CS260768B1 - Connection for angular velocity evaluation from phase converter's output signal - Google Patents

Abstract

The subject concerns the field of regulated drives and addresses the issue of minimization the number of sensors needed for positioning servo systems. Minimizing the number sensors is to replace the speed sensor electronic circuit that it creates digital signal proportional to actual angle speed with resolution of the direction of rotation. nature the method of measuring the frequency change output signal of the phase changer. The object can be used in position actuators designed for robotic systems machine tools and in all drives on evaluating the angular velocity at which the phase transducer is used as the position sensor.

Description

SUMMARY OF THE INVENTION evaluating the magnitude i bk-of its velocity from the output signal of the nonionic phase ...... ^; At present, I use positional servo systems, where vai ha / phase position measurement. use it. It can be used to disregard the actual angular velocity, such as dynamo or various connections to evaluate the actual angular velocity from the output signal of the phase converter. If tachodynamo is used for speed sensing, in particular for low-power drives, problems with its attachment to the motor shaft occur, inertial pots increase, and thus the control properties of the drives are deteriorated. A disadvantage of tachodynamics is also the necessity of analog-to-digital conversion when using a digital controller. When evaluating the angular velocity by measuring the length of the phase converter output signal period, the non-linearity caused by the hyperbolic dependence of the phase converter output signal period size on the phase converter rotor speed is introduced into the control circuit.

These drawbacks are eliminated by the wiring for the evaluation of the angular velocity from the output signal of the phase converter according to the invention, which consists in that the output of the voltage-controlled oscillator is connected to the input of the auxiliary logic. The input of the auxiliary logic is the source of the clock signal. The auxiliary logic output is connected to the read input of the binary return synchronous counter. The third output of the auxiliary logic is connected to the control input of the register. The output of the register is connected to the input of the code converter.

The main advantages of the circuitry for evaluating the angular velocity from the output signal of the phase converter according to the present invention are that the additional velocity sensor is removed from the control structure. Another benefit of wiring is that. that the output signal is a linear function of the angular velocity, and that the output is at. digital form. Another advantage is the simplicity of the wiring and the possibility of using a contactless phase converter to measure the angular velocity in operation in harsh environments.

The attached drawing is an example of a circuit for evaluating the angular velocity from an output signal of a phase converter according to the invention. '

The circuit for evaluating the angular velocity from the output signal of the phase converter is formed by the following blocks.

The first filter 1 is connected to the input of the phase converter 11. The output of the first filter 1 is connected to the input of the frequency-phase comparator 2. The output of the frequency comparator 2 is connected to the input of the second filter 3. The output of the divider is connected to the input of the frequency-phase comparator 2. An auxiliary clock signal is applied to the input of the auxiliary logic.

. The output S1 of the auxiliary logic 6 is connected to the input of the binary synchronous or return counter 7, to which the setting input is connected the second output 6.2 of the auxiliary logic 8. The other output S.3 of the auxiliary logic 6 is connected to the control input of register 3. counter 7 is connected to the input of register 8. The output of register 0 is connected to the input of the converter S of the code.

The operation of the circuit for evaluating the angular velocity from the output signal of the phase converter according to the invention shown in the drawing is as follows:

In the phase lock circuit consisting of the blocks of the frequency-phase comparator 2, the second filter 3, the voltage-controlled oscillator 4 and the frequency divider 5, the frequency of the output signal of the phase converter is multiplied. n times. The frequency-multiplied signal is applied to the auxiliary logic 6, in which control pulses are generated on the basis of the auxiliary clock signal for controlling the setting of the binary synchronous return counter 7 and for controlling the write in register 8. At the same time during which the number of periods multiplied by the phase converter output signal is calculated in the binary synchronous return counter 7. It is utilized that the binary synchronous return counter 7 operates cyclically. Before the counting starts, the binary synchronous return counter 7 is set to a number such that at zero angular velocity after the counting, the output of the binary synchronous return counter 7 is equal to 0. ·

At zero angular velocity, the output of the binary synchronous return counter 7 will be proportional to the angular velocity upon completion of the count. In one direction of rotation, the output of the binary synchronous return counter 7 will read in the direct binary code, and in the opposite direction of rotation, the signal will be in the leprium binary code. This implies that for a maximum output range of N bits, N + 1 bit indicates the angular velocity direction information. The output of the binary synchronous return counter 7 is connected to the input of the register 8, the output of which is connected to the input of the code converter 9 in which. the output signal from register 8 is converted into a direct binary code. The output from the code converter 9 is a digital output whose highest bit indicates the angular velocity direction information.

This connection can be used in position control servo systems in which a phase converter is used to measure the actual position, or in a servo drive where a contactless phase converter is required to measure the angular velocity.

Claims (1)

SUBJECT Wiring for evaluating the angular velocity from the output · phase converter output signal consisting of connecting the phase converter output to the filter input · whose output and output of the frequency divider are connected to the frequency phase comparator input and connecting the frequency phase fcoanp output to the filter input is connected to a voltage-controlled oscillator input whose output is coupled to a frequency divider input and characterized in that the voltage-controlled oscillator output (4) OF THE INVENTION is connected to the auxiliary logic input (6), wherein the auxiliary logic outputs (6.1) and (6.2) are connected to the binary synchronous return counter inputs (7) and the auxiliary logic output (6.3) (6) is connected to the register entry (8j), the output of the binary synchronous return counter (7) being coupled to the input of the register (8), the output of which is connected to the input of the code converter (9), the output of the code converter (9) being digital output.