JP2788062B2 - Reference signal generator for multi-sensor output processing - Google Patents

Description

The present invention relates to a multi-sensor for detecting and measuring both a linear acceleration and an angular velocity of a navigating object, and a phase of the output processing reference signal generating device due to a temperature change. The present invention relates to a multi-sensor output processing reference signal generator that eliminates fluctuations and improves angular velocity and acceleration detection accuracy.

[Prior art and problems to be solved by the invention]

In general, for the angular velocity or linear acceleration of a vehicle,
Conventionally, detection and measurement are performed by independent devices. Therefore, at least six devices are individually measured in order to obtain information necessary for flight control or navigation by measuring, for example, angular velocities and accelerations of three axes. It was necessary to incorporate it into a navigation vehicle.

However, such a large number of angular velocity and acceleration sensors to be mounted on a flying object or a navigational vehicle that require small size and light weight, and many individual sensors are inconvenient in terms of function and mounting structure, and have few advantages. Was. The multi-sensor is designed to be able to be mounted on a small and lightweight flying object in order to solve this inconvenience, and has been devised so that measurement and detection of the angular velocity and acceleration of the navigation object can be performed by one unit. .
(Japanese Patent Application No. 61-5083 "Multi-sensor") Thus, the conventional multi-sensor has a sensor for sensing the angular velocity and the linear acceleration of the navigating body. An acceleration detection sensor formed of a second piezoelectric element, an angular velocity detection sensor formed of a third piezoelectric element responsive to an input angular velocity and a flexure hinge, and the first, second, and third sensors described above; Is rotated at a preselected frequency, and the first, second, and third
Conversion means for measuring the force due to linear acceleration and the torque due to precession applied to each of the sensors, and converting the force due to linear acceleration and torque due to precession obtained in the rotating coordinate system to a fixed coordinate system, and a piezoelectric element And a transmitting means for transmitting the output from the fixed terminal through the slip ring and through the buffer amplifier.

The reference signal for calculating the angular velocity and acceleration in the multi-sensor is (a) a light emitting element, for example, a photodiode, and (b) a photoelectric detection element, for example, a phototransistor, and rotates between the light emitting element and the photoelectric detection element. (C) from the photoelectric detecting element of the rotational position sensor, which is a rotating disk having one radius as a boundary and one semicircle being transparent and the other semicircle being impermeable. The output rotational position signal was used. However, in this method, when the multi-sensor is used in a wide temperature range, the operation delay characteristic of the phototransistor fluctuates greatly depending on the temperature, resulting in a phase shift of the reference signal, thereby causing an error in calculating the angular velocity and acceleration. As a result, it was not preferable, and a remedy was demanded.

An object of the present invention is to add a temperature compensation function to a reference signal generation circuit for output processing of a multisensor. That is, a temperature sensor is mounted on a multi-sensor, a necessary phase compensation amount is read from a ROM in which a phase compensation amount for temperature is stored, and the phase of a reference signal is corrected by a phase shifter.

[Means for solving the problem]

According to the present invention, a multi-sensor including at least a temperature sensor and a rotation position sensor, a storage device for storing a relationship between a previously measured temperature and an output phase of a photoelectric detection element of the rotation position sensor, A phase shifter that receives a phase shift amount signal corresponding to the temperature read from the storage device, an SIN / COS signal generation circuit that receives an output of the phase shifter and generates a reference signal having a predetermined function form, With
Using the temperature measured by the temperature sensor, the phase shift amount for canceling the output phase shift of the photoelectric detection element of the rotation position sensor is taken out from the storage device and input to the phase shifter,
A reference signal generator for multi-sensor output processing, wherein the phase of the reference signal is always set at the same position.

(Operation)

In the reference signal generation device for multi-sensor output processing according to the present invention, in particular, the output axis alignment correction circuit is to input the signal of the photoelectric detection element to the sin and cos signal generation circuit via the phase shifter, The relationship between the measured temperature and the output phase of the photoelectric detection element is stored in a storage device such as a PROM, and the phase measured for canceling the output phase shift of the phototransistor using the temperature measured by the temperature sensor. The amount is taken out from the PROM and input to the phase shifter, so that the phase of the reference signal can always be set at the same position.

The ROM stores temperature versus output phase characteristics of the photoelectric detection element.

〔Example〕

 The present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a reference signal generation circuit having an output shaft alignment correction circuit of a multi-sensor as one embodiment according to the present invention. In FIG. 1, 1 is a multi-sensor section, 11 is a multi-sensor body, 101 is a temperature sensor attached to a multi-sensor case, S (11) is an analog voltage signal obtained from the temperature sensor 101, and 2 is this analog signal. A gain amplifier for amplifying the voltage signal S (11) to an appropriate magnitude, S (2) is a signal amplified by the gain amplifier, and 3 is a signal for converting the amplified signal S (2) from an analog value to a digital value. A / D converter for conversion, S (3) is A
The output of the / D converter 3 is a digital signal. Reference numeral 4 denotes a PROM that stores and stores the relationship between the output phase of the photoelectric detection element and the output of the temperature sensor. S (4) is stored in correspondence with the output signal S (3) of the A / D converter 3. The output signal from the memory 4, S (12) is the signal of the rotational position (10N) output from the multi-sensor 11, 7 is the signal S (4) from the PROM memory 4
, S (7) is an output signal of the phase shifter 7, 8 is a sin / cos function generating circuit, and S (8A) and S (8B) are The sine and cosine function generation circuits respectively represent a sine function and a reference signal corresponding to the cosine function.

FIG. 3 is a block diagram showing an example of the phase shifter 7 shown in FIG. The digital signal S (4) that determines the amount of phase shift is
Entered in 71. The output is sent to the counter 74 via the bus. A clock CLK having a predetermined frequency is supplied from the internal clock generating circuit 73 to the counter 74 and the flip-flop 7.
5 is delayed by each T terminal. The rotation position signal S (12) output from the multi-sensor 11 triggers the T terminal of the flip-flop 72. As a result, the output of the flip-flop 72 is sent to the EN terminal of the counter 74, and the counter 74 outputs the clock CL.
Start counting K. When the counter 74 counts a predetermined number, an overflow occurs and the carry signal CO
At the same time as the output signal S (7) of the phase shifter, and is input to the D terminal of the flip-flop 75. The reset signal RST is output from the “0” terminal of the flip-flop 75 at the next clock CLK, and the L terminal of the counter 74 is driven at the same time when the flip-flop 72 is reset,
74 loads the value of register 71. Flip-flop 72
Is reset, the counter 74 stops counting and holds the loaded value until the next rotation position signal (12) comes.

FIG. 4 shows a clock (CLK) signal and a rotational position signal S (1
2), EN terminal input signal, counter value, counter output (C
O) signal, that is, a phase shifter output S (7) and a reset (RST) signal are shown as timing diagrams, respectively.

FIG. 5 shows a Sin / Cos function generation circuit. Reference signal S
(7) gives an address to the PROM 78 via an address forming means 77 comprising a PLL (phase-locked loop) circuit 77A in FIG. 8 or a timing circuit 77B in FIG. The address generation circuit generates an address signal in synchronization with the reference signal and at a predetermined time interval within one cycle of the reference signal in the same phase. The PROM 78 is a memory that generates a pulse having a width corresponding to the value of sin or cos with the time position in one cycle as a variable, and is read by an address generated at predetermined intervals. Figure 6 shows the above sin or cos
FIG. 4 shows a pulse signal waveform diagram having a width corresponding to the value of the pulse signal.

When the signal is switched ± 1 as shown in FIG. 7 and integrated as shown in FIG. 7, a sin signal and a cos signal are obtained.
It is equivalent to multiplying by os.

The address generating means 77 shown in FIG. 5 includes a phase comparator 101, a low-pass filter
A VCO (voltage controlled oscillator), that is, a voltage controlled oscillator 103 and a counter 104, and a reference signal S (7)
Is obtained from the output of the phase comparator 101, and the voltage-controlled oscillator 103 generates pulses at predetermined time intervals within one cycle of the reference signal S (7). In the voltage controlled oscillator 103, the frequency of the output pulse changes in proportion to the input voltage.

The counter 104 counts the pulses of the VCO output and outputs the count as an address signal. This address signal includes the least significant bit (LSB) to the most significant bit (MSB).

FIG. 9 shows an embodiment in which the address generating means is a timing circuit. The address generating means shown in FIG. 9 comprises a clock generator 111, a timing circuit 112 and a counter 104. As shown in the waveform diagram of FIG.
(7) is timed by the timing circuit 112,
Pulses are generated at predetermined time intervals within one cycle of the reference signal S (7) in phase with the reference signal, and the pulses are counted by the counter 104, and the count is counted by the address signal S (104).
Output as

FIG. 2 shows a reference signal generator for multi-sensor output processing according to another embodiment of the present invention. FIG. 2 shows a multi-sensor 1, an amplifier 2, an A / D converter 3, a PROM 4,
It includes a CPU 5, a phase shifter 7, and a sin / cos generating circuit 8. The CPU 5 fetches data for correction from the PROM 4 based on the A / D converted temperature information, performs more accurate calculation to determine the amount of phase shift, and writes this value to the register 6. Generally, the angular velocity acceleration signal detected by the multi-sensor is often A / D converted and taken into the CPU.
Often, U also performs temperature correction at the same time.

〔The invention's effect〕

ADVANTAGE OF THE INVENTION According to the apparatus of this invention, it becomes possible to give a temperature compensation function to the reference signal generation circuit for output processing of a multi-sensor. That is, in a multi-sensor having at least a temperature sensor and a rotation position sensor, the output of a photoelectric detection element such as a phototransistor of the rotation position sensor in a reference signal generation circuit for calculating angular velocity and acceleration using the temperature measured by the temperature sensor. A phase shift amount for canceling a phase shift can be read out from a pre-stored phase relationship between a measured temperature and a phototransistor and input to a phase shifter,
As a result, the phase of the reference signal can always be set at the same position regardless of the temperature, and the accuracy of the multi-sensor can be significantly improved.

[Brief description of the drawings]

FIG. 1 is a block diagram of a reference signal generation circuit having an output shaft alignment correction circuit of a multi-sensor according to one embodiment of the present invention, FIG. 2 is a block diagram of another embodiment of FIG. 1, and FIG. FIG. 4 is a block diagram showing an example of a phase shifter of FIG. 1, FIG. 4 is a waveform diagram showing a relationship between a clock, a rotational position signal, and a counter. FIG. 5 is a block diagram of a SIN / CON function generating circuit. FIG. 7 is a waveform diagram corresponding to COS and SIN, FIG. 7 is a block diagram of a multiplication circuit of the SIN / COS function, FIG. 8 is a block diagram of an address generation unit in FIG. 5, and FIG. 9 is another embodiment of the address generation unit. FIG. 10 is a block diagram of an example, and FIG. 10 is a waveform diagram of the timing circuit of FIG. 1 Multi-sensor section 11 Multi-sensor body 2 Gain amplifier 3 A / D converter 4 PROM 5 CPU 7 Phase shifter 8 SIN / COS generation circuit, 6… Register, 101… Temperature sensor, 10N… Rotation position sensor.

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01D 3/04 G01C 21/16

Claims (1)

(57) [Claims] A multi-sensor including at least a temperature sensor and a rotation position sensor; a storage device for storing a relationship between a previously measured temperature and an output phase of a photoelectric detection element of the rotation position sensor; A phase shifter that receives a phase shift amount signal corresponding to the temperature read from the storage device, and a SIN / COS signal generation circuit that receives an output of the phase shifter and generates a reference signal having a predetermined functional form. A phase shift amount for canceling the output phase shift of the photoelectric detection element using the temperature measured by the temperature sensor is taken out from the storage device and input to the phase shifter, and the phase of the reference signal is always set. A reference signal generator for multi-sensor output processing, wherein the reference signal generator is set at the same position.