SU760151A1 - Compensation-type shaft angular position-to-code converter - Google Patents

Description

The invention relates to a digital measurement technology and is intended for use in high-speed digital computing systems for measuring the angular coordinates.

Angle-code converters are known that use sine-cosine rotary transformers (SCWT) as angle sensors (1] and (2). Gating and tracking converters are most common. The former ensure accuracy at the level of thirteen binary digits with satisfactory speed, especially when working stepwise effects. The second allows to obtain accuracy at the level of sixteen binary digits. Of these, devices using the compensation method deserve the most attention rhenium phase shifts in which both the resolver voltage supply, and a compensating voltage generated electronic nodes without polling circuits, which ensures their high thermal sta-, ity.

The closest technical solution of the present invention is pre2

the creator of the angle of rotation in the code containing the SCWT, the output of which is connected to the first input of the phase detector, the output of which through serially connected controlled generator and control unit under ₅ keys to the input of the reversible counter, and he-. pulse puller, inputs and frequency divider are connected to the output of the pulse generator, and outputs from the decoder inputs, the other output of one frequency divider is connected to the first input of the code transfer unit,

Yu the second input of which is connected to the output of the reversible counter, the output of the code transfer unit is connected to another input of one of the frequency dividers, the output of the first decoder is connected to the second one through the first sinusoidal voltage driver

^{15 by the} input of the phase detector, the outputs of the second decoder through the appropriate sinusoidal voltage drivers are connected to the inputs of a sine-cosine rotating transformer ^].

20 This converter has a number of advantages consisting in the use of a serial micromachine in quality, angle sensor, high resolution ability — 16 binary bits of the article3

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± 1 angular fishing line. min, the use of the serial element base of microelectronics, as well as the fact that, unlike the converters, use converters that use phase conversion at a time interval with filling it with calibrated pulses and forming a complete angle code for a strictly defined measurement cycle, this converter only works out the increments of the angle. The achievement of high static accuracy is determined by the small error in the formation of discrete phase shifts of the compensating voltage and the high resolution of the phase detector, which allows filtering of the error signal.

The disadvantage of the converter is insufficient speed and a rather large dynamic error, since the presence of a phase detector filter with a relatively large time constant limits the speed of the converter to a speed of the sensor shaft at 25 degrees in seconds, which, when the tracking system has 400 Q / s, are not yet periodic modes, gives a dynamic error of 4 ang. min

In some cases (for example, a circular review system, etc.) it is desirable to have a speed of inserting the sensor shaft up to 360 degrees / sec with a dynamic error of 2-3 minutes.

The aim of the invention is to improve the accuracy of the converter, i.e. increase the dynamic error of the converter. The invention is based on an iterative principle of building a tracking equilibration system using coarse and corrective channels, the difference of which lies in the phase detector circuits. The coarse channel uses a phase detector with a time constant equal to the period of the supply voltage. Its principle of operation is that at zero-crossing of the reference voltage, the signal from the output of the angle sensor is gated and its instantaneous values are stored, the sign and value of which are control signals for the coarse channel.

The purpose of the invention is achieved by the fact that in the compensation converter of the angle of rotation of the shaft into a code containing an ACS connected to the first input of the phase detector of the coarse reference channel, the output of which is connected to the input of the coarse counting channel through the control unit, one of the outputs of which is connected to the input block code transfer, the output of the pulse generator is connected to the input of the frequency divider of the reference channel and one of the inputs of the frequency divider of the coarse channel, the output of the frequency divider of the reference channel is connected to another the corner of the input block transfer code, the output of which is connected to another input of the frequency divider channel coarse reference, the outputs of which through the corresponding

sinusoidal voltage drivers are connected to the inputs of a sine-cosine rotary transformer, a reference channel gate driver, an adder, and a correction channel are installed on a reversible counter, control unit, phase detector, code transfer unit, frequency divider and sinusoidal voltage, and a sinusoidal voltage pattern, a synemo voltage pulse, a phase detector, a code transfer unit, a frequency divider and a sinusoidal voltage generator, a sinusoidal voltage generator, a sync voltage generator, and a phase detector the rotary transformer is connected to one of the inputs of the phase detector of the correction channel, the output of which is through the control module of the correction channel It is connected to one of the inputs of the reversible counter of the correction channel, the output of which is connected to one of the inputs of the code transfer block of the correction channel, the other input of which is connected to the output of the reference channel frequency divider, and the output is connected to another input of the corrective phase detector through the sinusoidal voltage driver channel, the output of the reference channel frequency divider through the reference channel gate driver is connected to another input of the phase detector of the channel roughly reference count, the outputs of the reversible counters of the coarse counting channel and. corrective channel (connected to the inputs of the adder).

The drawing shows the block diagram of the proposed Converter.

The converter contains SCRT I, coarse channel phase detector 2, corrective channel phase detector 3, coarse and corrective channel meter control units, binary code adder 6, coarse and corrective channel counters 7 and 8, code transfer blocks 9 and 10, 11 pulse generator, dividers 12, 13 and 1Λ of the reference, coarse and correcting frequency.

The Converter operates as follows.

The stable frequency pulses from the oscillator 11 are fed to the dividers 12-14 of the frequency of the reference, coarse, and corrective channels, which produce pulses for signal conditioners in blocks 15—18. The sinusoidal voltage drivers 16 and 17 provide a quadrature power supply of SCT, the output of which is gated by a reference strobe signal produced by the driver 15. The counter control unit 4, depending on the size and sign of the output signal of the coarse channel phase 2, generates the fill frequency and the count sign for control the operation of the reverse counter 7 coarse channel. The number from the reversible counter 7 through the code transfer block 9 is recorded by a command from the reference frequency divider 12 to the frequency divider 13 and changes the phase shift of the ACS power supply voltage through the drivers 16 and 17 of sinusoidal voltages. Phase output signal-.

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la SKVT is equal to the difference of the rotation angle and phase shift of the supply voltages. Thus, a set of blocks 1, 2, 4,

7, 9, 13, 16, 17 and 11, 12, 15 is a phase system of tracking balancing, the accuracy of which is determined by the sensitivity of the phase detector 2 of the coarse channel, the magnitude of which for this circuit is units of degrees (2-3 °). the mismatch is processed by the phase tracking system of the corrective channel formed by a set of <0 blocks 3, 5, 8, 10, 14, 18 and 11, 12 15 with high accuracy. In this case, the error of the coarse channel is fixed by the counter 8 with the opposite sign. As a result, the summation of the codes of the counters 7 coarse and 8 correction channels in the adder 6 of the binary code is fixed the code of the angle of rotation of the shaft of the ACS with an error determined by the corrective channel. With regard to the dynamic error, since both channels are systems with first-order astatism, with a uniformly driven SCRT shaft, the dynamic error of the coarse channel is determined by a constant value linearly dependent on the rate of change of the angle. In this case, the corrective channel fulfills it and will continue to work out only its change.

Thus, the claimed device provides high-precision conversion of the angle of rotation of the shaft into a code not only in static, but also in dynamic mode.

Claims (1)

Claim Compensation converter of the shaft rotation angle into a code containing a sine-blue 35 cosine rotating transformer connected to the first input of the coarse channel phase detector, the output of which is connected to the coarse channel reversing counter input through the control unit, one of the outputs of which is connected to the code block input , the output of the pulse generator is connected to the input of the frequency divider of the reference channel and one of the inputs coarse-sized channel frequency divider, the output of the reference-channel frequency divider is connected to another input of the code transfer unit, the output of which is connected to another coarse-channel channel frequency divider, the outputs of which are connected to the sine-cosine rotating transformer inputs through corresponding shapers of a sinusoidal voltage transformer, characterized in that , in order to improve the accuracy of the converter by reducing the dynamic error of the converter, the gating driver of the gating signal a channel, an adder, and a corrective loop are made on a reversible counter, a control unit, a phase detector, a code transfer unit, a frequency divider and a sinusoidal voltage driver, a sine-cosine rotating transformer is connected to one of the inputs of the corrective channel phase detector, the output of which is through the control unit corrective channel is connected to one of the inputs of the reversible counter of the correction channel, the output of which is connected to one of the inputs of the code transfer block of the correction channel, The second input of which is connected to the output of the reference channel frequency divider, and the output through the shaper sinusoidal voltage of the correction channel is connected to another input of the phase detector of the correction channel, the output of the reference channel frequency divider is connected to a different input of the coarse channel channel phase detector through the shaper signal of the reference channel, the outputs of the reverse counters of the coarse channel and the corrective channel are connected to the inputs of the adder.