SU1476388A1 - Digital measuring device of motion parameters - Google Patents

Abstract

The invention relates to a measurement technique and can be used in digital circuits for measuring and controlling speed and acceleration. The aim of the invention is to expand the functionality of the device by providing simultaneous and independent calculation of speed and acceleration using formulas for numerical differentiation of a function defined on a discrete set of equidistant points. The use of block 6 of serially connected registers allows you to memorize the required number of codes of angular displacements for a fixed time interval, which, when multiplied by multiplication schemes 8 and 9, by the corresponding coefficients stored in blocks 10 and 11, specify the coefficients, and the subsequent summation by blocks 12 and 13 summations obtained products give instant speed and acceleration values. 1 il.

Description

one

The invention relates to a measurement technique and can be used in digital systems for measuring and regulating speed and acceleration.

The purpose of the invention is to enhance the functionality by providing simultaneous computation of speed and acceleration.

The drawing shows a diagram of the device.

The device contains a series-connected pulse sensor 1, a logic element AND 2, a pulse counter 3, a time interval shaping unit 4, the output of which is connected to the second input of the logic element II 2 and the input of the driver 5, the block 6 of serially connected registers, the delay element 7, the first 8 and second 9 multiplication blocks, in each of which the number of multiplication circuits is equal to the number of registers of block 6 registers, the first 10 and second 1 blocks of setting the coefficients (can be made in the form of ROM), the first 12. and the second 13 summation blocks no, 14 Reset button. The output of the imaging unit 5 is connected to the synchronous inputs of the registers of the register block 6 and the input of the delay element 7, the output of which is connected to the reset input of the counter 3 and to the synchronous inputs of the multiplication circuits of the 8 and 9 multiplication blocks. The output of the 1st register (, 2 ,.,., Mn, where m is the number of registers of block 6) is connected to the first inputs of the 1st multiplication circuits of blocks 8 and 9 multiplication, the second input of the 1st multiplication circuit of block 8 is connected to i output of the first block 10 setting coefficients, and the second input of the i-th multiplication circuit of block 9 - with the i-th output of the second block 11 setting coefficients, the outputs of the first block

8 multiplications are connected to the inputs of the first summation block 12, and the outputs of the second multiplication block 9 t with the inputs of the second summation block 13, the Reset button 14 is connected to the reset inputs of the counter 3 and registers of the block 6. The outputs of the first 12 and second 13 summation blocks are The outputs of the device, which are formed, respectively, codes of values of speed and acceleration.

The principle of operation of the device incorporates formulas for the numerical differentiation of the function f (t), defined on a discrete set of equidistant points. It is known from theory that polynomials:

P0 (x) 1;

P, (x) 1 - - x;

p (v) - 1 Јv + § 2.

 I n-1 X + n (n-l) X

Р М - 2 (2т + Ц

Hg.Dh- - (m + l) (nn)

P (X} - -.steiaiil-

 (t + tp-pO

form an orthogonal system on the points 0,1 ... n, where n is the number of approximation points of the function. According to the system of polynomials (1), one can obtain the following formula for numerical differentiation:

"FS (t) h Z AKf t- (h-k) h,

gpr d -f-CZi + iMbrlliiilbri 1) -, where A, -2- (i + nH.I) (i + h) (h + 1)

P; (k) pf (h);

h is the quantization step with respect to the argument tT of the function f (Ј); S is the degree of the derivative. For example, with the degree of a smoothing polynomial and the number of approximation points, we have the following formulas for the approximate calculation of derivatives of degrees S 1 and S 2:

f (t) ™ -29f (t-4h) + 88f (t-3h) - - 48f (t-2h) -136f (t-h) + I25f (t); (2)

f (t) - 2f (t-4h) -f (t-3h) - -2f (t-2h) -f (t-h) + 2f (t),

(3)

-i

f (t)

or, represented f (t) and cuts the difference of the first order

f (t) -§4h (29U «- - 11 D2 + 125 D,); one

(four)

fh (2D4- AZ + b, +

fn (t)

/ ii

+ 2i,), (5)

where Aj f t- (j-l) f t-jh, j - 1,2,3,4.

The operation of the device is based on the example of calculating the speed and acceleration according to formulas (4) and (5).

The device works as follows.

Before starting operation, by pressing button 14, Reset, counter 3 and registers 6 are reset. In block 10 and 11, the assignment of coefficients is entered by the coefficients of coefficients from expressions (4) and (5), respectively

and

H

7b2

1 7hT

7h

block 11, block shaping block 10 and in the time intervals form a signal with duration h, during which pulses from sensor 1 through circuit 2 pass to counter 3. At the same time, the sampling period h is selected depending on the required point

five

0

five

nosti. At the end of the interval h, the value of the difference A for the given interval is formed in the counter, which is the code of the angular path (angle of rotation) of the shaft in this interval (i.e. the number of pulses generated by the sensor in this interval) .. On the falling edge of the signal of block 4 the formation of time intervals, the shaper 5 generates a signal arriving at the synchronous inputs of the registers 6. At the same time, the (1 + 1) -th register is overwritten with the information from the 1st register - 1,2, ..., n, and the first register is entered from counter 3. The same signal from the driver 5 stumbles to the clock multipliers all circuits 8 and 9 (the amount of delay is selected such as to ensure rewriting of information in the registers).

The signal from delay element 7 also zeroed counter 3. In the multiplication circuits of the first multiplication unit 8, the products are calculated

125 84GD

-11- 5929

84h la; ; 84h &

and in the multiplication schemes of the second multiplication unit, the calculation of the products

-H.

7h

- 2 A

Then, in the first block, the value

yl (29U4- 59Dz-ML.

84h + 125Л,),

and in the second summation block, the acceleration value

Claims (1)

f (t) ™ (-2A4-DE + At + 2A,). Invention Formula A digital motion parameter meter containing a pulse sensor connected in series, an AND gate, a pulse counter, and a time interval shaping unit, the output of which is connected to the second AND gate input, the first multiplication unit and the first summation block in series, and TL and due to the fact that, in order to extend the functionality by providing simultaneous calculation of speed and acceleration, the Reset button, driver, delay element, Consequently, the second multiplication unit and the second summation unit, the first and second coefficient setting units, the serially connected register unit, the number of which is equal to the number of multiplication circuits, the register outputs are connected to the first i inputs of the respective multiplication circuits of the first and second multiplication units, and the input of the imager connected to the outputs of the block of formation of time intervals, and the output - with the synchronous inputs of the registers of the register block and the input of the delay element, the output of which is connected to the reset input counter a and the synchronization inputs of the multiplication circuits of the first and second multiplication blocks, the second inputs of the multiplication circuits are connected to the corresponding outputs of the first and second blocks of setting the coefficients, the output of the pulse counter is connected to the information input of the first register of the register block, 5, the Reset button is connected to the reset inputs of the counter and registers of the register block, the outputs of the first and second summation blocks are the outputs of the device.