RU1795545C - Angular position transducer - Google Patents

Abstract

The invention relates to measuring equipment and can be used in various control and monitoring systems, for example, in numerically controlled machines, in robots and manipulators, in control systems for radio and optical telescopes, & tracking and tracking systems, in navigation and orientation, etc., in a word, where it is necessary to determine the position of an object in the coordinate system. The purpose of the invention is to simplify and improve the accuracy and reliability of the converter. This goal is achieved by the fact that in the Converter containing the motor 8, on the shaft of which is installed a disk modulator 7 with a uniformly quantized track, one of the active sections of which is made elongated, rigidly connected with the input shaft of the first readout element 3, mounted motionless on one radial direct second 4 and third 5 reading elements, fourth 6 reading element, pulse shapers 9-12, OR element 14, first counter 15, first register 18, pulse generator 19, second counter 16 and second reg Istr 19, a motor rotation stabilizer 17 and a collector 2 are introduced, and the fourth readout element 6 is mounted against a uniformly quantized track offset from the third readout element 5 by a multiple of a quarter of its quantization period. 2 ill. (L. S

Description

The invention relates to measuring equipment and can be used in various control and monitoring systems, for example, in machines with numerical control, in robots and manipulators, in control systems for radio and optical telescopes, in tracking and tracking systems, in navigation and orientation etc., in a word, where it is necessary to determine the position of the object in the coordinate system.

A known Converter for the angular displacement of an object, comprising a modulator mounted on the axis of rotation of the object, two illuminators and two photosensitive elements installed in pairs

on both sides of the modulator and forming two position sensors, an information signal processing unit made in the form of an element NOT, a trigger, two AND elements, the control input of each of which is connected to the corresponding output of the trigger.

A disadvantage of the device is that, under conditions of frequent stops, the position sensor may become unstable and, due to vibration inevitable in the production environment, false pulses can be generated at the output of the device. In addition, the device does not allow for reversing the direction of rotation of the object.

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A photoelectric sensor of angular displacements is also known, containing two photodetectors installed in the same plane, and an information processing unit (information), the output ends of the modulator optical fibers are divided into two groups with an even and odd number of optical fibers in each of the groups, which are located along two corresponding concentric circles on the disk pin from the side opposite to the input ends of the optical fibers, both photodetectors are located opposite the corresponding group of optical fibers, and the outputs of the photodetectors are electric They are associated with an information processing unit.

A disadvantage of the device is that when the object is stationary, it is impossible to determine its angular position, and the reading accuracy is limited by the dimensions of the end of the fiber.

The closest in technical essence is a shaft angle converter to a code, comprising a code disk with a main track fixed on the axis of the electric motor, a reader on the input shaft, two stationary readers, a device for controlling and eliminating the uncertainty of the result, a phase-locked loop, a generator, two zero-organs, a counting device, a high-order generator, a code transfer device, a memory register, and a reset and transfer signal generating unit nose.

A drawback of the shaft angle to code converter is the complexity of the circuit caused by the resulting uncertainty of the result and the associated need for the introduction of a device to eliminate the uncertainty of the result.

The purpose of the invention is to simplify circuit design, increase the accuracy and reliability of the converter.

This goal is achieved in that the device, in addition to the engine, on the shaft of which there is a disk modulator with a uniformly quantized track, one of the active sections of which is made elongated, rigidly connected to the input shaft of the first readout element, which is an optical source and receiver of radiation optically coupled to each other through an elongated active portion of a uniformly quantized track mounted motionlessly on one radial straight line of the second and third readout elements s, respectively, through the elongated portion uniformly quantized hydrochloric track

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and the uniformly-quantized track itself, pulse shapers, an OR element, the output of which is connected to the counting input of the first counter, the outputs of which are connected to the information inputs of the first register, pulse generator, second counter and second register, contains a motor rotation stabilizer and a collector, and the fourth read the element is set against a uniformly quantized track with an offset relative to the third reading element by an amount multiple of a quarter of its quantization period, the connection is The reading element with the first pulse shaper is made through a collector that is rigidly connected to the input chamber, the output of the pulse generator is connected to the synchronization inputs of the pulse shapers and to the counting input of the second counter, the output of the first pulse shaper is connected to the register recording inputs, the output of the second pulse shaper is connected with the input of zeroing the first counter, the outputs of the third and fourth pulse shapers are connected to the inputs of the OR element, the output of which is connected to the input audio the second counter and to the input of the rotation regulator, whose output is connected to a motor,

Figure 1 is a block diagram of an object angular position transducer.

The converter of the angular position of the object comprises an input shaft 1 with a collector 2 with a movable first reading element 3 fixed to the input shaft, which is the first radiation source and receiver, stationary second, third and fourth reading elements 4, 5, 6, a disk modulator 7, driven by the rotation of the electric motor 8, all four readout elements 3, 4, 5, 6, consisting of radiation sources and receivers, are connected respectively to the information inputs of the pulse emitter shapes 9, 10, 11, 12, synchronization inputs which are connected to the output of the pulse generator 13D yyhody third and fourth pulse shapers 11,

12 are connected to the inputs of the OR element 14, the output of which is connected to the counting input of the first counter 15, to the input of zeroing of the second counter 16, to the input of the rotation stabilizer 17, the output of which is connected to 5 by the motor 8, the output of the pulse generator

13 is connected to the counting input of the second counter 16, the first and second registers 18, 19, the inputs of which are connected respectively to the outputs of the first and second counters 15, 16, and the outputs of the first and second registers

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18, 19 are the outputs of the device as a whole, the output of the first driver 9 is connected to the recording inputs of the first and second registers 18, 19, the output of the second driver 1 is connected to the installation input, zero of the first counter 15.

Fig. 2 is a diagram of a position sensor including a radiation source 20 and a radiation receiver 21 and a pulse shaper circuit consisting of known schemes of a photocurrent amplifier 22, a voltage comparator 23, and a leading edge pulse extraction circuit implemented on two D-flip-flops 24.

The pulse shaper operates in the following sequence.

The luminous flux from the radiation source 20, passing through a uniformly quantized track on the disk modulator 7, enters the radiation receiver 21 and is converted by it into an electric signal, which is amplified by the photocurrent amplifier 23. The amplified signal is fed to a comparator 23, which forms the leading and trailing edges of the pulse supplied to the short-pulse extraction circuit along the rising edge. Initially, both flip-flops 24 are in the zero state. Input B of the first flip-flop 24 is supplied with a constant signal unit. Therefore, as soon as the leading edge of the signal is received at input C, this trigger 24 will transition to the unit state. The direct output of the first trigger 24 is connected to the input D of the second. As a result, the nearest clock pulse will overturn the second trigger 24 per unit. In this case, the signal from the output of the second trigger 24 will immediately reset the first trigger 24 to zero. The next clock pulse will also translate the second trigger 24 to zero, and thus the device will return to its original state.

The rotation stabilizer 17 can be implemented, for example, as a speed controller of an electric motor.

The speed controller includes a timer, a comparator, and a transistor power amplifier.

The scheme works as follows.

The timer operates as a multivibrator controlling a transistor power amplifier. Depending on the duration of the pulse, the output of the timer changes the power taken by the electric motor from the power source and, therefore, the rotational speed of the rotor of the electric motor. The longer the voltage at the output of the timer, the longer the transistors of the power amplifier are open and the higher the voltage the capacitor is charged at the output of the circuit.

When the duty cycle of the output pulses of the timer reaches 100%, the rotational speed of the rotor of the electric motor is maximum. The speed of movement is controlled by a resistor that changes the voltage at the input of the comparator.

The device operates as follows.

The angular position of the object is transmitted

on the input shaft 1, with the collector 2 and the first readout element 3 being rigidly fixed thereon, representing the radiation source and receiver. A disk modulator 7 with a uniformly quantized track, one of the active sections of which is elongated, is rotated at a constant angular speed by means of an electric motor 8. The angular speed of the electric motor 8 is maintained due to the rotation stabilizer 17 connected to the motor, to the input of which a control sequence is supplied pulses from the element OR 14, the inputs of which are connected to the outputs of the third

and the fourth pulse shaper 12, 11. The readout elements 5 and b are mounted against the uniformly quantized track of the modulator with an offset relative to each other by a multiple of a quarter of the quantization period, and their outputs are connected respectively to the inputs of the pulse shapers 11 and 12. Thus, a closed feedback: motor 8 - disk modulator 7 - reading elements 5, 6 - pulse shapers 11,12 - elements OR 14 - stabilizer of rotation 17 - motor 8, which allows you to maintain constant angular velocity of rotation of the modulator. The elongated active portion of the uniformly quantized yeast passes once in one revolution against the movable first reading element 3 and against the stationary second reading element 4.

The counting input of the first counter 15 receives rectangular pulses from the output of the OR element 14. The same sequence of rectangular pulses is applied

at the input of the installation of zero of the second counter 16.

The counting input of the second counter 16 receives rectangular pulses from the output of the pulse generator 13. The frequency of the pulse generator 13 is selected from the conditions for obtaining a sufficient accuracy of measuring the position angle of the object. On the front of the pulse from the second reading element 4, the first counter 15 is zeroed, then the pulses are counted with exit

element OR 14 from the reading elements 5 and 6. These pulses reset each time the second counter 16, the counting input of which receives pulses from the pulse generator 13. On the edge of the pulses from the first reading element 3 is recorded the instantaneous state of the first and second counters 15 , 16, on weekends the first and second registers 18 and 19.

Thus, at the output of the first and second registers 18.19 is set for

each revolution of the disk modulator 7 is a binary code corresponding to the angular position of the object under study relative to the established coordinate system.

The technical and economic efficiency of the proposed device consists in the fact that, compared with the base object, which can be taken as a prototype, the implementation of this device can improve the accuracy

measuring the position angle of the object while simplifying the circuit and increasing its reliability.

Claims (1)

The claims An object angular position transducer comprising a motor on the shaft of which a disk modulator with a uniformly quantized track is mounted, one of the active sections which is made elongated, a first sensing element rigidly connected to the input shaft mounted against an elongated active section of a uniformly quantized jig, mounted immovably on one radial direct second and third readout elements, optically connected respectively to the elongated portion of the uniformly quantized track and the most uniformly quantized track, the fourth reading element is fixed, the outputs of the reading elements are connected to the information inputs of the pulse shapers of the same name, the OR element, the output of which is connected to the counting input of the first counter, the outputs of which are connected to the information inputs of the first register, pulse generator, second counter and second register characterized in that, with In order to simplify and increase the accuracy and reliability of the converter, a rotation stabilizer and a collector are introduced into it, and the fourth reading element is mounted against a uniformly quantized track offset by a multiple of a quarter of its quantization period relative to the third reading element, the connection of the first reading element with the same pulse shaper is made through a collector that is rigidly connected to the input shaft, the output of the pulse generator is connected to the synchronization inputs of the formers pulses and with a counting input of the second counter, the outputs of which are connected to the information inputs of the second register, the output of the first pulse shaper is connected to the control inputs of the registers, the output of the second pulse shaper is connected to the zero input of the first counter, the outputs of the third and fourth pulse shapers are connected to the inputs of the OR element the output of which is connected to the zero input of the second counter and to the input of the rotation stabilizer, the output of which is connected to the engine. nineteen } Fi2.1  „„ Wp) JfefffiT FIG. 2