SU1124358A1 - Method of encoding shaft turn angle - Google Patents

Abstract

METHOD OF CONVERTING ANGLE OF SHIFTING THE SHAFT INTO A CODE based on converting the angle of rotation of the shaft into alternating current signals modulated in amplitude as a function of sine and cosine of the angle of rotation, their phase detection, separate integration during a fixed time interval and memorization, in the future, integration of the first memory. voltage and inverted second memorized voltage until one of the integrable voltages reaches zero level, converting the time of mutual integration In order to increase the speed of the conversion, the mutual integration time is divided into several intervals, and each time is mutually integrated with a constant time corresponding to this interval, when one of the integrable voltages reaches the calculated discrete level increase the mutual integration time constant, determine the magnitude of each of the mutual integration intervals, sum up the mutual integration time intervals taking into account constant integration times in each of the intervals. you 4 CO el 00

Description

The invention relates to automation, computing and measuring equipment and can be used in digital computer input devices and control and testing equipment. A known method of conversion, based on converting the angle of rotation of the shaft to common-mode AC voltages, whose amplitudes are proportional to the sine and cosine of the angle of rotation, converting the common-mode voltage sequentially, to the signals of a sinusoidal voltage, the phase of the first of which is linearly related to the angle of rotation, and the phase the second is with the addition of a rotation angle of up to 360. The moment of transition of the first signal through zero is fixed, a reference signal is given at the moment of ending the working angle zone and a fixed frequency pulse is applied, the fixed frequency pulses are stopped and fixed frequency pulses are calculated, the number of which is proportional to the shaft angle code (lj. with its low speed. There is also a known method of conversion based on the transformation of the output of the sinus and cosine voltages of the angle-of-turn sensor, the formation of two of them Further, the transformation process is iterated iteratively, and at the first iteration the sinus and cosine output voltages of the angle sensor are summed algebraically, the sign of the resulting voltage phase is compared with the sign of the phase of the sinus voltage and by the result of the third code bit is formed; the fourth and subsequent code bits are formed by comparing the signs of the phases of the sinus and resulting voltages corresponding to 360 ° angles (where n is the number of the turn signal -j w) and obrazovannEh by summing the two voltages, one of which is a resultant voltage obtained in predschuschey iteration and taken along with the corresponding coefficient, and another one of the summed voltages previous iteration 2j. The disadvantage of this method is its complexity and low accuracy. The closest technical solution to this invention is a method for converting a shaft rotation angle into a code based on converting a shaft rotation angle into alternating current signals modulated in amplitude as a function of sine and cosine of rotation angle, their phase detection, separate integration during a fixed time interval and memorization, mutual integration of the first memorized voltage and the inverted second memorized voltage until it reaches one of the integrable straight zheny zero level, converting time mutual integration into 3J code. To increase the resolution of the ability, according to a known method, a large time constant of mutual integration is selected, which leads to a LOW speed. This is a disadvantage of the known method. The aim of the invention is to improve the conversion speed. The goal is achieved in that according to the method of converting the angle of rotation of the shaft into a code based on the conversion of the angle of rotation of the shaft into signals of alternating current modulated in amplitude as a function of sine and cosine of the angle of rotation, their phase detection, separate integration during a fixed time interval and memorization , the mutual integration of the first memorized voltage and the inverted second memorized voltage until one of the integrable voltages reaches zero , converting the time of mutual integration into the code, divide the time of mutual integration into several intervals, perform mutual integration in each of the intervals with a constant time corresponding to this interval, until one of the integrable voltages reaches the calculated level, discretely increases the time constant of mutual integration, determine the magnitude of each of the intervals of mutual integration, summarize the time intervals of mutual integration, taking into account the constant time integrators or in each of the intervals. The essence of the method is explained in the example of its implementation at three time intervals of mutual integration and the rotation angle oi in the first quadrant. FIG. Figure 1 shows a block diagram of a converter, Fig. 2 shows the change in the output voltage of one of the integrators during the mutual integration process (UQ, and Ugo are the calculated levels of the ends of the interval. The device contains a sine-cosine sensor (SKD) It and anapog switches 2 and 3 integrators 4 and 5; Inverter 6 comparators 7-9, pulse generator 10, control block 11, binary P-discharge counter 12, У1-У5 - control signals. The ACS 1 outputs are connected to the first inputs of switches 2 and 3, which outputs are connected to the inputs of the integrators of tori 4 and 5. The output of the integra The capacitor 5 is connected to the second input of the switch 2, the output of the integrator 4 is connected to the first inputs of the comparators 7-9 and through the inverter 6 to the second input of the switch 3. The second inputs of the comparators 7 and 8 are supplied with reference / voltage (JQ, UQ, respectively, the second input of the comparator 9 is connected to the common bus. The outputs of the comparator tori 7-9 and generator 10 are connected to the inputs of the control unit 11. The outputs U1, U2 of the control unit 11 are connected to the control inputs of the switches 2 and 3, the output of the ultrasonic is connected to the control input zero integrators 4 and 5, outputs U4, U5 connection The inputs to the control inputs of the transfer ratio of the inverter 6. Three counting inputs of the counter 12 are connected to the outputs of the control unit 11, the fourth control input is connected to the output of the counter 12. The converter operates in three cycles. In the first cycle, the control unit 11 connects the inputs of the integrators 4 and 5 to the AIDs of the switches 2 and 3 to the outputs of the ACS 1 and integrates the positive or negative half-periods in each of the ACS 1. Through the Fixed 8 time interval, specified using the counter 1 and 12 , control unit 11 disconnects the inputs of the integrators 4 and 5 from the outputs of the ACS 1 and connects the integrators 4 and 5 and the inverter 6 into the ring using switches 2 and 3. The second cycle begins, corresponding to the mutual integration of the voltages of the integrators 4 and 5. Consider the converter at a voltage on the integrator 4 greater than Uoi - as shown in FIG. 2. At the beginning of the second clock, the voltage on the integrator 4 is compared with UQ,, on the comparators 7 and 8. Since the nearest lower reference voltage is UQ,, the control unit 11 supplies signals U4, U5 to inverter 6 to set its transmission coefficient , corresponding to the circular frequency of CO 2. Simultaneously, the control unit 11 supplies to the input 2 of the counter 12 pulses of the generator 10 with a frequency f. The change of the circular frequency can be made, for example, by changing the time constant of the integrators. When switching voltage. to integrator 4 via UQ, control unit 11 receives the signal from comparator 7 and, using the next counting pulse, modulates the circular frequency to a value using inverter 6. At the same time, control unit 11 switches the flow of counting pulses of generator 10 from input 2 to counter 12. At the time of changing the circular frequency, the voltage U at the output of the integrator 4 is - U, U 5; nicj-2 t, -oL). where t, is the duration of the time interval from the beginning of the second clock to the first Shift of the circular frequency. In counter 12, a code N is obtained, the higher bits of the angle code cC N, t,. {- 2 When the voltage goes to integrator 4 via UQI, control unit 11 receives a signal from comparator 8 and, with the arrival of the nearest counting pulse, changes with circular inverter 6 the frequency up to d) .. Simultaneously, the control unit 11 switches the supply of counting pulses from input 2 to input +1 of counter S 12. At the time of changing the circular frequency, the voltage U at the output of the integrator is UU "5m (, 4w24j.A), where tg - the duration of the time interval between two shifts of the circular frequency. In counter 12, the code Mj of the mid bits of the angle code is obtained, "" "t Mutual integration Allows until the moment when the output voltage of the integrator A passes through zero, which is fixed in the control device 11 using the comparator 9. Herewith, U ,, twi3-d. ) .o, “.-b) iaH, t24iH,), where t is the duration of the time interval between the second change of the circular frequency and the end of the second clock. After filling the frequency 4 interval ii in the counter 12, the code N3 is received, the digits of the code of the angle Vl, t t, i. 86 As a result of the transformation, we obtain the sum et- | lH, + Ha4N,., I.e. the same result as in the well-known method. The duration of the second cycle Ijj is equal to 1 .1 f 1 NI V On the third cycle, the integrators 4 and 5 are zeroed out. The reference voltages UQ,, Ujjji should be shaped so that, with any changes, to avoid overflowing the higher bits at maximum values x and avoid mismatch between adjacent groups of bits. An increase in the reference voltages does not lead to the appearance of an additional conversion error (since the value of the lower bits of the older group begins to change when overflowing the bits of the younger group), and only the duration of the second clock increases. The proposed method allows to increase the conversion speed without increasing the error.

W U2 UZ

 . I

W I2 OUSE

Ll i

Y 5

U

and,

S / ogg

from

jifj ong 0/7

v.Voc I

W

.four

eleven

1 I I

n 2 /

U / U2 UZ

Claims (1)

METHOD FOR TRANSFORMING A SHAFT ANGLE IN A CODE, based on converting the angle of rotation of the shaft into alternating current signals, modulated in amplitude as a function of the sine and cosine of the angle of rotation, their phase detection, separate integration over a fixed time interval and memorization, mutual integration of the first voltage and the inverted second stored voltage until one of the integrable voltages reaches zero level, converting the mutual integration time into the code, characterized in that, in order to increase the speed of conversion, divide the time of mutual integration into several intervals, perform mutual integration in each interval with the time constant corresponding to this interval, when one of the integrable voltages of the calculated level reaches the mutual integration time, discrete increase determine the value of each of the intervals of mutual integration, summarize the time intervals of mutual integration, taking into account the constant time integration at each of the intervals. SU. „. 1124358 1124358 2