CN117193403A - Control system and method for double-channel rotary-transformer transmitter - Google Patents
Control system and method for double-channel rotary-transformer transmitter Download PDFInfo
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Abstract
The application discloses a control system and a control method of a double-channel rotary-transformer transmitter, comprising the following steps: the control module is connected with the double-channel rotary-transformer transmitter and is characterized in that the control module is used for sending out a driving signal, receiving a signal of the speed sensor, comparing a signal fed back by the speed sensor with a target speed signal and further controlling the voltage regulator. The speed sensor and the voltage regulator are respectively connected with the rotary transformer transmitter. According to the application, the actually measured rotating speed is compared with the actual target rotating speed of the load by arranging the voltage regulator or the coil turn number regulator, the input voltage of the rotary-transformer transmitter is regulated by the voltage regulator, or the coil turn number is regulated by the coil turn number regulator, so that the actually measured rotating speed is regulated to be consistent with the target rotating speed, the technical problem of lower manual operation efficiency and inaccuracy is avoided, and the purpose of automatically and accurately controlling the rotary-transformer transmitter in real time is realized.
Description
Technical Field
The present application relates to a control system and method for a transmitter, and in particular, to a control system and method for a dual-channel rotary transmitter.
Background
Resolver English is resolver, and is also called a "resolver" or "resolver" according to word sense. It and the photoelectric encoder are the most widely used measuring elements in the servo field at present. Key parameters of a rotary transformer are also similar to a transformer, such as rated voltage, rated frequency, transformer ratio. Unlike transformers, the primary and secondary sides are not fixedly mounted, but are relatively movable. With the change of the relative angle of the two, the waveform with the amplitude change can be obtained at the output side. The output signal amplitude of the resolver varies with position, but the frequency is unchanged. In practical application, the rotary transformer is generally provided with two groups of output coils, and the phase difference between the two groups of output coils is 90 degrees, so that two groups of signals with the amplitude of SIN and COS change can be output. Two identical sine and cosine rotary transformers can be used to form a single-channel angle measurement system. One rotary transformer is a transmitter and the other is a control transformer. The transmitter is excited by an ac power source. In order to improve the control accuracy of the system, a two-channel angle measurement system can be adopted. A dual-speed resolver (dual-speed resolver) refers to a combination of single-and multi-pair pole resolvers. The key performance indexes of the rotary transformer comprise rated exciting voltage and exciting frequency, transformation ratio and maximum output voltage, electrical error of rotation transformation, impedance and phase displacement, zero voltage and reference electrical zero position and the like. The rotary transformer generates and outputs a rotation angle of voltage under the action of primary exciting voltage, and the rotation angle and the output voltage have a certain functional relation and drive the motor to rotate after decoding. It can be seen that the control accuracy of the resolver is directly related to the output rotational speed. For the double-channel rotary transformer transmitter, the control precision is higher than that of a common rotary transformer, and the control difficulty is also higher. In the prior art, the voltage of the rotary transformer is adjusted mainly manually to realize corresponding functions. This approach is less accurate and less efficient.
Disclosure of Invention
Aiming at the technical problems, the application provides a control system and a control method for a double-channel rotary-transformer transmitter, which can accurately control the double-channel rotary-transformer transmitter.
To achieve the above object, according to one aspect of the present application, there is provided a dual channel rotary transmitter control system comprising: the control module is connected with the double-channel rotary-transformer transmitter, the control module sends a driving signal to the double-channel rotary-transformer transmitter, the control module comprises a port for receiving a signal of the speed sensor, and the control module further comprises a port for receiving a target rotating speed signal of the double-channel rotary-transformer transmitter; the speed sensor is connected with the control module and comprises a port for sending signals to the control module; the voltage regulating module is connected with the control module, and the control module is used for comparing and analyzing the signal sent by the speed sensor with the target rotation speed signal of the actual load and controlling the voltage regulating module according to the comparison and analysis result; the speed sensor and the voltage regulating module are respectively connected with the double-channel rotary-transformer transmitter; the double-channel rotary-transformer transmitter is characterized in that two groups of channel magnetic circuits are coaxially arranged and are respectively a coarse machine channel magnetic circuit and a fine machine magnetic track channel, voltage detection modules are respectively connected to the coarse machine channel magnetic circuit and the fine machine magnetic track channel and used for detecting secondary side output voltages of the coarse machine channel magnetic circuit and the fine machine magnetic track channel, and the voltage detection modules are connected with a voltage regulation module and used for transmitting voltage value signals to be regulated.
Further, the voltage adjustment module may adjust the input excitation voltage, which calculates the voltage value to be adjusted by the following formula:
wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
Further, to achieve the above object, according to another aspect of the present application, there is provided a dual channel rotary transmitter control system, including: the control module is connected with the double-channel rotary-transformer transmitter, the control module sends a driving signal to the double-channel rotary-transformer transmitter, the control module comprises a port for receiving a signal of the speed sensor, and the control module further comprises a port for receiving a target rotating speed signal of the double-channel rotary-transformer transmitter; the speed sensor is connected with the control module and comprises a port for sending signals to the control module; the coil turn number adjusting module is connected with the control module, and the control module is used for comparing and analyzing the signal sent by the speed sensor with the target rotation speed signal of the actual load and controlling the coil turn number adjusting module according to the comparison and analysis result; the double-channel rotary-transformer transmitter is characterized in that two groups of channel magnetic circuits are coaxially arranged and are respectively a coarse machine channel magnetic circuit and a fine machine magnetic track channel, the coarse machine channel magnetic circuit and the fine machine magnetic track channel are respectively connected to an angle sensor, and the angle sensor is connected with a control module and used for detecting the rotation angles of the coarse machine channel magnetic circuit and the fine machine magnetic track channel.
The coil turn number adjusting module can adjust the input coil turns number, and calculates the coil turn number value to be adjusted according to the following formula:
wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
In order to achieve the above object, according to another aspect of the present application, there is provided a control method of a dual channel rotary transformer transmitter, specifically:
s01: the control module sends a driving signal, and the double-channel rotary-transformer transmitter starts to act under the driving signal;
the control module is connected with the double-channel rotary-transformer transmitter, and the control device drives the double-channel rotary-transformer transmitter to rotate after sending a driving signal;
further, the double-channel rotary-transformer transmitter is coaxially provided with two groups of channel magnetic circuits, namely a coarse machine channel magnetic circuit and a fine machine track channel; the number of winding turns of the magnetic circuit of the coarse machine channel is smaller than that of the magnetic track channel of the fine machine, the pole-to-logarithmic ratio of the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine are P, and the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine can be correspondingly adjusted according to the harmonic content output by the rotary transmitter, so that the output precision of the rotary transmitter is improved;
the double-channel rotary-variable transmitter is provided with a rotor and a stator, and can output induction voltage of the coarse machine and induction voltage of the fine machine and rotation speed information of the rotor respectively;
under the condition that the primary side excitation voltage is U, the secondary side output voltage expressions of the coarse machine and the fine machine are respectively:
U C1 ＝k C *U*cosθ c
U C2 ＝k C *U*sinθ c
U p1 ＝k p *U*cos pθ c
U p2 ＝k p *U*sin pθ c
wherein U is C1 And U C2 For outputting voltage theta to the secondary side of the coarse machine c For measuring angle of coarse machine, U p1 And U p2 For the secondary side output voltage of the refiner, the polar-to-logarithmic ratio of P and k C And k p The variable pressure ratio of the coarse machine and the variable pressure ratio of the fine machine are respectively equal.
S02: detecting the rotation speed of the double-channel rotary-transformer transmitter through a speed sensor, and transmitting the rotation speed to a control module through the speed sensor;
the speed sensor is connected with the double-channel rotary-transformer transmitter and is used for detecting the rotation speed of the double-channel rotary-transformer transmitter;
s03: the control module is connected with the rotating speed fed back by the speed sensor and compares the rotating speed with the target rotating speed of the load of the double-channel rotary-transformer transmitter;
the actual load is connected with the double-channel rotary-transformer transmitter, the actual load can be a motor or a similar mechanism, and the target rotation speed is the actual rotation speed required by the load such as the motor. If the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process is terminated, and if the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process proceeds to step S04.
S04: the control module starts a voltage regulating module, and the voltage regulating module regulates the input exciting voltage according to the target rotating speed;
wherein the voltage can be calculated by the target rotational speed:
wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux is magnetic circuit magnetic flux, K is constant coefficient, and the value is 1.1-1.35; the voltage value to be adjusted can be known by calculation according to the formula.
Further, the method also comprises a voltage self-testing and adjusting method of the double-channel rotary transformer transmitter, which comprises the following steps:
s041: detecting secondary side output voltages of a coarse machine channel magnetic circuit and a fine machine magnetic track channel, and calculating to obtain a current excitation voltage U';
the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine are respectively connected with a voltage detection module for detecting the secondary side output voltage of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine, and the current exciting voltage U' can be calculated and obtained through the secondary side output voltage expressions of the coarse machine and the fine machine.
S042: and comparing the voltage U adjusted according to the target rotation speed with U ', if U=U ', executing the step S05, and if U is not equal to U ', sending a voltage value signal to be adjusted to the voltage adjusting module by the voltage detecting module.
S043: the voltage regulation module regulates the voltage according to U'.
S05: after the input exciting voltage is adjusted, the speed sensor sends the rotating speed of the double-channel rotary-transformer transmitter to the control module;
terminating if the rotation speed fed back by the speed sensor is the same as the target rotation speed, and if the rotation speed fed back by the speed sensor is the same as the target rotation speed; and repeating the step S04 until the rotation speed is the same as the target speed.
In order to achieve the above object, according to another aspect of the present application, there is provided a control method of a dual channel rotary transformer transmitter, specifically:
s01': the control module sends a driving signal, and the double-channel rotary-transformer transmitter starts to act under the driving signal;
the control module is connected with the double-channel rotary-transformer transmitter, and the control device drives the double-channel rotary-transformer transmitter to rotate after sending a driving signal;
further, the double-channel rotary-transformer transmitter is coaxially provided with two groups of channel magnetic circuits, namely a coarse machine channel magnetic circuit and a fine machine track channel; the number of winding turns of the magnetic circuit of the coarse machine channel is smaller than that of the magnetic track channel of the fine machine, the pole-to-logarithmic ratio of the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine are P, and the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine can be correspondingly adjusted according to the harmonic content output by the rotary transmitter, so that the output precision of the rotary transmitter is improved;
the double-channel rotary-variable transmitter is provided with a rotor and a stator, and can output induction voltage of the coarse machine and induction voltage of the fine machine and rotation speed information of the rotor respectively;
under the condition that the primary side excitation voltage is U, the secondary side output voltages of the coarse machine and the fine machine are respectively:
U C1 ＝k C *U*cosθ c
U C2 ＝k C *U*sinθ c
U p1 ＝k p *U*cos pθ c
U p2 ＝k p *U*sin pθ c
wherein U is C1 And U C2 For outputting voltage theta to the secondary side of the coarse machine c Is coarse in sizeAngle of machine measurement, U p1 And U p2 For the secondary side output voltage of the refiner, the polar-to-logarithmic ratio of P and k c And k p The variable pressure ratio of the coarse machine and the variable pressure ratio of the fine machine are respectively equal.
S02': detecting the rotation speed of the double-channel rotary-transformer transmitter through a speed sensor, and transmitting the rotation speed to a control module through the speed sensor;
the speed sensor is connected with the double-channel rotary-transformer transmitter and is used for detecting the rotation speed of the double-channel rotary-transformer transmitter;
s03': the control module is connected with the rotating speed fed back by the speed sensor and compares the rotating speed with the target rotating speed of the load of the double-channel rotary-transformer transmitter;
the actual load is connected with the double-channel rotary-transformer transmitter, the actual load can be a motor or a similar mechanism, and the target rotation speed is the actual rotation speed required by the load such as the motor. If the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process is terminated, and if the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process proceeds to step S04.
S04': the control module starts a coil turn number adjusting module of the rotary transformer transmitter, adjusts the coil turn number, adjusts the target rotation speed, and sends a driving signal to drive the double-channel rotary transformer transmitter to rotate according to the adjusted coil turn number;
the number of turns of the coil can be calculated by the target rotation speed
Wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux is magnetic circuit magnetic flux, K is constant coefficient, and the value is 1.1-1.35; the coil turns adjusting mode is stepless adjustment, and the target rotation speed is achieved by adjusting the number of turns of the coil in rotationThe degree is adjusted.
Further, the method can also comprise a rotation speed self-test step, and specifically comprises the following steps:
s041': detecting the rotation angle theta of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine c And theta p And calculates the current exciting rotation speed w,
the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine are respectively connected with an angle sensor which is used for detecting the rotation angle theta of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine c And theta p According to the following rotational speed expression:
wherein t is time, and θ is rotation angle.
The current rotation speed w can be calculated and known by the rotation speed expression.
S042': the angle sensor is connected with the control device and sends an angle signal to the control device, and the control device compares the target rotation speed with w, if the target rotation speed is equal to w, the step S05 is executed, and if the target rotation speed is not equal to w, the step S043 is executed.
S043': the control module starts the coil turn number adjusting module of the rotary transformer transmitter again to adjust the coil turn number.
S05': after the number of turns of the coil is adjusted, the speed sensor transmits the output rotation speed to the control module again;
terminating if the rotation speed fed back by the speed sensor is the same as the target rotation speed, and if the rotation speed fed back by the speed sensor is the same as the target rotation speed; and repeating the step S04 until the rotation speed is the same as the target speed.
The beneficial technical effects of the application are as follows:
according to the application, the actually measured rotating speed is compared with the actual target rotating speed of the load by arranging the voltage regulator or the coil turn number regulator, the input voltage of the rotary-transformer transmitter is regulated by the voltage regulator, or the coil turn number is regulated by the coil turn number regulator, so that the actually measured rotating speed is regulated to be consistent with the target rotating speed, the technical problem of lower manual operation efficiency and inaccuracy is avoided, and the purpose of automatically and accurately controlling the rotary-transformer transmitter in real time is realized.
Drawings
FIG. 1 is a flow chart of a control method of a dual-channel rotary-transformer transmitter
FIG. 2 is a flow chart of a method for voltage self-test and adjustment of a dual channel rotary transmitter
FIG. 3 is a flow chart of another control method of the dual channel rotary transformer transmitter
FIG. 4 is a flow chart of a method for self-testing the rotational speed of a dual channel rotary transmitter
FIG. 5 is a diagram of a control system of a dual channel rotary transmitter
FIG. 6 is a diagram of another control system of the dual channel rotary transformer transmitter
Detailed Description
The present application will be described in detail with reference to specific embodiments and the accompanying drawings so that those skilled in the art can clearly and accurately understand the technical solutions of the present application. Features of embodiments of the application may be combined with each other without constituting a technical conflict.
First embodiment:
the control method flow chart of the double-channel rotary-transformer transmitter shown in the attached figure 1 comprises the following steps:
s01: the control module sends a driving signal, and the double-channel rotary-transformer transmitter starts to act under the driving signal;
the control module is connected with the double-channel rotary-transformer transmitter, and the control device drives the double-channel rotary-transformer transmitter to rotate after sending a driving signal;
further, the double-channel rotary-transformer transmitter is coaxially provided with two groups of channel magnetic circuits, namely a coarse machine channel magnetic circuit and a fine machine track channel; the number of winding turns of the magnetic circuit of the coarse machine channel is smaller than that of the magnetic track channel of the fine machine, the pole-to-logarithmic ratio of the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine are P, and the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine can be correspondingly adjusted according to the harmonic content output by the rotary transmitter, so that the output precision of the rotary transmitter is improved;
the double-channel rotary-variable transmitter is provided with a rotor and a stator, and can output induction voltage of the coarse machine and induction voltage of the fine machine and rotation speed information of the rotor respectively;
under the condition that the primary side excitation voltage is U, the secondary side output voltage expressions of the coarse machine and the fine machine are respectively:
U C1 ＝k C *U*cosθ c
U C2 ＝k C *U*sinθ c
U p1 ＝k p *U*cOs pθ c
U p2 ＝k p *U*sin pθ c
wherein U is Cl And U C2 For outputting voltage theta to the secondary side of the coarse machine c For measuring angle of coarse machine, U p1 And U p2 For the secondary side output voltage of the refiner, the polar-to-logarithmic ratio of P and k C And k p The variable pressure ratio of the coarse machine and the variable pressure ratio of the fine machine are respectively equal.
S02: detecting the rotation speed of the double-channel rotary-transformer transmitter through a speed sensor, and transmitting the rotation speed to a control module through the speed sensor;
the speed sensor is connected with the double-channel rotary-transformer transmitter and is used for detecting the rotation speed of the double-channel rotary-transformer transmitter;
s03: the control module is connected with the rotating speed fed back by the speed sensor and compares the rotating speed with the target rotating speed of the load of the double-channel rotary-transformer transmitter;
the actual load is connected with the double-channel rotary-transformer transmitter, the actual load can be a motor or a similar mechanism, and the target rotation speed is the actual rotation speed required by the load such as the motor. If the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process is terminated, and if the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process proceeds to step S04.
S04: the control module starts a voltage regulating module, and the voltage regulating module regulates the input exciting voltage according to the target rotating speed;
wherein the voltage can be calculated by the target rotational speed:
wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux is magnetic circuit magnetic flux, K is constant coefficient, and the value is 1.1-1.35; the voltage value to be adjusted can be known by calculation according to the formula.
Further, as shown in fig. 2, a voltage self-testing and adjusting method of the dual-channel rotary transformer transmitter comprises the following steps:
the method can comprise the steps of voltage self-test and adjustment, and specifically comprises the following steps:
s041: detecting secondary side output voltages of a coarse machine channel magnetic circuit and a fine machine magnetic track channel, and calculating to obtain a current excitation voltage U';
the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine are respectively connected with a voltage detection module for detecting the secondary side output voltage of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine, and the current exciting voltage U' can be calculated and obtained through the secondary side output voltage expressions of the coarse machine and the fine machine.
S042: and comparing the voltage U adjusted according to the target rotation speed with U ', if U=U ', executing the step S05, and if U is not equal to U ', sending a voltage value signal to be adjusted to the voltage adjusting module by the voltage detecting module.
S043: the voltage regulation module regulates the voltage according to U'.
S05: after the input exciting voltage is adjusted, the speed sensor sends the rotating speed of the double-channel rotary-transformer transmitter to the control module;
terminating if the rotation speed fed back by the speed sensor is the same as the target rotation speed, and if the rotation speed fed back by the speed sensor is the same as the target rotation speed; and repeating the step S04 until the rotation speed is the same as the target speed.
Specific embodiment II:
based on the same inventive concept, the application provides a control method of a dual-channel rotary-transformer transmitter according to another aspect, as shown in fig. 3, comprising the following steps:
s01': the control module sends a driving signal, and the double-channel rotary-transformer transmitter starts to act under the driving signal;
the control module is connected with the double-channel rotary-transformer transmitter, and the control device drives the double-channel rotary-transformer transmitter to rotate after sending a driving signal;
further, the double-channel rotary-transformer transmitter is coaxially provided with two groups of channel magnetic circuits, namely a coarse machine channel magnetic circuit and a fine machine track channel; the number of winding turns of the magnetic circuit of the coarse machine channel is smaller than that of the magnetic track channel of the fine machine, the pole-to-logarithmic ratio of the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine are P, and the winding turns of the magnetic circuit of the coarse machine channel and the winding turns of the magnetic track channel of the fine machine can be correspondingly adjusted according to the harmonic content output by the rotary transmitter, so that the output precision of the rotary transmitter is improved;
the double-channel rotary-variable transmitter is provided with a rotor and a stator, and can output induction voltage of the coarse machine and induction voltage of the fine machine and rotation speed information of the rotor respectively;
under the condition that the primary side excitation voltage is U, the secondary side output voltages of the coarse machine and the fine machine are respectively:
U C1 ＝k C *U*cosθ c
U C2 ＝k C *U*sinθ c
U p1 ＝k p *U*cos pθ c
U p2 ＝k p *U*sin pθ c
wherein U is C1 And U C2 For outputting voltage theta to the secondary side of the coarse machine c For measuring angle of coarse machine, U p1 And U p2 For the secondary side output voltage of the refiner, the polar-to-logarithmic ratio of P and k C And k p The variable pressure ratio of the coarse machine and the variable pressure ratio of the fine machine are respectively equal.
S02': detecting the rotation speed of the double-channel rotary-transformer transmitter through a speed sensor, and transmitting the rotation speed to a control module through the speed sensor;
the speed sensor is connected with the double-channel rotary-transformer transmitter and is used for detecting the rotation speed of the double-channel rotary-transformer transmitter;
s03': the control module is connected with the rotating speed fed back by the speed sensor and compares the rotating speed with the target rotating speed of the load of the double-channel rotary-transformer transmitter;
the actual load is connected with the double-channel rotary-transformer transmitter, the actual load can be a motor or a similar mechanism, and the target rotation speed is the actual rotation speed required by the load such as the motor. If the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process is terminated, and if the rotational speed fed back by the speed sensor is the same as the target rotational speed, the process proceeds to step S04.
S04': the control module starts a coil turn number adjusting module of the rotary transformer transmitter, adjusts the coil turn number, adjusts the target rotation speed, and sends a driving signal to drive the double-channel rotary transformer transmitter to rotate according to the adjusted coil turn number;
the number of turns of the coil can be calculated by the target rotation speed
Wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux is magnetic circuit magnetic flux, K is constant coefficient, and the value is 1.1-1.35; the coil turns adjusting mode is stepless adjustment, and the target rotation speed is adjusted by adjusting the number of turns of the coil which rotates.
Further, as shown in fig. 4, the method may include a rotation speed self-test step, which is specifically as follows:
s041': detecting the rotation angle theta of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine c And theta p And calculates the current exciting rotation speed w,
the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine are respectively connected with an angle sensor which is used for detecting the rotation angle theta of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine c And theta p According to the following rotational speed expression:
wherein t is time, and θ is rotation angle.
The current rotation speed w can be calculated and known by the rotation speed expression.
S042': the angle sensor is connected with the control device and sends an angle signal to the control device, and the control device compares the target rotation speed with w, if the target rotation speed is equal to w, the step S05 is executed, and if the target rotation speed is not equal to w, the step S043 is executed.
S043': the control module starts the coil turn number adjusting module of the rotary transformer transmitter again to adjust the coil turn number.
S05': after the number of turns of the coil is adjusted, the speed sensor transmits the output rotation speed to the control module again;
terminating if the rotation speed fed back by the speed sensor is the same as the target rotation speed, and if the rotation speed fed back by the speed sensor is the same as the target rotation speed; and repeating the step S04 until the rotation speed is the same as the target speed.
Third embodiment:
based on the same inventive concept, the present embodiment provides a control system of a dual-channel rotary-transformer transmitter, which corresponds to the control method of the dual-channel rotary-transformer transmitter. As shown in fig. 5, the system specifically includes:
the control module is connected with the double-channel rotary-transformer transmitter, and is used for sending out a driving signal, receiving a signal of the speed sensor, comparing a signal fed back by the speed sensor with a target rotating speed signal of an actual load, and further controlling the voltage regulating module.
The speed sensor and the voltage regulating module are respectively connected with the double-channel rotary-transformer transmitter.
The voltage regulation module can regulate the input exciting voltage, and calculates the voltage value required to be regulated through the following formula:
wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
The double-channel rotary-transformer transmitter is characterized in that two groups of channel magnetic circuits are coaxially arranged and are respectively a coarse machine channel magnetic circuit and a fine machine magnetic track channel, voltage detection modules are respectively connected to the coarse machine channel magnetic circuit and the fine machine magnetic track channel and used for detecting secondary side output voltages of the coarse machine channel magnetic circuit and the fine machine magnetic track channel, and the voltage detection modules are connected with a voltage regulation module and used for transmitting voltage value signals to be regulated.
Fourth embodiment:
based on the same inventive concept, the present embodiment provides a control system of a dual-channel rotary-transformer transmitter, which corresponds to the control method of the dual-channel rotary-transformer transmitter. As shown in fig. 6, the system specifically includes:
the control module is connected with the double-channel rotary-transformer transmitter, and is used for sending out a driving signal, receiving a signal of the speed sensor, comparing a signal fed back by the speed sensor with a target speed signal and further controlling the coil turn number adjusting module.
The coil turn number adjusting module can adjust the input coil turns number, and calculates the coil turn number value to be adjusted according to the following formula:
wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
The double-channel rotary-transformer transmitter is characterized in that two groups of channel magnetic circuits are coaxially arranged and are respectively a coarse machine channel magnetic circuit and a fine machine magnetic track channel, the coarse machine channel magnetic circuit and the fine machine magnetic track channel are respectively connected to an angle sensor, and the angle sensor is connected with a control module and used for detecting the rotation angles of the coarse machine channel magnetic circuit and the fine machine magnetic track channel.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.
Claims (10)
1. A dual channel rotary transmitter control system comprising: control module, binary channels change sender soon, speed sensor, voltage regulation module, its characterized in that:
the control module is connected with the double-channel rotary-transformer transmitter, the control module sends a driving signal to the double-channel rotary-transformer transmitter, the control module comprises a port for receiving a signal of the speed sensor, and the control module further comprises a port for receiving a target rotating speed signal of the double-channel rotary-transformer transmitter;
the speed sensor is connected with the control module and comprises a port for sending signals to the control module;
the voltage regulating module is connected with the control module, and the control module is used for comparing and analyzing the signal sent by the speed sensor with the target rotation speed signal of the actual load and controlling the voltage regulating module according to the comparison and analysis result;
the speed sensor and the voltage regulating module are connected with the double-channel rotary-transformer transmitter;
the double-channel rotary-transformer transmitter is characterized in that two groups of channel magnetic circuits are coaxially arranged and are respectively a coarse machine channel magnetic circuit and a fine machine magnetic track channel, voltage detection modules are respectively connected to the coarse machine channel magnetic circuit and the fine machine magnetic track channel and used for detecting secondary side output voltages of the coarse machine channel magnetic circuit and the fine machine magnetic track channel, and the voltage detection modules are connected with a voltage regulation module and used for transmitting voltage value signals to be regulated.
2. The dual channel rotary transmitter control system of claim 1 wherein the regulated voltage of the voltage regulation module is derived by
Wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
3. A dual channel rotary transmitter control system comprising: control module, binary channels change sender soon, speed sensor, coil turns adjustment module, its characterized in that:
the control module is connected with the double-channel rotary-transformer transmitter, the control module sends a driving signal to the double-channel rotary-transformer transmitter, the control module comprises a port for receiving a signal of the speed sensor, and the control module further comprises a port for receiving a target rotating speed signal of the double-channel rotary-transformer transmitter;
the speed sensor is connected with the control module and comprises a port for sending signals to the control module;
the coil turn number adjusting module is connected with the control module, and the control module is used for comparing and analyzing the signal sent by the speed sensor with the target rotation speed signal of the actual load and controlling the coil turn number adjusting module according to the comparison and analysis result;
the speed sensor and the coil turn number adjusting module are connected with the double-channel rotary-transformer transmitter;
the double-channel rotary-transformer transmitter is characterized in that two groups of channel magnetic circuits are coaxially arranged and are respectively a coarse machine channel magnetic circuit and a fine machine magnetic track channel, the coarse machine channel magnetic circuit and the fine machine magnetic track channel are respectively connected to an angle sensor, and the angle sensor is connected with a control module and used for detecting the rotation angles of the coarse machine channel magnetic circuit and the fine machine magnetic track channel.
4. The dual channel rotary transmitter control system of claim 3 wherein the number of turns of the turns adjustment module is derived by
Wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
5. A control method of a two-channel rotary-transformer transmitter, characterized in that the control method is realized by adopting the control system of the two-channel rotary-transformer transmitter according to any one of claims 1-2, and the control method comprises the following steps:
the control module sends a driving signal, and the double-channel rotary-transformer transmitter starts to act under the driving signal;
detecting the rotation speed of the double-channel rotary-transformer transmitter through a speed sensor, and transmitting the rotation speed to a control module through the speed sensor;
the control module is connected with the rotating speed fed back by the speed sensor and compares the rotating speed with the target rotating speed of the load of the double-channel rotary-transformer transmitter;
the control module starts a voltage regulating module, and the voltage regulating module regulates the input exciting voltage according to the target rotating speed;
after the input exciting voltage is adjusted, the speed sensor sends the rotating speed of the double-channel rotary-transformer transmitter to the control module.
6. The method of claim 5, wherein the adjustment voltage of the voltage adjustment module is obtained by
Wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
7. The control method of a dual channel rotary transformer transmitter according to claim 5, further comprising the following voltage self-test and adjustment methods:
detecting secondary side output voltages of a coarse machine channel magnetic circuit and a fine machine magnetic track channel, and calculating to obtain a current excitation voltage U';
the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine are respectively connected with a voltage detection module, and are used for detecting the secondary side output voltage of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine, and the current exciting voltage U' can be calculated and obtained through the secondary side output voltage expressions of the coarse machine and the fine machine; comparing the voltage U adjusted according to the target rotation speed with U ', if U=U ', executing step S05, if U is not equal to U ', and sending a voltage value signal to be adjusted to a voltage adjusting module by the voltage detecting module; the voltage regulation module regulates the voltage according to U'.
8. A control method of a two-channel rotary-transformer transmitter, characterized in that the control method is implemented by adopting the control system of the two-channel rotary-transformer transmitter as claimed in any one of claims 3-4, and the control method comprises the following steps:
the control module sends a driving signal, and the double-channel rotary-transformer transmitter starts to act under the driving signal;
detecting the rotation speed of the double-channel rotary-transformer transmitter through a speed sensor, and transmitting the rotation speed to a control module through the speed sensor;
the control module is connected with the rotating speed fed back by the speed sensor and compares the rotating speed with the target rotating speed of the load of the double-channel rotary-transformer transmitter;
the control module starts a coil turn number adjusting module of the rotary transformer transmitter, adjusts the coil turn number and adjusts the target rotation speed;
after the input exciting voltage is adjusted, the speed sensor sends the rotating speed of the double-channel rotary-transformer transmitter to the control module.
9. The control method of a dual channel rotary transformer transmitter according to claim 8, wherein the number of coil turns of the coil turn adjusting module is obtained by
Wherein U is voltage, v is rotating speed, N is coil turns,the magnetic flux of the magnetic circuit, K is a constant coefficient, and can take a value of 1.1-1.35.
10. The method for controlling a dual-channel rotary transformer transmitter according to claim 8, further comprising a rotational speed self-test method,
detecting coarsenessRotation angle theta of machine channel magnetic circuit and fine machine magnetic track channel c And theta p And calculates the current exciting rotation speed w,
the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine are respectively connected with an angle sensor which is used for detecting the rotation angle theta of the magnetic circuit of the coarse machine channel and the magnetic track channel of the fine machine c And theta p According to the following rotational speed expression:
wherein t is time, θ is rotation angle, and the current rotation speed w can be calculated and obtained by the rotation speed expression;
the angle sensor is connected with the control device and sends an angle signal to the control device, the control device compares the target rotation speed with w, if the target rotation speed is equal to w, the step S05 is executed, and if the target rotation speed is not equal to w, the step S043 is executed;
the control module starts the coil turn number adjusting module of the rotary transformer transmitter again to adjust the coil turn number.
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