SU849269A1 - Device for setting rotation angle - Google Patents

Description

The invention relates to automation and telemechanics and can be used for high-precision transmission systems and measurement of the angle of rotation of the shaft. Following systems are known for setting and measuring; rotation angle of the shaft, containing a multi-pole phase rotation receiver angle with a modulating motor, a phase rotation two-pole sensor and an executive motor associated with the working platform. The accuracy of these systems when using switches to eliminate instability, zero electric elements reaches one angular second l and 2. However, further accuracy is limited by the error caused by the mutual influence of the output signals of the multi-pole phase-rotation receiver when transmitting them via communication channels and parasitic mutual inductances of the phase-receiving receiver , as well as the insufficiently high electrical reduction ratio of the following system, the increase of which is limited No technological capabilities in the manufacture of a multi-receiver. The closest in technical essence to the present invention is a device comprising a phase-shifting receiver, the first input of which is kinematically connected with the shaft of the modulating motor connected via the first switch to a two-phase power source, the second input is connected to the turntable shaft and the executive engine. The first input of the phase-rotation receiver is connected through corrections to the phase-shifter, phase splitter, the second switch and the phase-rotation sensor connected to the first input of the phase discriminator, to the second input of which the second output of the phase-shifting receiver is connected. The output of the phase discriminator through the amplifier and the third switch is connected to the control winding of the executive motor. Such a device, which is a phase-tracking fine-counting system with electrical reduction, is equipped with a coarse-counting system consisting of a sine-cosine rotating transformer (SCWT) receiver and a CWT sensor, which are kekematically connected respectively to the second input of the phase-matching receiver and the rotor of the phase rotation sensor 3 J.

; The disadvantage of this device is the EtCH limited accuracy determined by the error of the phase-rotation receiver (due to the parasitic mutual inductance connections between the two outputs) and the error of the phase-rotation sensor (due to the limited electrical reduction ratio determined by the number of pole pairs of the multi-pole phase-rotation receiver).

The purpose of the invention is to improve the accuracy of setting the angle of rotation of the shaft. The goal is achieved by the fact that in the device for setting the rotation angle, containing a phase rotation receiver, the first input of which is kinematically connected to the shaft of the modulating motor, power supply of which is connected through the first switch to the first power source, the second input of the phase rotation receiver is kinematically connected to the rotor of a sius-kosi rotary transformer-receiver., with the shaft of the turntable and with the shaft of the first executive engine, the shaft of the phase-rotation sensor is kinematically with It is connected with the first block of scales, and through a reducer - with a rotor of a sine-cosine rotating transformer-sensor, the first output of the phase-rotation receiver is connected via a corrective phase shifter to the phase splitter input, the outputs of which are connected through the second switch to the inputs of the phase rotation sensor, output of the phase-shifter. with the inputs of the third switch, the output of the sine-cosine rotating transformer-sensor connection is through a second amplifier with pins the first actuator, the db-phaser, the detectors zero, the synchronous detector, the second block, the additional sine-cosine rotating transformer, element, comparison, additional power supply, the additional executive engine, the shaft of which is kinematically connected to the second block SC and the rotor of the additional sine-co-sinus rotating transformer - the output of the additional power source is connected to the input of a sine-cosine rotating transformer A terminal whose outputs are connected to the inputs of an additional sine-cosine rotational transformer, the outputs of which are connected to the inputs of a sine-cosine rotating transformer sensor, the first and second outputs of the phase rotation receiver are connected to the first and second inputs of the synchronous detector whose output is connected via the first detector zero to the first input phase discriminator, and through an additional phase shifter and the second detector zero - with the first input of the comparison element, the output phase shifting dates ika third detector is connected via a second input than zero comparing element whose output is connected to a second input of the phase discriminator, the third switch outputs are connected to terminals additional actuator motor power.

The drawing shows a block diagram of the device dp setting the angle of rotation.

The device contains a phase-shifting receiver 1 containing a pho-. the torus 2, the stator 3 and the modulator A. The first input (modulator) is kinematically connected to the shaft of the modulating motor 5 connected via the first switch 6 to the two-phase power source 7. The second input (rotor) is connected kinematically with the rotor of the SCRT receiver 8 connected to the power supply 9, with the shaft of the turntable 10 and the executive engine 11 connected through the first amplifier 12 to the output of the UKR sensor 13. First output (stator winding 3) phase receiver connected to one of the inputs of the synchronous detector 14 and through a correction phase shifter 15, phase splitter 16, the second switch 17 - to the input of the phase rotary sensor 18. The second output (rotor winding 2) of the phase rotary receiver connected to another at the input of the synchronous detector 14, the output of which is connected to the inputs of the first detector 19 zero and an additional phase shifter 20, the output of which is connected to the input of the second detector 21 zero. The output of the phase rotation sensor 18 is connected to the input of the third detector 22 zero, the output of which is connected to the first input of the comparison element 23, the second input of which is connected to the output of the second detector 21, and the output to the first input of the phase discriminator 24, the second input of which is connected to the output of the first detector 19 zero. The output of the phase discriminator 24 through the second amplifier 25 and the third switch 26 is connected to an additional executive motor 27, kinematically connected with an additional SCRT 28 whose input windings are connected to the output stator windings of the SCVT receiver 8, and the output windings to the input windings of the SCRT sensor 13. The phase rotation sensor 18 is connected via a reducer 2.9 to the SCRT sensor ohm 13. The blocks 30 and 31 of the scales are kinematically connected with the rotor of the phase rotation sensor 18 and the additional SCRT 28. The winding of the rotor 2 of the phase-shifting receiver is made with the number of pairs of poles p., And the winding of the stator 3 with the number of pairs of poles p.

The device works in the following way.

Through a reduction gear 29 defined by the shnals 30 angles (5 is transmitted to the rotor of the SCRT sensor 13. The error signal at the output of the SCVT sensor 13 acts through the amplifier 13 on the executive motor 11, which rotates the platform 10 through the angle oL with an error determined by the gear 29 the following system composed of a SSCT sensor 13 and a SSCT receiver 8. With this, the angle ct will be represented as oL Nt, where N is the rotation speed of the platform 10 (rev / s) I t is time, and the angle L is, t where Pfr is the rotation speed of the rotor of the phase rotation sensor 18.

When the modulator 4 rotates at speed P | (rev / s), with the rotor winding 2

phase receiver 1, a sinusoidal signal is taken at a frequency of

(one)

 (M + p) p

and from the stator winding 3 - the signal frequency

which is shifted in phase by adjusting the phase shifter 5, which serves to manually display the initial zero of the device. From the output of the corrective phase shifter, the signal enters the phase shifter 16 to form a bias at its output. The Kenn motor is fed by a phase rotation sensor 18. A sinusoidal voltage H output of the phase rotation sensor 18 has a frequency

. zg:

At the input of the synchronous detector 14 receives signals with frequencies t | --And f, as a result, at its output a sine wave with frequency

(V)

, -f2

The first detector 19 zero converts this signal into a sequence of pulses (formed. At the moments of a sinusoid zero transition) with a frequency, F, which is fed to the input of phase discriminator 24, which can be used as a trigger. The signal from the output of the synchronous detector 14 also enters the additional phase shifter 20, and from its output, the second detector 21 zero, which forms pulses with a frequency F, the duration of which is several times longer than the duration

Claims (3)

pulses received from the third detector 22 zero and having a frequency fipB- When setting up the device by adjusting the additional phase shifter 20, the pulses from the output of the second detector 21 zero are shifted in time so as to ensure reliable selection by the comparison element 23 of individual pulses arriving at the frequency F at times the arrival of pulses with a frequency f As a result, at the output of the coincidence circuit, a sequence of short pulses is obtained with a frequency F obtained from a sequence of pulses with a frequency i.e. frequency is divided by a number of times equal to F -f ,. The division coefficient K, is determined at the steady state of the platform, i.e. at (6) P, -P2 Thus, the frequency of the pulses arriving at the first input of the phase discriminator 24 can be determined as, dep Pj, the phase discriminator determines the phase mismatch between the pulses arriving at its inputs. The error signal through the amplifier 25 and the switch 26 is fed to the additional executive motor 27, which rotates the additional SCRT 28, generating a signal at the output of the SCRT sensor proportional to the error of the gearbox 29, the SCRT sensor 13 and the SCVT receiver 3. As a result, the engine 11 keeps the platform 10 in a position that corresponds to the zero value of the error signal at the output of the discriminator 24. Thus, the system of the phase rotation sensor 18 and the receiver 1 is accurate (corrective the theme correcting the error of a rough system made up of SCRT 8 and 13). The electrical reduction ratio of the exact system is determined from the condition of CVPa PtMPrPo.)) P, -; yvP2 we get RCHR P. Thus, the coefficient of electric reduction of the exact system, compared with the known one, increases. time. For example, if you take 184, then p-p- 45 times. Consequently, if the error of the phase rotary sensor 18 with a gearbox 29 pa at 10 coal. min, the error in the installation angle due to this cause will be .- and in the known Sp-1 .o ° In the known device due to the fact that the PJ P output signals of the rotor windings and the stator of the phase-rotation receiver have the same (static) frequencies. Since the rotor signal varies in phase as a function of the rotation angle (), the connection between the rotor and stator signals, due to parasitic mutual inductances in the receiver itself and in the communication channels, causes an error in the angle setting varying with a period of 21C | P. |. In the assumed device, this error is fundamentally excluded, since the signals of the rotor and the stator of the phase-rotation receiver have different frequencies (due to the fact that R Pj) "and the main functional signal of the frequency -f) is formed by mixing the signals of the rotor and stator on the synchronous detector 14, i.e. . Unlike the known, where, where possible, the signals of the rotor and the stator are isolated from each other, in the proposed device the mixing of these signals is a fundamental condition for operation. The error due to the instability of the electrical elements of the device due to aging, the effect of changes in the ambient temperature, is detected with the help of switches 6, 17 and 26 and eliminated with 1 corrective phase shifter 15 according to the indications of the scale unit 31. Thus, in the proposed device, a number of fundamental errors inherent in the well-known are practically excluded. The accuracy of the proposed device is mainly determined by the error (varying with the period 21b) of the phase-rotation receiver, which is determined by the clustering of the axes of rotation of the rotor and modulator and not exceeding (with installation tolerances of the order of 10 μm) 0.3-0.5 angle. with. An apparatus for setting a rotation angle comprising a phase rotation receiver, the first input of which is kinematically connected to a shaft of a modulated engine, whose power input is connected via a first switch to a first power source, a second input of a phase rotation receiver Kinematically connected to a rotor of a sinus-cosine rotating transformer-receiver with a shaft of a rotary platform and with a shaft of the first executive engine, the shaft of the phase rotational sensor is kinematically connected with the first a scale unit, and through a reducer - with a rotor of a sine-wave rotary transformer-sensor, the first output of the phase-rotation receiver is connected via a correction phase shifter to the splitter input, the outputs of which are connected through the second switch to the inputs of the phase-rotation sensor, the output of the phase discriminator is connected via the first amplifier, the input of the phase switch, and the outputs of the phase-shifting sensor sine-cosine rotating transformer-sensor is connected via a second amplifier with power supply outputs of the first executive Motor, characterized in that, in order to improve accuracy, an additional phase shifter, zero detectors, a synchronous detector, a second scale block, an additional sine-cosine rotating transformer, a reference element, an additional power source, an additional executive motor, the shaft of which is kinematically connected are introduced into it with the second block 4926910 and with the rotor of an additional sine-cosine rotary transformer, the auxode of the additional power source is connected to the input of a sine-cosine rotating transformer-receiver, the outputs of which are connected to the inputs of an additional sine-cosine rotating transformer, the outputs of which are connected to the inputs of the sine-sine-coso-cosine-to-sine-coso-cosine-to-sine-coso-cosine-to-sine-coso-cosine-to-sine-coso-cosine-to-sine-to-cosine-to-sine-cosine-to-sine-to-cosine-to-sine-to-cosine-to-sine-cosine-to-sine-cosine-to-sine-to-cosine-to-sine-to-cosine rotating transformer, outputs tsoj of the same to the sine-to-sine-to-sine-to-sine-cosine-to-turn the sensor, the first and second outputs of the phase rotation receiver are connected to the first and second inputs J5 of the synchronous detector, the output of which oedinen zero through the first detector with a first input of the phase discriminator, and via a further phase shifter and a second detector 20 zero - with the first input of the comparison element, the output of the phase rotation sensor is connected via a third zero detector with the second input of the comparison element, the output of which is connected to 25 by the second input of the phase discriminator, the outputs of the third switch are connected to the power terminals of the auxiliary actuator. Information sources, 30 taken into account in the examination 1, Elements of digital control systems. Sat articles ed. V.A.M. L., Science, 1971, p. 234. 2. Authors certificate of the USSR 5 226693, cl. G 08 C 19/12, 1967. 3.- USSR Author's Certificate No. 552587, cl. G 05 B 11/01, G 08 C 19/12, 1974.