SU1417190A1 - Shaft angle encoder - Google Patents

Abstract

The invention relates to automation and computing and can be used to measure the angular position and angular velocity of rotating objects. The purpose of the invention is to increase the accuracy of the transducer and expand its functionality by providing a signal pickup proportional to the rate of change of the angle of rotation of the transducer shaft. The converter contains sensor 1, demodulators 2.3, alternating - inhabitants 4.5, comparison block 6, voltage converter 7 - frequency, reversible counter 8, task setting block 9, phase shift, adder 10, functional converters P, 12, 1 zp f-lye 1 ill.

Description

SI

Iwii

(Y)

The invention relates to automation and computing and can be used to measure the angular position and angular velocity of rotating objects.

The aim of the invention is to increase the accuracy of the converter and to expand its functionality by providing the removal of a signal proportional to the rate of change of the angle of rotation of the converter shaft.

The drawing shows a diagram of the proposed converter.

The converter contains sensor I, demodulators 2 and 3, multipliers 4 and 5, comparison unit 6, converter voltage-to-frequency converter 7, reversible counter 8, phase shift setting unit 9, adder 10, functional converters 11 and 12,

The device works as follows.

Signals and and Uj are supplied to the inputs of demodulators 2 and 3. Any known device can be used as a position sensor (for example, SCRT or selsyn), which generates output signals of the form :.

and, A sin with t sin oi; Uj A sin cot sin (ei, + tp),

where A is the amplitude of the reference signal; co is the frequency of the reference signal; ei- is the angle of rotation of the rotor of the sensor; (- phase shift envelopes of the weekend

sensor signals. The first inputs of multipliers 4 and 5c of amplitude demodulators 2 and 3 receive signals

and A sin ci; U A sin (oi. + Tf).

The second inputs of multipliers 4 and 5 from the sinus functional converters 11 and 12 in digital form receive signals

71902

Signals are received from the output of multipliers 4 and 5 to comparison block 6

and A sinoC sin (oL +); Uo And sin (ei + U) sin os.,

but

At the output of the comparison unit 6, we receive a signal

to and A (sinoC sin () - sin (oi. + q)) sin),

The value U specifies the frequency, the PNC 7, and the sign controls the counting direction.

15 of the reversible counter 8 so that the magnitude of the signal Ug tends to zero.

The reduction of the signal and "to zero" is carried out in the converter automatically due to a corresponding change in the measured value of the rotor angle of the sensor rotor oi, equal to the code at the output of the counter 8, In case the phase shift of the input signals

25 of the transducer (not equal to the phase shift Cj) of the signals formed in the functional transducers 11 and 12, the signal Ug being equal to zero when the value is not equal to Н. ,

30 As a result, the difference in values of Ср and СО, equal to utf, leads to an error of the angle conversion. Different sensors characterize different values of the phase shift C) of the output signals

35 (for SSCT 4 90, for a selsin avg 120 °). Moreover, in real sensors, due to manufacturing errors, the phase shift cp between the envelopes of the output signals differs from the pass value. Therefore, in order to obtain the measured value of the rotor angle of the sensor uL „equal to the actual angle of rotation of the sensor rotor yL, it is necessary to ensure the formation of signals Uj and Ug by functional converters 11 and 12 with phase shift СР equal to the phase shift. And signals and V sensor connected to the converter. Her-

Uj- sin (oi. + Q-);

and.

sin oi-,

uL is the measured value of the angle of rotation of the rotor of the sensor; the phase shift of the signals generated in the sine functional transducers 11 and 12.

If Cf q, then the signaling for the signal and "at the output of the comparison block b can be written in the following form:

  And sincf sinCoi-oi.)

The converter circuit still sought to reduce the signal to zero, but in this case equality and, to zero, is possible only with oi od

. measurement error caused by the q to i, s inequality is eliminated. code oi, at the output of the counter 8 is equal to the angle of rotation of the rotor of the sensor. A setting tf equal to q can be existed by the operator when setting up the converter for a particular sensor. For this, the sensor rotor is rotated by a certain angle, for example, 90, and the selector, using block 9, sets the phase shift code such a value tj so that the code on the transducer code ot is equal to the angle of the sensor rotor

The unit for setting the phase shift code in the simplest case can be executed in the form of a toggle register where a digital code is dialed corresponding to the phase shift Cf of the sensor connected to the transducers. The phase shift code cf from the output of the unit 9 phase shift code is fed to the second inputs of the adder 10, to the first inputs of which, from the output of the counter 8, the code S is supplied. . From the output of the adder 10, the code & + tf is given to the inputs of the second sinus functional converter 12. The code oi arrives at the inputs of the first sine functional converter 11 from the output of the counter 8.

Since successively connected LSPs and a counter perform the operation of digital integration of the input signal, therefore,

0 U, cit,

about

Those. at the output of block 6, a signal is obtained that is proportional to the angular velocity of rotation of the sensor rotor:

and.

d6i-

formula

and 3 о о рэт with 1 t

five

0 5 0

five

0

five

Claims (2)

1. The converter of the shaft rotation angle into the code containing the sensor к, the first and second subcoresignals, the outputs of which are connected to the inputs of the comparison block, the voltage converter is the frequency, the outputs of which are connected to the inputs of the reversible counter; The outputs of the iris generator, the first and second functional converters, the outputs of which are connected to digital RHRDRM correspondences, overshoot / epee protection, the first demodulator of the circuit and with those; that, in order to increase the accuracy of the converter and to expand its functional capabilities by providing signal pickup, a proportional rate of change of the turning angle, a second demodulator is inserted into it, - an adder, a unit for setting the phase shift, whose outputs are soy. with the first group of inputs cyi iaTOpa, B7 Ora, whose group of inputs is connected to the outputs of the inverter counter, and the outputs are connected to the inputs of the first functional converter, the outputs of the irojo Kjiro reverse switch to the inputs of the second façade switch sensor through the corresponding demodulator: s1 are connected to analog inputs of the pen and second inter circuits, respectively, the output of the control unit is in parallel with the output of the signal, the rate of change of the angle of the corner of the hall, the output unit compares psdk, py | Chen to the input of the converter voltage - frequency, 2. The converter according to claim ,, l ti h a th y and with so. that the zyda-NIL phase shift block is made in the EX /.