Multi-turn rotating mechanism angle real-time detection assembly and detection method thereof

Abstract

The invention relates to a multi-turn rotating mechanism output shaft angle real-time measurement technology, in particular to a multi-turn rotating mechanism angle real-time detection assembly and a detection method thereof, and the multi-turn rotating mechanism angle real-time detection assembly comprises a rotary transformer module, a rotary transformer angle decoding module, a data processing module and a data recording module. The rotary transformer module is used for driving a rotor of the rotary transformer module to rotate and acquiring the rotation angle of a stator of the rotary transformer through a rotary transformer angle decoding module; the rotary transformer angle decoding module is used for resolving the rotation angle of the rotary transformer stator and sending the rotation angle of the rotary transformer stator to the data processing module; the data processing module is connected with the data recording module and is used for processing the rotation angle of the stator of the rotary transformer through a rotation angle detection algorithm and sending an obtained angle accumulated value to the data recording module; compared with a position detection method adopting a Hall sensor or an encoder, the method has the advantages of interference resistance, convenience in installation, high positioning precision and the like.

Description

Technical Field

[0001] The invention relates to a real-time measurement technology of the output shaft angle of a multi-turn rotating mechanism, in particular to a real-time detection component of the angle of a multi-turn rotating mechanism and a detection method thereof. Background Art

[0002] The output shaft angle detection of multi-turn rotating mechanisms is generally achieved by using a motor combination with an integrated Hall sensor or encoder. However, when equipped with a transmission mechanism such as a reduction gearbox, the above method can only detect the rotation angle of the motor body. In a precise control system, the transmission mechanism is required to have very high coupling accuracy. In large mechanical structures, high coupling accuracy is difficult to achieve. Therefore, this application method cannot accurately measure the angle of the output shaft. During the actual use of the equipment, abnormal power failures often occur. Most systems use zero return processing after power-on, and achieve this function by adding an in-place sensor. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-turn rotating mechanism angle real-time detection component and a detection method thereof, so as to realize real-time monitoring and recording of the angle of the output shaft of the multi-turn rotating mechanism, thereby overcoming the above-mentioned shortcomings of the prior art of multi-turn rotating mechanism output shaft angle detection technology.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a multi-turn rotating mechanism angle real-time detection component, used for rotating mechanism absolute position detection, including: a rotary transformer module, a rotary transformer angle decoding module, a data processing module and a data recording module.

[0005] The rotary transformer module is connected to the rotary transformer angle decoding module; it is used to drive its rotor to rotate, and obtain the rotation angle of the rotary transformer stator through the rotary transformer angle decoding module;

[0006] The rotary transformer angle decoding module is connected to the data processing module, and is used to calculate the rotation angle of the rotary transformer stator according to the principle of electromagnetic induction, and send the rotation angle of the rotary transformer stator to the data processing module;

[0007] The data processing module is connected to the data recording module, and is used to process the rotation angle of the resolver stator through a rotation angle detection algorithm, and send the obtained angle accumulation value to the data recording module;

[0008] The data recording module is composed of an EEPROM and receives the angle accumulation value sent by the data processing module through the input and output interface IIC.

[0009] The rotary transformer module comprises: a rotating mechanism, a stator and a rotor;

[0010] The rotor is fixed on the output shaft of the rotating mechanism, and the stator remains fixed; the stator and the output shaft of the rotating mechanism are fixed coaxially, so that the rotation angle of the rotary transformer is the same as the rotation angle of the output shaft.

[0011] The rotary transformer angle decoding module is powered by an independent low-noise power supply, has an effective accuracy of ±2′, and a data output interface of SPI.

[0012] The data processing module comprises: a data input interface and a data output interface connected to the STM32 processor; the data input interface is connected to the rotary transformer angle decoding module through an isolated SPI interface, and the data output interface is connected to the data recording module through an IIC interface.

[0013] A detection method for a multi-turn rotating mechanism angle real-time detection component comprises the following steps:

[0014] 1) Turn on the resolver module, and the rotating mechanism drives the stator to rotate so that the stator and the output shaft rotate at the same angular velocity;

[0015] 2) The angle range of the resolver is divided into three areas: a, b, and c. The STM32 processor of the data processing module reads the resolver angle decoding module at a frequency of 100 Hz to obtain the rotation angle of the resolver stator in real time and detect the angle change;

[0016] 3) The data processing module processes the angle change of the rotation angle of the rotary transformer stator through the rotation angle detection algorithm to realize the cumulative processing of the angle increase or decrease. When the rotating axis of the rotary transformer module is stable for a certain period of time, the angle change is added to the angle value recorded when the rotary transformer module was used last time to obtain the angle cumulative value, which is then stored in the data recording module.

[0017] In step 2), the angle range of the rotary transformer is divided into three regions: a, b, and c, specifically:

[0018] The angle range of the rotary transformer is divided into three areas: a, b, and c, where OA is the absolute 0 angle of the rotary transformer, the angle increases in the clockwise direction, the acute angle ∠OAC is 45°, that is, area a, the acute angle ∠OAB is 45°, that is, area b, and the obtuse angle ∠OAC is 270°, that is, area c.

[0019] The step 3) is specifically:

[0020] 3-1) The angle value collected by the data processing module for the first time is r1, which is used as the reference value; the angle value collected again is r2:

[0021] 3-2) By using a rotation angle detection algorithm, the relationship between the reference value r1 and the angle value r2 collected again and the angle range of the resolver is determined to detect angle changes;

[0022] 3-3) After completing the current rotation angle change detection, use r2 as the reference value for the next measurement, collect the angle value of the resolver again, and repeat the above angle change detection method to obtain the real-time angle change cumulative value r;

[0023] 3-4) When the angle value collected for 10 consecutive times does not change, it is considered that the rotating mechanism has stabilized. The angle change r is accumulated with the angle value recorded when the device was used last time, and then stored in the data recording module to realize the absolute position recording function.

[0024] The rotation angle detection algorithm is used to determine the relationship between the reference value r1 and the angle value r2 collected again and the angle range of the resolver, and detect the angle change, specifically:

[0025] When r1 and r2 do not fall in the a∪b region at the same time:

[0026] If r1<r2, the rotation axis is forward, and the angle value increases by |r2-r1|;

[0027] If r1>r2, the rotation axis is reversed and the angle value decreases by |r2-r1|;

[0028] When r1 falls in area a and r2 falls in area b, the rotation axis is reversed and the angle value decreases |r2-r1|;

[0029] When r1 falls in area b and r2 falls in area a, the rotation axis is positive and the angle value increases by |r2-r1|.

[0030] The present invention has the following beneficial effects and advantages:

[0031] 1. The rotary transformer rotor of the present invention is fixed to the output shaft, and the rotary transformer angle decoding module is powered by an independent low-noise power supply to ensure the reliability of decoding. It is interconnected with the data processing module through an isolated SPI interface to further reduce signal interference between systems.

[0032] 2. The data processing module of the present invention adopts a low-power STM32 processor, which meets the performance indicators of real-time processing, and the low-power consumption characteristics are very suitable for data recording and delayed protection processing functions after the system is powered off. The data recording module and the STM32 processor are interconnected through an IIC interface.

[0033] 3. The multi-turn angle detection method running in the data processing module of the present invention utilizes the one-to-one correspondence between the position and angle in a single turn of the rotary transformer to calculate the angle increase or decrease of the output shaft of the rotating mechanism in real time, and realizes zero-crossing detection by using the angle partitioning processing method to achieve angle statistics during multi-turn rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the present invention;

[0035] Figure 2 It is a schematic diagram of multi-turn angle detection of a rotary transformer of the present invention;

[0036] Among them, 1 is a rotary transformer module, 2 is a rotary transformer angle decoding module, 3 is a data processing module, and 4 is a data recording module. DETAILED DESCRIPTION

[0037] The description of the embodiments of this specification should be combined with the corresponding drawings, which should be considered as part of the complete specification. In the drawings, the shape or thickness of the embodiments may be enlarged and indicated for simplification or convenience. Furthermore, the parts of each structure in the drawings will be described separately. It is worth noting that the elements not shown in the drawings or not described in words are in a form known to ordinary technicians in the relevant technical field.

[0038] The description of the embodiments herein and any reference to directions and orientations are only for the convenience of description and are not to be construed as any limitation on the scope of protection of the present invention. The following description of the preferred embodiments may involve combinations of features, which may exist independently or in combination, and the present invention is not particularly limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0039] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0040] like Figure 1 As shown, it is a structural schematic diagram of the present invention. The present invention is a multi-turn rotating mechanism angle real-time detection component, which is used for rotating mechanism absolute position detection, including: a rotary transformer module 1, a rotary transformer angle decoding module 2, a data processing module 3 and a data recording module 4.

[0041] The rotary transformer module 1 is connected to the rotary transformer angle decoding module 2; it is used to drive its rotor to rotate, and obtain the rotation angle of the rotary transformer stator through the rotary transformer angle decoding module 2;

[0042] The rotary transformer angle decoding module 2 is connected to the data processing module 3, and is used to calculate the rotation angle of the rotary transformer stator according to the electromagnetic induction principle, and send the rotation angle of the rotary transformer stator to the data processing module 3;

[0043] The data processing module 3 is connected to the data recording module 4, and is used to process the rotation angle of the rotary transformer stator through a rotation angle detection algorithm, and send the obtained angle accumulation value to the data recording module 4;

[0044] The data recording module 4 is composed of an EEPROM and receives the angle accumulation value sent by the data processing module 3 through the input and output interface IIC. The rotary transformer module 1 includes: a rotating mechanism, a stator and a rotor;

[0045] The rotor is fixed on the output shaft of the rotating mechanism, and the stator remains fixed; the stator and the output shaft of the rotating mechanism are fixed coaxially, so that the rotation angle of the rotary transformer is the same as the rotation angle of the output shaft.

[0046] The rotary transformer angle decoding module 2 is powered by an independent low-noise power supply, with an effective accuracy of ±2′ and a data output interface of SPI.

[0047] The data processing module 3 includes: a data input interface and a data output interface connected to the STM32 processor; the data input interface is connected to the resolver angle decoding module 2 via an isolated SPI interface, and the data output interface is connected to the data recording module 4 via an IIC interface.

[0048] like Figure 1 As shown, according to Figure 1 A structural schematic diagram of a multi-turn rotating mechanism angle real-time detection component detection method of the present invention comprises the following steps:

[0049] 1) Turn on the rotary transformer module 1, and the rotating mechanism drives the stator to rotate so that the stator and the output shaft rotate at the same angular velocity;

[0050] 2) The angle range of the resolver is divided into three regions: a, b, and c. The STM32 processor of the data processing module 3 reads the resolver angle decoding module 2 at a frequency of 100 Hz to obtain the rotation angle of the resolver stator in real time and detect the angle change;

[0051] 3) The data processing module 3 processes the angle change of the rotation angle of the rotary transformer stator through the rotation angle detection algorithm to realize the cumulative processing of the angle increase or decrease. When the rotation axis of the rotary transformer module 1 is stable for a certain period of time, the angle change is added to the angle value recorded when the rotary transformer module 1 was used last time to obtain the angle cumulative value, which is then stored in the data recording module 4.

[0052] 3-1) The angle value collected by the data processing module for the first time is r1, which is used as the reference value; the angle value collected again is r2:

[0053] 3-2) By using a rotation angle detection algorithm, the relationship between the reference value r1 and the angle value r2 collected again and the angle range of the resolver is determined to detect angle changes;

[0054] 3-3) After completing the current rotation angle change detection, use r2 as the reference value for the next measurement, collect the angle value of the resolver again, and repeat the above angle change detection method to obtain the real-time angle change cumulative value r;

[0055] 3-4) When the angle value collected for 10 consecutive times does not change, it is considered that the rotating mechanism is stable. The angle change r is accumulated with the angle value recorded when the device was used last time, and then stored in the data recording module (4) to realize the absolute position recording function.

[0056] In the actual operation of the embodiment, the stator of the rotary transformer 1 is fixed on the output shaft and rotates at the same angular velocity as the output shaft. The processor of the data processing module 3 detects the angle change in real time through the rotary transformer angle decoding module 2, and performs cumulative processing of the angle increase or decrease. When the rotating shaft is stable for a certain period of time, the angle change is accumulated with the angle value recorded when the device was last used, and then stored in the data recording module 4.

[0057] like Figure 2 As shown, it is a schematic diagram of multi-turn angle detection of the rotary transformer of the present invention, and the angle range of the rotary transformer is divided into three areas a, b, and c, where OA is the absolute 0 angle of the rotary transformer, the angle increases in the clockwise direction, the acute angle ∠OAC is 45°, that is, area a, the acute angle ∠OAB is 45°, that is, area b, and the obtuse angle ∠OAC is 270°, that is, area c.

[0058] The data processing module reads the angle value of the resolver angle decoding module at a frequency of 100 Hz. The high reading frequency ensures that the data processing module can collect data more than 8 times when the output shaft of the rotating mechanism rotates one circle. Here, clockwise rotation is defined as positive rotation.

[0059] In step 3-2), the relationship between the reference value r1 and the angle value r2 collected again and the angle range of the resolver is determined by the rotation angle detection algorithm to detect the angle change, specifically:

[0060] The angle value collected for the first time is r1, which is used as a reference value, and the angle value collected again is r2: when r1 and r2 do not fall in the a∪b area at the same time, if r1<r2, the rotation axis is forward, and the angle value increases by |r2-r1|; if r1>r2, the rotation axis is reversed, and the angle value decreases by |r2-r1|; when r1 falls in area a and r2 falls in area b, the rotation axis is reversed, and the angle value decreases by |r2-r1|; when r1 falls in area b and r2 falls in area a, the rotation axis is forward, and the angle value increases by |r2-r1|. After completing the current rotation angle change detection, use r2 as the reference value for the next measurement, collect the angle value of the resolver again, and repeat the above angle change detection method to obtain the real-time angle change cumulative value r.

[0061] When the angle value collected for 10 consecutive times does not change, the rotating mechanism is considered to be stable. The angle change r is accumulated with the angle value recorded when the device was used last time, and then stored in the data recording module to realize the absolute position recording function.

[0062] Compared with the position detection method using Hall sensors or encoders, the multi-turn rotating mechanism angle real-time detection component and method of the present invention have the advantages of anti-interference, easy installation, high positioning accuracy, etc.

[0063] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A multi-turn rotating mechanism angle real-time detection component, used for rotating mechanism absolute position detection, characterized in that: include: A rotary transformer module (1), a rotary transformer angle decoding module (2), a data processing module (3) and a data recording module (4). The rotary transformer module (1) is connected to the rotary transformer angle decoding module (2); and is used to drive its rotor to rotate, and obtain the rotation angle of the rotary transformer stator through the rotary transformer angle decoding module (2); The rotary transformer angle decoding module (2) is connected to the data processing module (3) and is used to calculate the rotation angle of the rotary transformer stator according to the principle of electromagnetic induction, and send the rotation angle of the rotary transformer stator to the data processing module (3); The data processing module (3) is connected to the data recording module (4) and is used to process the rotation angle of the rotary transformer stator through a rotation angle detection algorithm and send the obtained angle accumulation value to the data recording module (4); The data recording module (4) is composed of an EEPROM and receives the angle accumulation value sent by the data processing module (3) through the input-output interface IIC.

2. The multi-turn rotating mechanism angle real-time detection component according to claim 1, characterized in that: The rotary transformer module (1) comprises: a rotary mechanism, a stator and a rotor; The rotor is fixed on the output shaft of the rotating mechanism, and the stator remains fixed; the stator and the output shaft of the rotating mechanism are fixed coaxially, so that the rotation angle of the rotary transformer is the same as the rotation angle of the output shaft.

3. The multi-turn rotating mechanism angle real-time detection component according to claim 1, characterized in that: The rotary transformer angle decoding module (2) is powered by an independent low-noise power supply, has an effective accuracy of ±2′, and a data output interface of SPI.

4. The multi-turn rotating mechanism angle real-time detection component according to claim 1, characterized in that: The data processing module (3) comprises: a data input interface and a data output interface connected to the STM32 processor; the data input interface is connected to the rotary transformer angle decoding module (2) via an isolated SPI interface, and the data output interface is connected to the data recording module (4) via an IIC interface.

5. The detection method of a multi-turn rotating mechanism angle real-time detection component according to claim 1, characterized in that: The following steps are involved: 1) Turn on the rotary transformer module (1), and the rotating mechanism drives the stator to rotate so that the stator and the output shaft rotate at the same angular velocity; 2) dividing the angle range of the resolver into three regions a, b, and c, and the STM32 processor of the data processing module (3) reads the resolver angle decoding module (2) at a frequency of 100 Hz to obtain the rotation angle of the resolver stator in real time and detect the angle change; 3) The data processing module (3) processes the angle change of the rotation angle of the rotary transformer stator through a rotation angle detection algorithm to realize the cumulative processing of the angle increase or decrease. When the rotation axis of the rotary transformer module (1) is stable for a certain period of time, the angle change amount is accumulated with the angle value recorded when the rotary transformer module (1) was used last time to obtain the angle accumulation value, which is then stored in the data recording module (4).

6. The detection method of a multi-turn rotating mechanism angle real-time detection component according to claim 5, characterized in that: In step 2), the angle range of the rotary transformer is divided into three regions: a, b, and c, specifically: The angle range of the rotary transformer is divided into three areas: a, b, and c, where OA is the absolute 0 angle of the rotary transformer, the angle increases in the clockwise direction, the acute angle ∠OAC is 45°, that is, area a, the acute angle ∠OAB is 45°, that is, area b, and the obtuse angle ∠OAC is 270°, that is, area c.

7. The detection method of a multi-turn rotating mechanism angle real-time detection component according to claim 5, characterized in that: The step 3) is specifically: 3-1) The angle value collected by the data processing module for the first time is r1, which is used as the reference value; the angle value collected again is r2: 3-2) By using a rotation angle detection algorithm, the relationship between the reference value r1 and the angle value r2 collected again and the angle range of the resolver is determined to detect angle changes; 3-3) After completing the current rotation angle change detection, use r2 as the reference value for the next measurement, collect the angle value of the resolver again, and repeat the above angle change detection method to obtain the real-time angle change cumulative value r; 3-4) When the angle value collected for 10 consecutive times does not change, it is considered that the rotating mechanism is stable. The angle change r is accumulated with the angle value recorded when the device was used last time, and then stored in the data recording module (4) to realize the absolute position recording function.

8. The detection method of a multi-turn rotating mechanism angle real-time detection component according to claim 7, characterized in that: The rotation angle detection algorithm is used to determine the relationship between the reference value r1 and the angle value r2 collected again and the angle range of the resolver, and detect the angle change, specifically: When r1 and r2 do not fall in the a∪b region at the same time: If r1<r2, the rotation axis is forward, and the angle value increases by |r2-r1|; If r1>r2, the rotation axis is reversed and the angle value decreases by |r2-r1|; When r1 falls in area a and r2 falls in area b, the rotation axis is reversed and the angle value decreases |r2-r1|; when r1 falls in area b and r2 falls in area a, the rotation axis is forward and the angle value increases |r2-r1|.

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