A turntable angle measuring system and angle measuring method

Abstract

The application provides a rotary table angle measurement system and an angle measurement method, which adopts two rotary transformers to engage with a hollow main shaft gear through gear transmission combination with different transmission ratios, and the rotary transformer signals are solved into angle digital quantities by a special RDC circuit; in addition, switch information of fixed rotary angle positions is detected by proximity switches on the rotary table, and the two angle digital quantities and the switch information are collected by a processor, and high-precision main shaft angles and angles of the two rotary transformers are calculated according to the relationship between the two angles and the main shaft transmission ratio and the relationship between the proximity switches and the high-speed transmission ratio rotary transformer angles. The RDC solving of the rotary transformer signals improves the hardware reliability through thermal redundancy, the processor compares the angle solving values of different RDC circuits to the same rotary transformer and the solving angles of the high-speed and low-speed rotary transformers in real time, determines the running state of the rotary transformer and the RDC solving circuit in real time, realizes fast and accurate positioning of the fault element, and improves the testability and reliability of the angle measurement system.

Description

Technical Field

[0001] This invention relates to the field of multi-sensor fusion and angle measurement technology, and in particular to a turntable angle measurement system and angle measurement method. Background Technology

[0002] A turntable, a type of rotary mechanism, consists of a base, bearings, a reducer, a motor (or hydraulic motor), and angle-sensitive elements. It is a precision device used to support loads such as radar antennas and optical lenses, enabling horizontal rotation control while simultaneously providing real-time information on the radar beam center and the optical lens's line-of-sight center. With the increasing demands for precision and reliability in radar and optical monitoring equipment, the requirements for this key component, the turntable, are also becoming increasingly stringent. Turntable precision primarily refers to control precision and angle measurement precision, with angle measurement precision being the foundation of control precision. Existing angle measurement systems employ a completely redundant design, resulting in high cost and weight, failing to improve the overall reliability of the turntable and the radar / optical equipment, and thus unable to guarantee target detection accuracy. Summary of the Invention

[0003] To address the problems in the prior art, this invention provides a turntable angle measurement system and method. It employs a dual-path rotary transformer connected to a hollow spindle gear via gear transmissions with different ratios for angle measurement. The resolver signal is processed by a dedicated RDC circuit to calculate the digital angle. Additionally, proximity switches on the turntable detect switching information at fixed angle positions. A processor collects these two angle digital values ​​and the switch information. A software algorithm simultaneously calculates the high-precision spindle angle and the individual angles of the two rotary transformers based on two methods: the relationship between these two angles and the spindle transmission ratio, and the relationship between the proximity switch and the high-speed transmission ratio resolver angle. The RDC calculation of the resolver signal utilizes thermal redundancy to improve hardware reliability. The software algorithm in the processor compares the angle calculation values ​​of the same resolver from different RDC circuits in real time, as well as the calculated angles of the high-speed and low-speed resolvers, to determine the real-time operating status of the resolver and RDC calculation circuits. This enables rapid and accurate location of faulty components, selection of a reliable method for obtaining the turntable angle, and improved testability and reliability of the angle measurement system.

[0004] This invention is achieved through the following scheme:

[0005] A turntable angle measurement system includes a spindle gear, a high-speed angle measurement sensor, a constant velocity angle measurement sensor, a proximity switch, a carbon steel boss, a decoding circuit, and a processor; wherein the spindle gear is hollow and is installed concentrically with the inner ring of the turntable, rotating synchronously with the inner ring;

[0006] The high-speed angle sensor includes a data gear, a rotating shaft, a bearing, a housing, a rotary transformer, and an electrical connector. The stator of the rotary transformer is fixedly mounted to the housing, and the rotor of the rotary transformer is mounted on the rotating shaft. The rotating shaft is fixed to the inner ring of the bearing, and the outer ring of the bearing is fixed to the housing. The data gear is installed at the end of the rotating shaft extending out of the housing and meshes with the main shaft gear. The housing is fixedly mounted on the turntable base and does not rotate with the inner ring of the turntable. The number of teeth of the main shaft gear is n times the number of teeth of the data gear, so the rotational speed of the data gear is n times the rotational speed of the main shaft gear. When the inner ring of the turntable rotates, the main shaft gear drives the data gear to rotate and transmits the rotation to the rotor of the rotary transformer through the rotating shaft, causing the rotor to rotate synchronously relative to the stator. The rotation angle is transmitted to the RDC element of the decoding circuit through the electrical connector. After being calculated by the RDC element, the angle information is transmitted to the processor.

[0007] The constant velocity angle sensor includes a data gear, a rotating shaft, a bearing, a housing, a rotary transformer, an electrical connector, and a speed reduction transmission mechanism. The stator of the rotary transformer is fixedly installed to the housing, and the rotor of the rotary transformer is mounted on the rotating shaft. The rotating shaft is fixed to the inner ring of the bearing, and the outer ring of the bearing is fixed to the housing. The end of the rotating shaft extending out of the housing is connected to the high-speed end of the speed reduction transmission mechanism, and the low-speed end of the speed reduction transmission mechanism is connected to one end of the transmission shaft. The other end of the transmission shaft is connected to the data gear, which meshes with the main shaft gear. The housing is fixedly installed on the turntable base and does not rotate with the inner ring of the turntable. By designing the transmission ratio of the speed reduction transmission mechanism to 1 / n, the rotary transformer rotor and the main shaft gear rotate at the same speed. When the inner ring of the turntable rotates, the angle of rotation of the rotary transformer is transmitted to the RDC element of the decoding circuit via the electrical connector. After being calculated by the RDC element, the angle information is transmitted to the processor.

[0008] A carbon steel boss is mounted on the main shaft gear, and a non-rotating proximity switch is mounted above the main shaft gear; the carbon steel boss passes the proximity switch once for every revolution of rotation, and the output signal of the proximity switch will flip between high and low levels, forming a switch level signal output to the processor.

[0009] The processor receives angle information from the high-speed angle sensor and the constant-velocity angle sensor, as well as switch level signals, and processes them to obtain the angle information of the turntable.

[0010] The present invention also provides a turntable angle measurement method, which employs the turntable angle measurement system described above, and includes the following steps:

[0011] a) Save the angle values ​​of the high-speed angle sensor and the constant velocity angle sensor corresponding to the mechanical zero position angle of the rotating shaft, and retrieve these values ​​before each power-on operation for use in calculating the angle value corresponding to the rotary transformer;

[0012] b) The constant velocity angle sensor's gear and rotary transformer sense the turntable spindle angle with a 1:1 transmission ratio and transmit the angle signal to the RDC element for calculation. The obtained angle value is calculated with the zero angle taken out upon power-on to obtain the coarse angle value A relative to the mechanical zero position. This angle value A is then transmitted to the processor.

[0013] c) The high-speed angle sensor's data gear and rotary transformer are sensitive to the turntable spindle angle with a transmission ratio of 1:n, and transmit the angle signal to the RDC element for calculation. The obtained angle value is calculated with the zero angle taken out by power-on to obtain the precise angle value B relative to the mechanical zero position, and the angle value B is transmitted to the processor.

[0014] d) After the processor obtains angles A and B, it calculates the angular velocities of the two rotary transformers using differential calculations;

[0015] e) Combine angles A and B;

[0016] (e1) Divide A by (360 / n) and round down to calculate the number of full revolutions N that the rotary transformer of the high-speed angle sensor has rotated relative to the zero angle position;

[0017] (e2) The precise angle C is calculated as follows: C = (N*360+B) / n;

[0018] f) Calculate the error between C and A. When the error is less than the solution error of A, the fusion is successful, and C is directly output as the result.

[0019] g) When the error is greater than the solution error of A, determine whether the problem is a problem with the structure and installation of the rotary transformer, the electrical performance of the rotary transformer, or the solution of one RDC channel based on the angular velocity calculated in step d).

[0020] h) If the problem is with the rotary transformer structure installation, when the proximity switch signal flips, check whether the values ​​of A and B cross zero to determine whether the rotary transformer of the constant velocity angle sensor or the rotary transformer of the high speed angle sensor is faulty.

[0021] i) If it is a problem of the electrical performance of a rotary transformer or a problem of solving one RDC, the problem of the electrical performance of the rotary transformer or the problem of solving the RDC circuit is determined by the solution value of another RDC.

[0022] j) If the rotary transformer of the constant velocity angle sensor is faulty, first use the proximity switch flip signal to determine the value of N, then use the periodic change characteristics of the value of B to determine the value of N in the continuous rotation process, and calculate the accurate angle value C = (N*360+B) / n.

[0023] k) If the rotary transformer of the high-speed angle sensor fails, use the value of A directly as the output result to ensure the angle measurement function;

[0024] l) If one RDC calculation fails, the accurate angle is calculated using the calculation value from the other RDC.

[0025] Preferably, n = 8.

[0026] Preferably, in step j), determining the N value during continuous rotation using the periodic variation characteristics of the B value specifically involves: continuously collecting and calculating the B value, subtracting the B value of the previous cycle from the current cycle, and changing the N value based on the positive or negative increment or decrement of the error value when an error close to a full circle occurs.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] For systems that use dual-speed rotary transformers to improve angle measurement accuracy, when a fault occurs in the constant-speed rotary transformer branch, a combination of proximity switches and high-speed rotary transformers can be used to maintain high-precision angle measurement function with a small increase in equipment quantity.

[0029] Based on the hardware design of dual-speed resolver, zero-angle switch, and dual-redundant RDC circuit, the software algorithm can not only acquire high-precision angle information through two methods simultaneously, but also detect the status of angle sensor and calculation circuit in real time, accurately determine the fault location and cause, thereby creating favorable conditions for selecting the correct acquisition and calculation method and greatly improving the system's task reliability. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the meshing angle measurement of the data gear and the turntable spindle gear;

[0031] Figure 2 It is a high-speed angle measurement sensor;

[0032] Figure 3 It is a constant velocity angle sensor;

[0033] Figure 4 This is a side view of the proximity switch;

[0034] Figure 5 This is a top view of the proximity switch;

[0035] Figure 6 This is a block diagram illustrating the working principle of a high-precision, high-reliability angle measurement system.

[0036] Figure 7 It is a strategy for online detection and high-precision angle calculation in angle measurement systems. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings.

[0038] The angle measurement system of the present invention includes a spindle gear 11, a high-speed angle measurement sensor, a constant velocity angle measurement sensor, a proximity switch 11, a resolver decoding circuit, a switch signal processing circuit, and a processor.

[0039] The main shaft gear 11 is hollow and is installed concentrically with the inner ring of the turntable. It rotates synchronously with the inner ring and the tooth end face faces the center of rotation, which is an internal tooth type.

[0040] High-speed angle measurement sensors such as Figure 2 As shown, the stator of the rotary transformer 7 is fixedly installed to the housing 6, and the rotor of the rotary transformer 7 is mounted on the rotating shaft 4. The rotating shaft 4 is fixed to the inner ring of the bearing 5, and the outer ring of the bearing 5 is fixed to the housing 6. A data gear 1 is installed at the end of the rotating shaft 4 that extends out of the housing 6. The data gear 1 is a normal external gear that meshes with the main shaft gear 11. The housing 6 is fixedly installed on the turntable base and does not rotate with the inner ring of the turntable. When the inner ring of the turntable rotates, the main shaft gear 11 drives the data gear 1 to rotate and transmits the rotation to the rotor of the rotary transformer 7 through the rotating shaft 4, causing the rotor to rotate synchronously relative to the stator. The angle information is modulated onto an electrical signal and transmitted to the electrical connector 8 for external output through wires. Since the number of teeth of the main shaft gear 11 is more than that of the data gear 1, let's assume it's n times greater. Therefore, for every one revolution of the main shaft gear 11, the data gear 1 rotates n revolutions. That is, the rotational speed of the data gear 1 is n times that of the main shaft gear 11, hence it is called a high-speed angle measuring sensor.

[0041] The stator of the rotary transformer 7 of the constant velocity angle sensor is fixedly installed on the housing 6. The rotor of the rotary transformer 7 is mounted on the rotating shaft 4. The rotating shaft 4 is fixed to the inner ring of the bearing 5, and the outer ring of the bearing 5 is fixed to the housing 6. The end of the rotating shaft 4 extending out of the housing 6 is connected to the center of a large gear in a set of reduction transmission links 3. After the large gear meshes with the small gear to reduce speed, it is connected to another large gear through the shaft. The large gear meshes with the small gear to reduce speed again, and is connected to the data gear 1 through the transmission shaft 2. By design, the product of the two speed reduction ratios is equal to n. Since the main shaft gear 1 transmits the rotation of the main shaft gear 1 to the data gear 1 in a way that increases the speed by n times through meshing with the data gear 1, the data gear 1 then reduces the rotation speed by n times through the above reduction transmission links and transmits it to the rotating shaft 4, thereby realizing the constant speed rotation of the rotor of the rotary transformer 7 and the main shaft gear 11.

[0042] The electrical signal output by the rotary transformer 7 is connected to the RDC element of the decoding circuit via the electrical connector 8. The corresponding angle digital value is decoded by the element and transmitted to the processor.

[0043] like Figure 4 and Figure 5A carbon steel boss 10 is fixedly installed on the spindle gear of the rotary table. Every time the spindle rotates once, the boss 10 will pass the fixed and non-rotating proximity switch 9 once. When the boss 10 passes directly under the proximity switch 9, the output signal of the proximity switch 9 will flip between high and low levels, and the switch level signal will also be output to the processor.

[0044] As mentioned above, since the angle change rate sensed by the high-speed angle sensor is n times the rotation angle of the turntable, the angle calculated by the rotary transformer 7 on this axis needs to be divided by n to correspond to the turntable angle. Therefore, under the same sensor and angle calculation accuracy, the error of the rotary transformer itself will be reduced by n times after dividing by the transmission ratio, thus significantly improving the angle measurement accuracy. However, since the rotary transformer 7 on this axis rotates n times when the main shaft rotates once, meaning that one angle value calculated by the rotary transformer on this axis corresponds to n rotation angle positions of the turntable main shaft, other auxiliary means are needed to determine the rotation angle range. A constant-speed angle sensor can be used to directly measure the angle of the turntable. Although the resolution is n times lower than that of the high-speed angle sensor, each calculated angle value corresponds one-to-one with the turntable main shaft angle. Combining the angles calculated by the high-speed and constant-speed angle sensors can yield a high-precision turntable main shaft angle.

[0045] However, if the constant velocity angle measurement branch fails under these conditions, the entire angle measurement system cannot perform its function, resulting in low system reliability. Therefore, a proximity switch was added to the system to determine the angle position. This switch signal is triggered to flip every revolution of the turntable, thus determining the exact angle position at each revolution (the switch switching range must be within the angle measurement range corresponding to one revolution of the high-speed angle sensor). Combined with the angle calculated by the high-speed angle sensor, a precise angle value can be calculated. This design ensures that even if the constant velocity angle measurement branch fails, accurate angle measurement can be achieved by adding a simple and highly reliable switching device. This significantly improves the operational reliability of the angle measurement system without substantial changes in size, weight, or basic reliability.

[0046] The high-precision and high-reliability functions are mainly achieved through software algorithms. The software periodically collects the angle information corresponding to the rotary transformer 7, as well as the proximity switch level information. Assuming N is 8, after obtaining the resolver angle, it first combines the pre-stored zero-angle value (the proximity switch at this position will be triggered to produce a level flip) to calculate the angle value relative to the zero-angle position. Then, the angle value of the constant-speed resolver is divided by 45 (360 / 8) and rounded to obtain the number of full rotations (0~7) that the high-speed resolver has completed relative to the zero-angle position. Theoretically, multiplying the constant-speed resolver angle by 8 and then subtracting the value obtained above (multiplying the number of full rotations completed by the high-speed resolver by 360) should result in an angle value equal to the high-speed resolver angle value. According to this rule, if the calculated difference is within the normal range, the high-precision angle value can be output as the result of multiplying the number of full rotations completed by the high-speed resolver by 360°, adding the current high-speed resolver angle, and then dividing by the speed ratio of 8.

[0047] The steps of the angle measurement method are as follows:

[0048] a) The process of angle measurement is as follows: Figure 6 The system shown stores the angle values ​​of the high-speed angle sensor and the constant-speed angle sensor corresponding to the mechanical zero position angle of the rotating shaft through software control. Before each power-on operation, the value is retrieved for use in calculating the angle values ​​corresponding to the two rotary transformers 7.

[0049] b) Figure 6 The data from the constant velocity angle sensor gear set 1 and the rotary transformer 7 are used to sense the angle of the turntable spindle with a transmission ratio of 1:1. The electrical signal is transmitted to the RDC circuit for calculation. The obtained angle value is then calculated with the zero angle taken out by power-on to obtain the coarse angle value relative to the mechanical zero position (assumed to be A).

[0050] c) Figure 6 The high-speed angle sensor's data gear 1 and rotary transformer 7 are used to sense the turntable spindle angle with a transmission ratio of 1:8. The electrical signal is transmitted to the RDC circuit for calculation. The obtained angle value is then calculated with the zero-position angle taken out by power-on to obtain the precise angle value relative to the mechanical zero position (assumed to be B).

[0051] d) such as Figure 7 As shown, after obtaining angles A and B, the software algorithm calculates the angular velocities of the two rotations through differentiation.

[0052] e) The A and B angle fusion algorithm first divides A by 45 (360 / 8) and rounds down to calculate the number of full rotations that the high-speed resolver has completed relative to the zero-angle position, let's say it's N. Then, it calculates the precise angle (let's say it's C) as C = (N*360+B) / 8. When the error between C and A is less than the calculation error of A, the fusion is considered successful, and C can be directly output as the calculation result.

[0053] f) If a large deviation is detected between A and C, then calculate the angular velocity according to step d) to see if it meets the speed ratio relationship between the two resolvers, and determine whether the problem is with the resolver structure installation, the resolver electrical performance, or the RDC calculation circuit.

[0054] g) When the problem is determined to be a structural installation problem, the status of the two branches is determined by checking whether the values ​​of A and B cross zero when the proximity switch 9 signal is detected to locate whether it is a constant speed resolver fault or a high speed resolver fault.

[0055] h) Once the fault is located to the resolver performance or RDC calculation circuit, the fault is located and distinguished by the calculation value of another RDC circuit.

[0056] i) After locating the fault in the constant velocity resolver (including structural installation and electrical performance), first determine the N value using the proximity switch flip signal, and then directly determine the N value during continuous rotation using the periodic change characteristics of the B value (by continuously collecting and calculating the B value, and subtracting the angle of the previous cycle from the current cycle; when an error close to a full circle occurs, change the N value according to the positive or negative increment or decrement of the error value), and at the same time calculate the precise angle value C = (N*360+B) / 8.

[0057] j) When a fault occurs on a high-speed branch road, the A value is directly used as the result angle output to ensure the angle measurement function.

[0058] If a fault is located in the RDC calculation circuit, the precise angle can be calculated using another RDC calculation value.

[0059] Simultaneously, based on this rule, it is possible to determine in real time whether the status of the two resolvers is normal. When an anomaly is detected, the deviation between the speed after the differential angle of the two resolvers and the command speed, the deviation between the collected angle value of the two resolvers and the zero angle when the proximity switch level changes, and the comparison of the settlement results obtained by the two RDCs corresponding to the same resolver can be used to accurately locate the electrical faults of the two resolvers and their respective RDC settlement circuits, as well as the specific fault causes such as abnormal installation of the resolver structure, and select the correct angle settlement method in real time.

[0060] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications, additions, or similar substitutions to the described specific embodiments without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A turntable angle measurement system, characterized in that, It includes a main shaft gear (11), a high-speed angle sensor, a constant velocity angle sensor, a proximity switch (9), a carbon steel boss (10), a decoding circuit, and a processor; wherein the main shaft gear (11) is hollow and is installed concentrically with the inner ring of the turntable, rotating synchronously with the inner ring; The high-speed angle measuring sensor includes a data gear (1), a rotating shaft (4), a bearing (5), a housing (6), a rotary transformer (7), and an electrical connector (8). The stator of the rotary transformer (7) is fixedly installed on the housing (6), and the rotor of the rotary transformer (7) is mounted on the rotating shaft (4). The rotating shaft (4) is fixed to the inner ring of the bearing (5), and the outer ring of the bearing (5) is fixed to the housing (6). The data gear (1) is installed at the end of the rotating shaft (4) that extends out of the housing (6). The data gear (1) meshes with the main shaft gear (11). The housing (6) is fixed. Installed on the turntable base, it does not rotate with the inner ring of the turntable; the number of teeth of the main shaft gear (11) is n times the number of teeth of the data gear (1), so the speed of the data gear (1) is n times the speed of the main shaft gear (11); when the inner ring of the turntable rotates, the main shaft gear (11) drives the data gear (1) to rotate and transmits it to the rotor of the rotary transformer (7) through the rotating shaft (4), driving the rotor to rotate synchronously relative to the stator. The rotation angle is transmitted to the RDC element of the decoding circuit through the electrical connector (8), and after being calculated by the RDC element, the angle information is transmitted to the processor; The constant velocity angle measuring sensor includes a data gear (1), a rotating shaft (4), a bearing (5), a housing (6), a rotary transformer (7), an electrical connector (8), and a speed reduction transmission link (3). The stator of the rotary transformer (7) is fixedly installed on the housing (6), and the rotor of the rotary transformer (7) is mounted on the rotating shaft (4). The rotating shaft (4) is fixed to the inner ring of the bearing (5), and the outer ring of the bearing (5) is fixed to the housing (6). The end of the rotating shaft (4) extending out of the housing (6) is connected to the high-speed end of the speed reduction transmission link (3), and the low-speed end of the speed reduction transmission link (3) is connected to... One end of the drive shaft (2) is connected to the data gear (1), and the other end of the drive shaft (2) is connected to the data gear (1). The data gear (1) is meshed with the main shaft gear (11). The housing (6) is fixedly installed on the turntable base and does not rotate with the inner ring of the turntable. By designing the transmission ratio of the reduction transmission link (3) to 1 / n, the rotor of the rotary transformer (7) and the main shaft gear (11) rotate at the same speed. When the inner ring of the turntable rotates, the rotation angle of the rotary transformer (7) is transmitted to the RDC element of the decoding circuit through the electrical connector (8). After being calculated by the RDC element, the angle information is transmitted to the processor. A carbon steel boss (10) is installed on the main shaft gear (11), and a non-rotating proximity switch (9) is installed above the main shaft gear (11); the carbon steel boss (10) passes the proximity switch (9) once for each rotation, and the output signal of the proximity switch (9) will flip between high and low levels, forming a switch level signal output to the processor. The processor receives angle information from the high-speed angle sensor and the constant-velocity angle sensor, as well as switch level signals, and processes them to obtain the angle information of the turntable.

2. A turntable angle measurement method, which employs the turntable angle measurement system as described in claim 1, characterized in that, Includes the following steps: a) Save the angle values ​​of the high-speed angle sensor and the constant velocity angle sensor corresponding to the mechanical zero position angle of the rotating shaft, and take out the value before each power-on operation for use in calculating the angle value corresponding to the rotary transformer (7); b) The data gear (1) and rotary transformer (7) of the constant velocity angle sensor are sensitive to the angle of the turntable spindle with a transmission ratio of 1:1, and the angle signal is transmitted to the RDC element for calculation. The obtained angle value is calculated with the zero angle taken out by power-on to obtain the coarse angle value A relative to the mechanical zero position, and the angle value A is transmitted to the processor. c) The high-speed angle sensor’s data gear (1) and rotary transformer (7) are sensitive to the turntable spindle angle with a transmission ratio of 1:n, and transmit the angle signal to the RDC element for calculation. The obtained angle value is calculated with the zero angle taken out by power-on to obtain the precise angle value B relative to the mechanical zero position, and the angle value B is transmitted to the processor. d) After the processor obtains angles A and B, it calculates the angular velocities of the two rotary transformers using differential calculations; e) Combine angles A and B; (e1) Divide A by (360 / n) and round down to calculate the number of full revolutions N that the rotary transformer of the high-speed angle sensor has rotated relative to the zero angle position; (e2) The precise angle C is calculated as follows: C = (N*360+B) / n; f) Calculate the error between C and A. When the error is less than the solution error of A, the fusion is successful, and C is directly output as the result. g) When the error is greater than the solution error of A, determine whether the problem is a problem with the structure and installation of the rotary transformer, the electrical performance of the rotary transformer, or the solution of one RDC channel based on the angular velocity calculated in step d). h) If the problem is with the rotary transformer structure installation, when the proximity switch (9) signal flips, check whether the values ​​of A and B cross zero to determine whether the rotary transformer of the constant velocity angle measuring sensor or the rotary transformer of the high speed angle measuring sensor is faulty. i) If it is a problem of the electrical performance of a rotary transformer or a problem of solving one RDC, the problem of the electrical performance of the rotary transformer or the problem of solving the RDC circuit is determined by the solution value of another RDC. j) If the rotary transformer of the constant velocity angle sensor is faulty, first use the proximity switch flip signal to determine the value of N, then use the periodic change characteristics of the value of B to determine the value of N in the continuous rotation process, and calculate the accurate angle value C = (N*360+B) / n. k) If the rotary transformer of the high-speed angle sensor fails, use the value of A directly as the output result to ensure the angle measurement function; l) If one RDC calculation fails, the accurate angle is calculated using the calculation value from the other RDC.

3. The method for measuring angles on a turntable according to claim 2, characterized in that, The n=8.

4. The method for measuring angles on a turntable according to claim 2, characterized in that, In step j), determining the N value during continuous rotation using the periodic variation characteristics of the B value specifically involves: continuously collecting and calculating the B value, subtracting the B value of the previous cycle from the current cycle, and changing the N value based on the positive or negative increment or decrement of the error value when an error close to a full circle occurs.

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