SU934521A1 - Shaft angular position-to-code converter - Google Patents

Description

The invention relates to automation and computer technology and may find application for communication of an analog electromechanical converter with a digital computing device.

A known displacement transducer is a code containing a generator, a local oscillator, a frequency divider, a phase shifter, frequency converters, phase pulse shapers, and a time interval converter, a code [1].

The disadvantage of the converter is its low accuracy.

A known converter of the angle of rotation of the shaft into a code containing a generator, phase-shifting circuits, a supply voltage shaper made on two adders, a sine-cosine angle sensor with two input windings connected to the outputs of the adders. Pulse shapers and a code shaper [2].

A disadvantage of the known Converter is the low accuracy.

The purpose of the invention is to improve the accuracy of the Converter angle of rotation of the shaft in the code.

This goal is achieved by the fact that two adders, the outputs of which are connected to the inputs of the sine-cosine angle sensor, and the pulse shaper whose output is connected to the first input of the code shaper, have a low-pass filter phase-sensitive a detector and a frequency divider block, the input of which is connected to the generator output, the first and second outputs of the frequency divider block are connected to the inputs of the first adder, the inputs of the second adder are connected to the third and four The ground outputs of the frequency divider block, the fifth output of which is connected to the first input of the phase-sensitive detector, the output of the sine-cosine angle sensor is connected to the input of the low-pass filter, the output of which is connected to the second input of the phase-sensitive detector, the output of which is connected to the input of the pulse former, the sixth and seventh outputs of the divider block the frequencies are connected respectively to the second and third inputs of the code generator.

The block of frequency dividers contains two dividers into four, two digital adders and a divider with intermediate output, input. 5 of which is the input of the frequency divider block, and the first and second outputs are connected to the inputs of the first and second digital adders, the output of each of which is connected to the input of the corresponding 10 divider into four, the first outputs of the four dividers are the first and second outputs of the frequency divider block, respectively , the third and fourth outputs of which are connected to the second outputs of the dividers by four, 1S the third and fourth outputs of the divider with an intermediate output are connected to the fifth and sixth outputs of the block of dividers h simplicity, the input and output of which seventh interconnected.

In FIG. 1 shows a block diagram of a converter _{2 of a} shaft angle of rotation into a code; in FIG. 2 is a diagram of a block of frequency dividers, an embodiment; in FIG. 3 is a timing diagram explaining the operation of the converter.

The converter contains a generator 1 often- $ ₂ you fb> adders 2 and 3, a sine-cosine sensor 4 angles, a low-pass filter 5, a phase-sensitive detector 6, a pulse shaper 7, a code shaper 8, a frequency divider block 9, which includes dividers 10 and 11 with outputs of the frequency pulses f _H and f ₀ and frequency dividers 12 and 13 with phase splitters of the output frequency pulses and f ₂ .

In cases where a converter of the angle of rotation of the shaft into a code having an output in binary code is required, the unit 9 of the frequency dividers contains a divider 14 with an intermediate output, digital adders 15 and 16 and dividers 17 and 18 into four.

The converter operates as follows.

From the generator 1 to the inputs of block 9 (from the inputs of the dividers 10-13) pulses are received. frequency ίβ (Fig. 3, fb). At the two outputs of the frequency divider 12 of the block 9, pulses fi and f [(Fig. 3, f {) are generated with the frequency fj shifted relative to each other in phase by 1/4 of the period. At the two outputs of the frequency divider 13 of block 9, having a division coefficient different from the division coefficient of divider 12, pulses 50 f ₂ and fi are formed (Fig. 3 f _{1 (} fi) with frequency f ₂ , phase shifted by 1/4 of the period. ft th f ₂ enter the inputs of adder 2, the output of which the signal a is formed (Fig. 3a) .In this case, the first harmonic of the signal Λ has the form 55

I _а - ДСО5 1 siw 2ft

The signals f {and fi arrive at the inputs of the adder 3, at the output of which a signal is generated (Fig. 3b). In this case, the first harmonic of the signal has the form

G _in = As-iw 21ε -b sin b

The output signals Di £ adders 2 and 3 are fed to the input windings of the angle sensor 4. The voltage from the output winding of the sensor 4 enters the low-pass filter 5, where the signal c is extracted (Fig. 3, c), which is the sum of the two signals 'difference (f ₀ - f _H ) and total (f ₀ + f _H )' frequencies. The signal c at the output of the low-pass filter has the form = V cos M>) cos 2ft £ _о £, * ό α ι g. "

where B is the amplitude of the signal c at the output of the lowpass filter 5;

φ is the spatial angle of the mutual position of the input and output windings of the angle sensor 4.

The signal from the output of the low-pass filter 5 is fed to one of the inputs of the phase-sensitive detector 6, the second input of which from the output of block 9 receives the reference frequency pulses fo. In the phase-sensitive detector 6, the first harmonic of signal d is synchronously detected and extracted using the low-pass filter (Fig. 3d), whose frequency is f _H , and the phase corresponds to the relative position of the input and output windings of the sensor 4. In this case, the phase-sensitive detector 6 is almost completely the quadrature component is excluded from the measuring signal d.

The signal d from the output of the phase-sensitive detector 6 is supplied to the pulse shaper 7. Rectangular pulses from the output of the shaper 7 are fed to the first input ^! shaper 8 code, the second input of which from the output of block 9 receives pulses of frequency f _H. In the code shaper 8 along the leading edges of the pulses arriving at its first and second inputs, time intervals are formed, which are filled with frequency pulses fb., Arriving at the third input of the code shaper 8 from the output of block 9. The value of the time interval in the code shaper .934521 corresponds to the mutual the position of the input and output windings of the 4-angle sensor.

Block 9 frequency dividers works as follows. The divider 14 is made in the form of a binary frequency divider with 2n-binary digits (where n = log ₂ - / fi), and digital adders 15 and 16 are made in the form of (n-D) bit full binary adders. The signals from η — 1 of the least significant bits of the divider 14 are supplied to the inputs of the adders 15 and 16 as 10 as the first term. As the second term to the inputs of the adder 15, signals from the subsequent '.η-l bits of the divider 14 are received. As the second term to the inputs of the adder 16, signals are received,' 15 inverse to the signals of the second term at the inputs of the adder .15 (at the input of the transfer of the least significant bit of the adder 15 must be set to logical “0”, and at the input of the transfer of the least significant bit of the adder 16 - logical] 0 ”1”) · The output signals from the upper bits of the adders 15 and 16 are fed to the inputs of the dividers 17 and 18, which can be made in the form of two-bit two pure dividers.

In this case, signals of the following frequencies are generated at the output of block 9: 25

£ X - ^{£ B.} £ * B.

^x ng | * o “<2_k” s ^x 1'4 (2 * ~ 1l) <

"H ³⁰

Claims (2)

(54) SHAFT ROTATOR ANGLE CONVERTER The invention relates to automation and computing technology and can be used to connect an analog electromechanical converter with a digital computing device. The known displacement transducer is a code containing a generator, a local oscillator, a frequency divider, a phase shifter, variable frequency drivers, phase pulse drivers, and a time interval transducer – code. The disadvantage of the transducer is low TOR 10ST. A known converter of shaft rotation angle into a code containing a generator, phase-shifting circuits, a driver voltage supply, made on two adders, a sine-cosine angle sensor with two input windings connected to the outputs of summers, pulse pulse generator and code generator 2. Disadvantage The unknown converter is low accuracy. IN THE CODE The purpose of the invention is to improve the accuracy of the converter of the angle of rotation of the shaft into the code. The goal is achieved by the fact that in the converter of the angle of rotation of the shaft into the code containing the generator, two adders, the outputs of which are connected to the inputs of a sine-cosmic angle sensor, and a pulse-driver. the output of which is connected to the first input of the code generator, the frequency filter, the phase-sensitive detector and the frequency divider unit, whose input is connected to the generator output, are entered, the first and second outputs of the frequency divider unit are connected to the inputs of the first adder, the inputs of the second adder are connected to the third and fourth outputs a unit of frequency dividers, the output of which is connected to the first input of the phase-sensitive detector, the output of the snus-sinus angle sensor is connected to the input of the low-pass filter, the output of which It is connected with the second input of the phase-sensing detector, the output of which is connected to the input of the pulse former, the sixth and seventh outputs of the frequency divider unit, connect 39 to the second and third inputs of the former. The frequency divider unit contains two dividers for four, two digital adders and a divider with intermediate output, the input of which is the input of the frequency divider unit, and the first and second outputs are connected to the inputs of the first and second digital adders, each output of which is connected to the input of the corresponding divider into four, the first outputs of the dividers pa four are respectively the first and second outputs of the block of frequency dividers, the third and fourth outputs of which are connected to the second outputs of the dividers on the yre, third and fourth outputs with an intermediate divider output soedaneiy to the fifth and sixth outputs of frequency dividers block input and output of which is connected to the seventh between sobo FIG. 1 shows a block diagram of a shaft angle converter into a code in FIG. 2 is a block diagram of a frequency divider, an embodiment; in fig. 3 - timing diagrams that show the operation of the converter. The converter contains 1 fb frequency generator. adders 2 and 3, sine-cosine angle sensor 4, low-pass filter 5, phase-sensitive eTeFTOp 6, pulse shaper 7, kDa shaper, block 9 frequency dividers, which includes dividers 10 and 11 with pulse outputs fH and fo and dividers 12 and 13 frequencies with phase splitters of output pulses of frequencies fi and fj. In cases where a shaft angle converter into a code having an output in binary code is required, block 9 of frequency dividers contains divider 14 with intermediate output, digital totalizers 15 and 16, and dividers 17 and 18 by four. The Converter operates as follows. From the generator 1 to the inputs of block 9 (from the inputs of the dividers 10-13) pulses arrive, with frequency fb (Fig. 3, fb). At the two outputs of the divider 12, the frequency of block 9, pulses fj and f are formed (Fig. 3, f ,, f,) with frequency f, shifted relative to each other in phase by 4 of the period. At the two outputs of the divider 13 frequency block 9, having a division factor different from the division factor of the divider 12, pulses fi and f2 (Fig. 3 fi, fj) with frequency fj are formed, shifted in phase by period. The signals fi and fj are fed to the inputs of adder 2, at the output of which a signal a is generated (Fig. 3a). In addition, the first harmonic of the signal t has the form Icj AcoBdlt isivialc - t Signals f (and fj are fed to the inputs of the adder 3, the output of which forms a signal (Fig. 3b). At the same time, the first harmonic of the signal has the form Igt A s-in 21C isin ait Output The signals Di J of the adders 2 and 3 are fed to the input windings of the angle sensor 4. The voltage from the output winding of the sensor 4 enters the low-pass filter 5, where the signal c is extracted (Fig. 3.c), which is the sum of two difference signals f о - н) and total (fо + f н) frequencies. The signal с at the output of the low-pass filter has d U | -yos 21t (vf,) t4 () B cos (alt cit h) 55 2it ЕО-Ь i.Mi. ta I where B is the amplitude of the signal from the output of the low-pass filter 5; tp is the spatial angle of mutual altitude the input and output windings of angle sensor 4. The signal c from the output of the filter 5 lower hours goes to the input from the phase-sensitive detector 6, to the second input of which the output frequency fo is received from the output of block 9. In the phase-sensitive detector 6, synchronous detection and substitution are performed using a lowpass filter of the per &amp; th harmonic of the d signal (FIG. 3d), whose frequency is 1 c, and the phase corresponds to the mutual position of the input and output windings of sensor 4. At the same time, on phase-sensitive detector 6, the quadrature component is almost completely excluded from the measuring signal d. The signal d from the output of the phase-sensitive detector 6 is fed to the driver 7 pulses. The rectangular pulses from the output of the imaging unit 7 are fed to the first input of the imaging unit 8 of the code, to the second input of which from the output of block 9, impulses of frequency fH are received. In the shaper 8 of the code, at the leading edges of the pulses arriving at its first and second bodes, time intervals are formed, which are filled with frequency pulses fb, arriving at the third input of the shaper 8 of the code from the output of block 9. The time interval in the shaper 8 of the code corresponds to mutual the position of the input and output windings of the sensor 4 angle. Unit 9 frequency dividers works as follows. Divider 14 is implemented in the form of a binary frequency divider with 2n-binary bits JSCO (where n) and digital controllers 15 and 16 are made in the form of (n-r-l) bit full binary adders. The signals from the p-1 low-order bits of the divider 14 are fed to the inputs of adders 15 and 16 as the first term. As the second term, the inputs of the adder 15 receive signals of the next .n-1 bits of the divider 14. As the second term, the inputs of the adder 16 receive signals inverse to the signals of the second term at the inputs of the adder L 5 Yes, adder 15 must be set to logical O, and the input of the low-order transfer of adder 16 must be logical 1). The output signals from the higher bits of the adders 15 and 16 are fed to the inputs of dividers 17 and 18, which can be made in the form of two-digit binary dividers. In this case, the signals of the following frequencies are formed at the output of block 9:. - AT . (jvx- 14Cl ll) 4 (-4.1) Claims of the invention f. Angle converter. shaft in the code that contains the generator, two adders, the outputs of which are connected to the inputs of a sinus-sinus angle sensor, and a pulse shaper, the output of which is connected to the first input of the code generator, characterized in that, in order to improve the accuracy of the converter, a LOWER parts filter is inserted into it , a phase-sensitive detector and a block of frequency dividers, the input of which is connected to the output of the generator, the first and second outputs of the block of frequency dividers are connected to the inputs of the first adder, the inputs of the second adder are connected to the third and h The fourth outputs of the frequency divider unit, the 11th output of which is connected to the first input of the phase-sensitive detector, the output of the sine-cosine angle sensor is connected to the input of a low-pass filter, the output of which is connected to the second input of the phase-sensitive detector, the output of which is connected to the input of the pulse shaper, the sixth and seventh the outputs of the frequency divider unit are connected respectively to the second and third inputs of the code generator. 2. The converter according to the item 1. About tl and h ay p and with that. The frequency divider unit contains two dividers for four, two digital adders and a divider with an intermediate output, the input of which is the input of the frequency divider unit, and the first and second outputs are connected to the inputs of the first and second digital adders respectively, the output of each of which is connected to the input divider by four, the first outputs of dividers by four are respectively the first and second outputs of the frequency divider unit, the third and fourth outputs of which are connected with the second outputs of dividers to even The third, fourth, and fourth outputs of the splitter with an intermediate output are connected to the fifth and sixth outputs of the frequency divider unit, the input and the seventh output of which are interconnected. Sources of information taken into account in the examination 1. Authors svdetestvo USSR N 409258, cl. G 08 C 9/00, 1971. 2. Authors certificate of the USSR (f 525988, class G 08 C 9/04, 1974 (prototype). 15 fr. f4 fff 0fff.l ff  f ff