SU1520451A1 - Apparatus for measuring the rate and direction of current - Google Patents

Abstract

This invention relates to an oceanological instrumentation. The purpose of the invention is to improve the accuracy of measurement of ocean current parameters using an autonomous buoy station system by correcting the nonlinearity of individual impeller characteristics of a two-component flow velocity sensor, the signals from which are processed together with information about its orientation according to the vector averaging algorithm. The signal from the executive output 9 or 9b of the converter 3 or 3b opens up the control inputs 31 or 31b with the corresponding keys of the 2I-OR 28 and 24 elements. As a result, a frequency input proportional to the individual input to the clock input 29 of the programmable divider 22 from the 2I-OR 28 output. the characteristic of the actuated impeller 2 or 2, and from the output of element 2-OR 24, a code proportional to the instantaneous flow rate of water along its axis of rotation. Depending on the value of this code, the division ratio of the programmable divider 22 changes, from the output of which to the input of multiplication 30 of the sine-cosine driver 6 enters a frequency that corresponds to the dependence of the period of rotation of the impeller 2 or 2 from the speed of water movement along its axis of rotation. 1 hp f-ly, 3 ill.

Description

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four

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315

from which they are processed together with information about its orientation according to the vector averaging algorithm. The signal from the executive output 9 or 9 of the converter 3 or 3 opens the control inputs 31 or 31 with the corresponding keys of the 2I-OR 28 and 24. As a result, the clock input 29 of the programmable divider 22 from the output of the 2I-IPI 28 receives a frequency proportional to the individual ha actor impeller 2 or

and from the output of element 2I-U1I 24, a code proportional to the instantaneous flow rate of water along its axis of rotation. Depending on the magnitude of this code, the division ratio of the programmable divider 22 changes, from the output of which to the input of the multiplication 30 of the sine-cosine sine shaper 6 a frequency is received that corresponds to the dependence of the period of rotation of the impeller

2 or 2 of the speed of water movement along its axis of rotation. 1 hp f-ly,

3il.

25

thirty

The invention relates to an oceanological instrumentation and can be advantageously used in the creation of autonomous means of measuring the speed and direction of sea and ocean currents.

The purpose of the invention is to increase the measurement accuracy.

Fig. 1 shows a functional diagram of an apparatus for measuring velocity and direction of flow; on 1

FIG. 2 is a functional diagram of a converter; FIG. FIG. 3 is a functional diagram of a magnetic compass and a sine-cosine driver.

A device for measuring speed and direction of flow consists of a two to 35 component impeller sensor 1, in which two identical impellers 2 and 2 are orthogonal to each other, two converters 3 and 3, a magnetic compass 4 connected to information input 5 of a sine-cosine the driver 6 and then through the switch 7 with the combinators 8 and 8. The converters 3 and 3 are interconnected by connecting the executive output 9 of the converter 3 to the control input 10 of the converter 3 and the executive output 9 of the converter Ate 3 - to the control input 10 of the converter 3, as well as to the command input 11 of the switch 7. At the same time, the sign outputs 12 and 12 of the converters 3 and 3 are fed to the control inputs 13 and 13 of the switch 7, and their executive outputs 9 i) 5 9 are combined on the element OR 14, connected with the compass 4 and with the entrance Start 15 of the driver 6.

45

five

0

5 0 5

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five

The output Reset 16 of driver 6 is fed to inputs 17 and 17 of converters 3 and 3, its information outputs 18 and 18 are connected respectively to information inputs 19 and 19 of switch 7, and outputs 20 and 20 of driver 6 of compass angle quadrants are sign inputs 21 and 21 of the switch 7. The device also includes a programmable divider 22, two counters 23 and 23 of speed, controlling through the element 2I-1SH 24 through the inputs 25 ,, 25, ..., 25 programmable divider 22, and two oscillators 26 and 26 connected to clock inputs 27 and 27, respectively, counters 23 and 23 with speed and through the element 2I-OR 28 to the clock input 29 of the programmable divider 22 connected to the clock input 30 of the sine-cosine driver 6. At the same time, the executive outputs 9 and 9 of the converters 3 and 3 are additionally connected to the corresponding inputs 31 and SG of the element 2I- FDI 28 and control inputs 32 and 32 of element 2I-OR 24, and through shapers 33 and 33 to R-inputs 34 and 34 of counters 23 and 23 of speed.

The transducer 3 (Fig. 2) includes two magnetically sensitive elements 35 and 36, a magnet 37 fixed on the rotation axis 38 of the impeller 2, a sign circuit 39, two actuating triggers 40 and 41, a key AND 42, an element OR 43, and also three keys AND 44 - 46 and a memory trigger 47. At the same time, the output 48 of the key AND 46 is the sign output 12 of the converter 3,

ten

five

the output 49 of the trigger 47 memory — its execution output 9, the input 50 of the key AND 45 — its input Reset, the input 51 of the key AND 44 — its control input 10.

The composition of the magnetic compass 4 (FIG. 3) includes a multi-phase compass power generator 52, an azimuth angle transducer 53, a D-trigger 54, a driver 35.

The generator 6 (Fig. 3) includes the generator 56 of the reference signal, the pulse pack 57, the compass angle counter 58, the compass angle quadrant 59, programmable sine 60 and cosine 61 tellers, two D-flip-flops 62 and 63 , the last of which controls the keys AND 64 and 65, as well as the keys AND 66 - 68, element 1, 69, shapers 20 Reset 70 and Start 71. At the same time, the load input 30 of the whole sine-cosine driver 6 is fed to the input 72 keys H 68, connected to the output with clock inputs 73 and 74, respectively, sine 60 and cosine 61 dividers. Another input key 68 is connected to the output of flip-flop 62, which is also connected to the input 75 of the key 67 and through the shaper reset 70 with the output 16 of the driver 6. The generator 56 is connected to another input of the key 67 and the input 76 of the key 66. The outputs of the keys AND 66 and 67 are integrated on the OR element 69, the output of which is fed to the clock1 input 77 of the counter 58, the output of the key AND 67 is fed to the clock input 78 of the counter 57. Former Start 71 on the input is connected to the output25

thirty

35

one,

the dy of the 1ShI element is occupied with the R-inputs 79 - but the counters 57 dov of the counter 58

entrances 83., 83

84,

one

on output sv - 1, respectively - 59. Group 82 VIEHO- is submitted to managers 83 and 84, 84,

2 60

, (and ut,

. ., u-t, respectively, of the sine and cosine dividers 61, and the output 85 of the counter 58 is associated with the clock input 86 of the counter 59 and the clock input 87 of the trigger 63. D-inputs of the triggers. 54, 62 and 63 are fed to the signal bus of logic 1. The outputs 88 ,, 88 of the two most significant bits of the counter 59 are fed to the outputs 20 and 20 quadrants of the compass angle of the driver 6, and the outputs of dividers 60 and 61 are fed through inputs 89 and 90 switches 64 and 65 to the outputs 18 (sin) and 18 (cos) of the driver 6. The clock input 91 of the flip-flop 62

1520451

ten

15 20 25

thirty

35

40

45

50

55

A flashing output of flip-flop 54 is also connected to input 92 of key AND 66, R-input 93 of flip-flop 63 and at the same time represents input 5 of driver 6. R-input 94 of flip-flop 62 is controlled by the output of counter 57. The output of element OR 14 controls a multi-phase generator 52 compass 4 and through the imager 55 R-input 95. the trigger 54. The outputs of the multi-phase generator 52 are fed to the converter 53, the output of which is connected to the clock input 95 of the trigger 54.

The device works as follows.

When water flows through the flow velocity sensor 1, its impellers 2 and 2 rotate. Turning any impeller 2 or 2 to a fixed angle causes the corresponding converter 3 or 3 to operate, which causes a signal at the executive output 9 or 9 and through the element OR 14 to turn on the magnetic compass 4. Since the circuits of the converters 3 and 3 are identical, consider the operation one of them, for example transform-. tel 3.

The operation of this stick converter is performed while the corresponding impeller 2 is being turned by a fixed angle. In this case, at the moment of triggering both magnetically sensitive elements 35 and 36, the signal from the output of the switch 42 sets the trigger trigger 40 or 41 corresponding to this direction of rotation, indicating the sign of a single segment of the path traveled by the flow of water past the flow velocity sensor 1 along the axis of the impeller 2. The definition of this sign is made by the sign circuit 39 as a result of a logical analysis of the sequence of signals from the magnetically sensitive elements 35 and 36 arising during the rotation of the impeller 2. Then tea the absence of another actuation signal from the transducer G executive triggers 40 or 41 through OR gate 43 and the key 44 and transmitted. at the clock input of the memory trigger 47, | 0n is set to the Q state, and at its output 49 a logical 1 signal is generated, which goes to the actuator input 9 of the converter 3 and then through the OR element 14 to start the magnetic compass 4 and also to the input Start 15 of the sinus-cosine driver 6. As a result (FIG. 3) the driver

Start 71 generates a pulse signal, KOTopbtff, arriving at R-BXO 79-81, zeroing, respectively, counters 57-59.

The reset actuator trigger 40 or 41, as well as memory trigger 47, is reset by a command from output Reset 16 of the sine-cosine driver 6, which, passing through the input 50 of the switch AND 45, goes to the R-inputs of the triggers 40, 4j and 47.

The launch of the magnetic compass 4 and the sine-cosine driver 6 is as follows. At the moment of occurrence at the output of the element OR 14

commands in the form of a logical signal to turn on the magnetic compass

 one

4, a multi-phase compass supply generator 52 is commissioned, which supplies all supply voltages to the primary azimuth angle converter 53. The output signal of converter 53 is the phase shift of the output voltage of converter 53 taken from its moving electrode relative to the zero phase voltage supplying this converter 53 and removed from multiphase generator 52. This phase shift is uniquely related to the position of the converter card 53, hence characterizes the position of the body of the device for measuring the velocity and direction of flow relative to geographic coordinates. In fact, the zero phase of the supply voltage coincides with the leading edge of the signal coming from the OR 14 circuit to start the multi-phase generator 52, therefore, to separate the time interval T; equal to the value of the desired phase shift, the D-flip-flop 54 serves. into the state by a pulse signal produced by the shaper 55 on the falling edge of the signal coming from the output of the element Sh1I 14, and switched by its clock input 96 to the state on the leading edge of the output signal removed from the moving electr trode converter 53.

As a result, the inverse output of the D-flip-flop 54 is formed

0

five

0

five

0

five

0

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0

five

the desired time interval T /, unambiguously characterizing the value of the measured compass angle c / -, and, therefore, the position of the device body relative to the system of geographical coordinates. Further, this time interval T is fed to the information input 5 of the sine-cosine driver 6.

In the specified driver 6, the time interval is filled on key AND 66 by pulses from the generator 56 of the reference signal and the full value of the measured compass angle c (j in the form of a number-pulse code is entered through the OR 69 element at clock input 77 into counter 58 On the falling edge of the video impulse, equal in duration T, and removed from the inverse output of the D-flip-flop 54, triggered input 91 D-flip-flop 62, which, when set to the state, opens the AND 66 and 67 keys and also starts the shaper 70. This The driver generates at output of Reset 16 of the sine-cosine driver 6 a pulse signal, which then goes to inputs 17 and 17 of converters 3 and 3 and returns the status to previously triggered execution triggers 40 or 41, as well as memory trigger 47.

At the same time, the signal of the frequency of the reference signal from the generator 56 begins to flow through the public key AND 67 and the element OR 69 to read from the counter 58 the code of the compass angle previously written into it (j) and the signal from the programmable divider 22 through the public key AND 68 to the clock inputs 73 and 74 sine 60 and cine sine dividers. The signal of the reference frequency from the output of the key And 67 begins to flow directly to the clock input 78 of the counter 57 of the pulse pack. After the number of pulses equal to the capacitance of this counter 57 arrives at its clock input 78, it overflows and returns the D-flip-flop 62 to the state on the H input 94. As a result, the And 67 and 68 keys are closed, and at the output of the And 67 key, a burst of pulses will be formed, the number of which is equal to the capacitance of the counter 57. This burst of pulses goes through the OR 69 element to the clock input 77 of the counter 58

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compass, and clock rates 73 and 74 snnpog 60 and cosine 61 dividers through the public key AND 68 - a signal from a programmable divisor tel 22. Then from this signal the sine divider 60 forms at the output of the key AND 64 a series of pulses, the number of which in the series is proportional to the sine of the principal value of the measured compass angle f, (j), and the cosine divider is at the output of the key AND 65 a series of pulses, the number of which is proportional to the cosine of this angle.

This is achieved by the fact that in the process of filling the counter 58, the code from its group of 82 outputs, going to the control inputs 83 ,, 83, ..., 83 1 and 84, 84 84, respectively, sine 60 and cosine 61 dividers, continuously changes their division ratio. In this case, the division ratio of the sine divider 60 varies according to a sinusoidal law, depending on the size of the code present on its control inputs 83 ,, 83.2, –f cosine divider 61 — according to the cosine distance, depending on the code present on it. inputs 84 ,, 84,. . ., 84 j. Due to the fact that there is a code on the group 82 of the runs of the counter 58, it is equivalent to the main value of the compass angle c «; (j), at the outputs of these dividers 60 and 61, the pulse frequency also varies according to the sinusoidal and cosine laws, starting with those values of the indicated trigonometric functions that correspond to the measured value of the compass angle c /, (j).

At the same time, the number of pulses received from the output of the public key AND 66 through the IL 69 element to the user's input 77 of the compass angle counter 58 is equivalent to the compass angle

o ((j) 90. This is ensured by the fact that the capacity of the counter 57 is chosen equal to the capacity of the counter 58 of the main value of the compass angle, the maximum value of which cannot exceed 90. As a result, the overflow signal of the counter 58 at the output 85 will occur after as its clock input 77 will receive a number of pulses equal to the main value of the measured compass angle d- (j). The appearance of a signal at the output of 85 pref (1

, (em to switch by tlkt (phaschu 87 D-flip-flop 63, and the result is at the direct output of this trtgtrera 63 (1u;, em is formed by time {пи iiHTt pnjr, proportional angle, complementary to 1 major compass value, ugl c / ((j) up to 90, and on the inverse output;) of this three-way 63 time interval,

Q p m is proportional to this corner.

with/; (j) Filling in the keys H 64 and 65 these time intervals 1) 1e intervals with signals coming from dividers 60 and 6), at the output indicated {these key are obtained

 two required series of 1shpulsov. In one of these series, the number N of pulses is proportional to the sine of the main value of the measured compass angle o ((j), and in the second N it is proportional to the cosines of this angle, i.e.

N,,. (j), (j), where N (, is the maximally possible number of pulses in these series, arising in the case of equality 1 considered 5 f fbix trigonometric functions.

Additional information is needed on the full value of the measured compass angle with / (.) about the quadrant of its location, there is

 the outputs 88, and 83 of the counter 59. At the same time, the pulse frequency in the indicated series is equal to the frequency of the output signal of the code 22 programmable divider.

At the time of completion of the measurement of the contact angle with /; (j) on the falling edge of the video pulse of the duration taken from the inverse output of the D-flip-flop 54, the signal from the output Reset 16 of the driver 6 through the circuit input 17

 or 17 transducer 3 or 3 via executive output 9 or 9 starts shaper 33 or 33. By a pulse signal from these shapers 33 and 33, the corresponding counter 23 or 23 of speed is reset to zero by R input 34 or 34. .Data counters 23 and 23 speeds continuously in the time interval from one inverter converter 3 or 3 to another count the pulses arriving at irx clock inputs 27 and 27 from the outputs of adjustable oscillators 26 and 26. Due to the possibility of independent installation of

5 Using the generators 26 and 26 for the frequency of these pulses, the stumps are chosen to correspond to the individual dependencies of ne

  CH5

The rotation of the rotation of the impellers 2 and 2 depends on the velocities of the incoming water flow acting along their axes of rotation. Therefore, by the time any of the impellers 2 or 2 rotate by a fixed angle in the speed counter 23 or 23, a code has been accumulated that uniquely characterizes the magnitude of the instantaneous flow velocity in the direction of the axis of rotation of this impeller

Thus, the frequencies of the programmable divider 22, which is simultaneously with the pulse following frequency. At a clock clock of 30 sine-coaxial divider 6, is dependent on the size of the code present at the input of the programmable divider 22, the two series of pulses received Information about the projections to the geographic coordinates of single lengths of the path traveled by water through the flow velocity sensor -1 is further directed through the switch 7 to various adders 8 and 8 There they accumulate during the entire interval T speed reductions. The order of distribution of the ethics of the shshulsov across the inputs of the adders 8 and 8 is set by the switch 7 depending on the signals at the sign outputs 12 and 12 of the 3 and 3% converters supplied respectively to the control inputs 13 and 13 of the switch 7, and is also determined by the signal at the executive output 9 converter 3, applied to the command input 11 of the switch 7, and signals present at the outputs 20 and 20 of the quadrants of the former 6 and arriving at the sign inputs 21 and 21 of this switch.

Information about the azimuth angle positioning quadrant c /, (j) is necessary, since shaper 6 converts the time interval T in a series of pulses only within the main angle, the maximum value of which does not exceed 90. The distribution of these pulses over the inputs of the adder corresponds to the vector averaging algorithm described by the following equations:

(i Sinc.Signi + Z Cos d-

  t (1 | «1

I

rSignj)

Vy Cosd.Signi-Sin. X Signj),

J2

Q

5 0 5 g. "

0

five

where 1 and m are chill respectively

full turns of impellers 2 and 2 during time T; Signi,

Signj - the direction of rotation of the impellers 2 and 2 at the time of determining the value of the compass angle J. or c /., Given by the signals logical 1 and O at the sign outputs 12 and 12 of the impeller converters 3 and 3

As a result, in the adders 8 and 8, during the time T of averaging, the numbers of pulses N and Ny are uniquely connected by the Normalizing coefficient K with the desired values of the meridional V and latitudinal V components: the average for this period of time T of the current velocity vector N, KV ,,,.

The availability of information about the instantaneous speed of the current along the axis of rotation of the impeller 2 or 2, which recorded the movement of the stream for a single segment of the path, allows you to make the necessary corrections to the magnitude of its projections on the geographic coordinates associated with the nature of this dependence. For this purpose, the signal from the executive output 9 or 9 of the converter 3 or 3 opens the control keys 31 or 31 with the corresponding keys of the 2I-SHSh 28 and 2I-IZH 24. As a result, the clock input 29 of the programmable divider 22 from the output of the 2I-OR 28, a frequency arrives that is proportional to the individual characteristic of exactly the actuated impeller 2 or 2 ac of the element 2I-OR 24 output — a code proportional to the instantaneous velocity of water flow along its axis of rotation.

Depending on the value of this code, the coefficient of the programmable divider 22 varies so that the frequency of the signal at its output varies according to the form of the characteristics of this impeller 2 or 2. Therefore From programmable divider 22, a frequency is supplied to input 30 of the multiplication of the sine-cosine driver 6, which each time exactly corresponds to the dependence of the rotation period of the impeller 2 or 2 on the speed of water movement along the axis of its rotation. Ta13

The CMM image of the programmable divider 22 performs a piecewise linear approximation of the nonlinear characteristics of the impellers, and the selection of the approximation regions is carried out by the magnitude of the codes accumulated in speed counters 23 or 23 and switched using element 2I-OR 24. As a result, the number of pulses in The series produced by the sine-cosine driver 6 is corrected taking into account the non-linearity of the individual characteristics of the impellers 2 and 2 of the flow rate sensor 1, and, therefore, exactly the corresponding projects m geographic coordinates of individual path segments traversed by the flow of water along the flow velocity sensor 1.

Claims (2)

1. A device for measuring speed and flow direction, containing a two-component impeller sensor, two transducers, the input of each of which is connected to the corresponding output of the impeller sensor, magnetic compass, sine-cosine K-input of the quadrant counter. The Hbrii driver, and the switch, the outputs of which are connected respectively to the inputs of two adders, the sign outputs of the converters are connected to the control inputs of the switch, and the actuators use the OR element to the magnetic compass, the output of which is connected to the information input of the sine-cosine driver, the output The reset of which is connected to the inputs of the converters, and the information outputs to the input of the switch. The torus, the command input of which is connected to the executive output of one of the converters, is characterized in that, in order to improve the measurement accuracy, programmers I) W divider, two speed counters, two 2I-OR elements, two formers and two generator, each of which is connected to the clock input of one of the speed counters and to one of the inputs of the first element 2И-OR, the outputs of each speed counter are connected to the corresponding inputs of the second element 2И-OR, and its outputs - with the inputs of a programmable case Ittel, the clock input of which is connected to the output of the first 1520451 14 element 2H-11G1I, and the output is connected to the multiplication input of a sine-cosine driver, the input of which is connected to the output of the OR element, while the executive output of each converter is connected to the control input of another converter, with the corresponding control inputs of the first and second elements 2I- lOTi and through the corresponding driver with the R input of the corresponding speed counter. 2. The device according to claim 1, characterized in that the sine-cosine driver contains a reference signal generator, a pulse burst counter, a compass counter angles, quadrant counter, programmable sine and cosine dividers, two D-flip-flops, 5 keys, reset and start drivers, element 1Sh, the first inputs of the first and the second keys are connected to the output of the reference signal generator, and. their outputs are connected via the OR element to the clock input of the compass angle counter, the R input of which is connected5 0 five 0 five and one of the outputs - with clock inputs of the quadrant counter and the first D-flip-flop, the outputs of which are connected respectively to the first inputs of the third and fourth keys, the second inputs of which are connected respectively to the outputs of the programmable sine and cosine dividers, the control inputs of which are connected to the outputs of the compass counter angle, and the clock inputs are connected and connected to the output of the fifth key, the first input of which is connected to the input of the reset generator and the second input of the key, which is connected to the output of the second D- trigger, - the clock input of which is connected to the second input of the first key, the R input - with the output of the pulse burst counter, the clock input of which is connected to the output of the second key, and the R input - with the input of the start pad and the R input of the quadrant counter, outputs quadrant counts and outputs of the third and fourth keys are information outputs of the cnHycHo-kocHHycHoro generator, the second input of the fifth key is the multiplication input, the second input of the fifth key is the information input, n you 5152045116 the course of the reset driver and the input by the forward exit and the start trigger trigger input, respectively, of the nous cosine driver. F1 / g.Z. Compiled by I. Polunina Editor N. Tupitsa Tehred M. Khodanych Proofreader, O. Tsiple Order 6751/46 Circulation 789 VNIIPI State Committee for Inventions and Discoveries at 1 CIT SSS, R 113035, Moscow, Zh-35, 4/5 Raushsk Nab. Fi.2 Subscription