200 is 0.00044.
7. The method of claim 6, wherein the index of the transmission clearance of the vehicle-mounted turntable is 0.03 °, and the accuracy of the total pointing angle of the load is 0.03044 °.
8. The method for measuring the load pointing angle of a vehicle-mounted turntable according to any one of claims 1 to 2 and 4 to 7, wherein the absolute type multi-turn photoelectric encoder is connected to a rotor of a drive motor and rotates coaxially with the opposite type photoelectric encoder.
9. The method of claim 3, wherein the absolute multi-turn photoelectric encoder is connected to a rotor of the driving motor and rotates coaxially with the opposite photoelectric encoder.
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| CN202110943261.7A CN113865516B (en) | 2021-08-17 | 2021-08-17 | Method for measuring load pointing angle of vehicle-mounted turntable |
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2021
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