SU1656681A1 - Method of control over shaft position-to digital converter and device for implementation of it - Google Patents

Abstract

The invention relates to automation and can be used in the study of error when checking rotation angle converters in a code of various types (photovoltaic, inductosynic, capacitive, etc.). The aim of the invention is to expand the scope of application of the method by providing the ability to control transducers with different types of coding. The method is based on the registration of the phase difference of the output quasi-sinusoidal signals of the model and controlled transducers with the synchronous rotation of their shafts and the analysis of the diagrams of these differences. New in the method is that before starting work, the shaft and output signals of the controlled converter are turned, recorded as a sequence of signals in the polar coordinate system, the shaft is turned during the control, then simultaneously read them in areas of this sequence at an angle of 360 ° & standing apart from each other, where m is an integer, summarize the signals (phase averaged) and compare the averaged phases of the sequence with the phases of the signals of the controlled transducer and judge the error of the controlled transducer by the phase difference. The device comprises a base, a spindle mounted in the glass with the possibility of relative rotation of the spindle relative to the glass; rotational drive of the glass and the spindle with the possibility of their independent rotation, rigid connection between themselves and the base using a clutch, a magnetic disk mounted on the spindle, controlled converter, fastened with a spindle, eight magnetic heads mounted on the flange of the glass at the same distance from each other around the circumference, an electric summation unit with ignals, phase meter and recording device. One of the magnetic heads is write-read, and the rest read-write heads are directly connected to the output of the controlled transducer, the read heads are connected to the inputs of the electric signal summing unit, the output of which is connected to one of the phase meter inputs, and the second input of this unit is connected to output controlled by the converter, the output of the phase meter is connected to the input of the recording device. 2 sec. f-ly, 2 ill. fe o ate o o o 00

Description

The invention relates to automation and can be used in the study and control of converters of the angle of rotation of the shaft into the code.

The aim of the invention is to expand the scope of application of the method by allowing control of transducers with different types of coding.

FIG. 1 shows an embodiment of a device for carrying out the method; Figure 2 shows diagrams explaining the essence of the method. The diagrams are shown conditionally in the Cartesian coordinate system.

Diagram 2.a shows a graph of the voltage applied by the controlled converter in the ideal case, when the conversion error is zero, and diagram 2.6 shows the position of the signals produced by the actual controlled converter. The signals are shown only in the zones located at a distance of 360 ° / t from each other. Here ty is the nominal angular step of the signals, and Atyi are the current values of the phase error of the transducer signals, which vary according to a periodic law.

The device contains a base 1 with a spindle 2 installed in it. At the upper end of spindle 2, the object table 3 is strengthened. Spindle 2 is kinematically connected to the engine 4 for driving the rotation of the object table by means of a screw 5, worm gear 6 and clutch 7 on the top of the spindle 2, a magnetic carrier 8 is installed, made in the form of a disk on which an exemplary converter is formed. Between the cylindrical surface of the spindle 2 and the hole of the upper plate of the frame with the help of two concentrically arranged rolling bearings or aerostatic supports (not shown in the drawing) a platform is installed, made in the form of Cup 9 with a flange. On the flange there is one magnetic writing-reading head 10 and seven magnetic reading heads 11. All eight heads are placed around the circle of the same distance from each other. On the subject table 3 mounted controlled transducer 12 angle, the fixed part of which is connected by means of a holding mechanism 13 with the bracket 14 attached to the base 1.

The electrical input of the converter 12 is connected to the input of the phase meter 15, the second input of which is electrically connected to the output of the electric signal combining unit 16. The input of the block 16 is connected simultaneously to all reading magnetic heads, and the output of the phase meter 15 is connected to the input of the recording device 17. The conversion error gone over a period of one shaft rotation can take both positive and negative values, and the sum of errors for the full period is zero. This means that the phase shifts of the signals of the monitored transducer can be either positive or negative with respect to some average position of the signals, the phase of which we take as zero.

Figure 2, and shows the position of the signals with zero phase shift. which reflects the angle conversion in the absence of an error of the converter, and figure 2, b shows the positions of the signals at the output of the controlled converter.

The signals of the controlled transducer recorded on a magnetic medium 8, made in the form of a disk, located, for example, on the same shaft with the transducer, represent a sequence of magnetic labels with almost the same phases as the signals of the controlled transducer.

The sum of the phases of the signals, reflecting the error of the transducer, taken at angular distances from each other

360e m

. Where

m is an integer close to the phase of the signal with zero phase error, i.e. close to the phase of the signal converter, which has no phase error.

Thus, when reading tags from a magnetic carrier 8, for example, simultaneously with m-heads, we can receive signals that are phase-shifted relative to the phase of a signal with zero phase, as shown in Fig. 2, d, d, e; m 4.

Summing these signals, for example, using block 16, you can get signals whose phases will approach zero, since if the amplitudes of these signals are equal, the phase of the total signal is theoretically equal to the arithmetic average of the initial phases of the signals, see Fig. 2c, d, e.

So, with synchronous rotation of the converter shaft in the process of recording the signal on magnetic carrier 8, then reading and summing the signals received from magnetic carrier 8, we obtain, as shown in figure 2.j, signals with averaged phase error.

Comparing the phase of the signals in FIG. 2, b of the controlled converter with the phase of the averaged signals (see FIG. 2, g)

magnetic carrier 8, it is possible to judge the error of the transducer being calibrated, since the average error is many times smaller than the error of the controlled transducer.

The device works as follows.

After the transducer 12 is mounted on the object table 3 and its stator is fixed by the holding mechanism 13, the transducer output is connected to the input of the recording head 10.

The spindle 2 is connected with a worm gear 6 by means of a clutch 7, and the cup 9 is fixed stationary relative to the base 1 by a holding mechanism (not shown).

After that, using the motor 4, the spindle 2 is rotated and magnetic labels with magnetic phases 8 are recorded with phases almost equal to the phase shifts of the signals of the converter 12. due to its error (angle conversion error). The recording continues when the spindle 2 is rotated at least 360 °, after which the motor 4 is turned off and the recording head 10 is disconnected from the converter 12.

Then, with the same connections, the spindle 2 with the electric motor 4, the cup 9 with the base 1, the converter 12 with the bracket 14 connects the electrical input of the converter 12 to the input of the phase meter 15, and the electrical outputs of the magnetic reading heads 11 to the input of the block 16, whose output connected to the second input of the phase meter 15. The engine 4 is turned on, rotating the spindle 2 together with the converter shaft 12 and the magnetic carrier 8 Signals from the read heads 10. 11 are fed to the block 16 and, after averaging, to the phase meter 15. Simultaneously to the second input of the phase meter 15th The signals of the controlled transducer step, which are compared in phase, and the result of the comparison is recorded by the device 17.

In this way, the first diagram of the family of curves needed for analyzing the measurement results of the error of the converter 12 can be obtained. After the diagram has been recorded, the engine 4 is turned off.

To record the next diagram of the family, the cup 9, together with the heads 10, 11, is released from the holding mechanism, rotates relative to the stator.

angle converter 12

360 ° m

where m

the number required to write family diagrams.

The rotation of the cup 9 is carried out with the help of a spindle drive motor, for which the clutch 7 breaks the connection of the spindle 2 with the worm gear 6 and engages it with the cup 9.

After turning to the predetermined angle, the cup 9 is again fixed by the holding mechanism, and the sleeve 7 switches to the initial position.

Engine 4 is turned on and the second curve of the family of curves is recorded.

All other diagrams are recorded in the same way. five

Claims (2)

Invention Formula 1, A method of controlling converters of shaft rotation angle into a code based on the formation of the reference and controlled voltages of the respective converters at the moments of changing their codes, determining the phase differences between these voltages and registering them with the synchronous rotation of the rotors of the controlled and exemplary converters combined by the same angular position of their rotors, determining the error of the controlled transducer by analyzing the obtained phase differences 0 at discrete angular positions of the stator of the reference transducer, characterized in that. In order to expand the field of application of the method by allowing control of converters with different types of coding, before starting the formation of exemplary and controlled stresses, the rotor of the controlled converter is rotated through an angle of at least 60 °, 0 at the same time forming a magnetic field proportional to the controlled voltage, and recording it on an exemplary converter made in the form of a movable disk magnetic magnet 5 of the switch rigidly connected to the rotor of the controlled converter, the sample voltage is simultaneously generated by reading several voltages of the reference converter in its equilibrium of 0 angular sections of the disk and the subsequent summation of the read voltages. 2. A device controlling converters of shaft rotation angle into a code containing a spindle and a glass coaxially connected to it, kinematically connected through bearings to each other and to the base of the object table, rigidly connected to the spindle and the kinematic input of the device, a phase meter whose first input is connected to the first an electrical input of the device, and the output of the phase meter is connected to the input of a recording device, characterized in that, in order to expand the field of application of the device, an electric signal summing unit is entered into it, magnetic reading heads and magnetic heads and magnetic media made in the form of a disk and rigidly connected with the spindle; magnetic heads are located opposite the magnetic carrier and fixed on the glass, the second electric input of the device is connected to the input of the recording-reading head, and the outputs of all magnetic heads are connected to the input of the electric sigma summation unit, the output of which is connected to the second input of the phase meter. fig1