Attitude acquisition and conversion device based on shaft angle conversion module

Abstract

The utility model discloses an attitude acquisition and conversion device based on a shaft angle conversion module. The attitude acquisition and conversion device comprises a communication unit, a processing unit, a selsyn conversion unit and a rotary transformation conversion unit; the processing unit generates a first angle control signal and a second angle control signal according to the angle instruction; the selsyn conversion unit converts the first angle control signal and the second angle control signal into a first axial angle signal and a second axial angle signal, and sends the first axial angle signal and the second axial angle signal to controlled equipment; the rotary transformation conversion unit receives a first rotary transformation signal and a second rotary transformation signal from the controlled equipment and converts the first rotary transformation signal and the second rotary transformation signal into a first angle position signal and a second angle position signal, and the first rotary transformation signal represents rough acquisition of the controlled equipment; the second resolver signal is represented as fine acquisition of the controlled equipment; the processing unit generates angle information according to the first angle position signal and the second angle position signal.

Description

TECHNICAL FIELD

[0001] The utility model relates to steering control technical field especially based on attitude acquisition conversion device of shaft angle conversion module. BACKGROUND

[0002] Since the synchro and resolver have the advantages of simple structure, environmental adaptability and strong anti-interference ability, they are widely used in angle position control systems of metallurgy, navigation, artillery and radar.

[0003] In the existing angle position control system, due to the impact and vibration of the use environment, the electromagnetic environment is complex, so the environmental adaptability, reliability and maintainability of the motor and the driving and feedback mechanism have high requirements.

[0004] The existing technology usually uses PWM as the driving signal and uses a Hall sensor or an encoder for servo control, which has a simple structure, but poor anti-interference ability, low precision and complex maintenance. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model discloses a kind of attitude acquisition conversion devices based on shaft angle conversion module,

[0006] The attitude acquisition conversion device comprises,

[0007] Communication unit, processing unit, synchro conversion unit and resolver conversion unit;

[0008] The communication unit receives angle instructions from the host computer;

[0009] The processing unit generates first angle control signal and second angle control signal according to the angle instructions, wherein the first angle control signal represents coarse control of the controlled device, and the second angle control signal represents fine control of the controlled device;

[0010] The synchro conversion unit converts the first angle control signal and the second angle control signal into first shaft angle signal and second shaft angle signal, and sends the first shaft angle signal and the second shaft angle signal to the controlled device;

[0011] The resolver conversion unit receives first resolver signal and second resolver signal from the controlled device, and converts the first resolver signal and the second resolver signal into first angle position signal and second angle position signal, wherein the first resolver signal represents coarse acquisition of the controlled device, and the second resolver signal represents fine acquisition of the controlled device;

[0012] The processing unit generates angle information according to the first angle position signal and the second angle position signal.

[0013] The communication unit transmits the angle information to the host computer.

[0014] In some embodiments of the utility model,

[0015] The posture acquisition conversion device comprises a first data buffer unit;

[0016] The processing unit sends the angle control signal to the selsyn conversion unit through the first data buffer unit.

[0017] In some embodiments of the utility model,

[0018] The posture acquisition conversion device comprises a second data buffer unit;

[0019] The rotary transformer conversion unit sends the angle position signal to the processing unit through the second data buffer unit.

[0020] In some embodiments of the utility model,

[0021] The selsyn conversion unit comprises a first selsyn conversion circuit and a second selsyn conversion circuit;

[0022] The first selsyn conversion circuit converts the first angle control signal into the first shaft angle signal;

[0023] The second selsyn conversion circuit converts the second angle control signal into the second shaft angle signal.

[0024] In some embodiments of the utility model,

[0025] The first selsyn conversion circuit and / or the second selsyn conversion circuit are configured as a DSC processor.

[0026] In some embodiments of the utility model,

[0027] The rotary transformer conversion unit comprises a first rotary transformer conversion circuit and a second rotary transformer conversion circuit;

[0028] The first rotary transformer conversion circuit converts the first rotary transformer signal into a first angle position signal;

[0029] The second rotary transformer conversion circuit converts the second rotary transformer signal into a second angle position signal.

[0030] In some embodiments of the utility model,

[0031] The first rotary transformer conversion circuit and / or the second rotary transformer conversion circuit are configured as an RDC converter.

[0032] In some embodiments of the utility model,

[0033] The posture acquisition conversion device includes a power supply unit;

[0034] The power supply unit supplies power to one or more of the communication unit, the processing unit, the selsyn conversion unit and the rotary transformer conversion unit.

[0035] In some embodiments of the utility model,

[0036] The selsyn conversion unit converts the first angle control signal and the second angle control signal into first shaft angle signals and second shaft angle signals in a coarse-fine split manner.

[0037] In some embodiments of the utility model,

[0038] The rotary transformer conversion unit converts the first rotary transformer signal and the second rotary transformer signal into first angle position signals and second angle position signals in a coarse-fine combination manner.

[0039] Compared with the prior art, the posture acquisition conversion device based on the shaft angle conversion module drives the steering of the controlled device according to the coarse-fine split manner in the prior art, has strong environmental adaptability and anti-interference ability, and meets the shaft angle signal precision requirements in different environments. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0041] Figure 1 It is the first kind of topological schematic diagram of the posture acquisition conversion device based on the shaft angle conversion module of the embodiment.

[0042] Figure 2 It is the second kind of topological schematic diagram of the posture acquisition conversion device based on the shaft angle conversion module of the embodiment.

[0043] Figure 3 It is the topological schematic diagram of the selsyn conversion unit of the embodiment.

[0044] Figure 4 It is the topological schematic diagram of the rotary transformer conversion unit of the embodiment.

[0045] Figure 5A third topology schematic diagram of the posture acquisition and conversion device based on the shaft angle conversion module of the embodiment. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0047] Figure 1 A first topology schematic diagram of the posture acquisition and conversion device based on the shaft angle conversion module of the embodiment.

[0048] Figure 1 The posture acquisition and conversion device is shown to include a communication unit, a processing unit, a synchro conversion unit, a resolver conversion unit and a power supply unit.

[0049] The communication unit adopts 1000M Ethernet to keep the real-time and effectiveness of the signal transmission of the host computer. The communication unit receives the angle instruction sent by the host computer through the network.

[0050] The processing unit adopts a ZYNQ-XC7Z030 processor. The processing unit generates the first angle control signal and the second angle control signal of the digital quantity corresponding to the angle position according to the angle instruction. The processing unit splits the 20-bit binary angle instruction into two paths of 14-bit binary second angle control signal and first angle control signal with a speed ratio of 64:1 in a coarse-fine splitting manner. The first angle control signal is characterized as coarse control of the controlled device through the speed ratio, and the second angle control signal is characterized as fine control of the controlled device through the speed ratio.

[0051] Specifically, the coarse-fine splitting of the angle instruction by the processing unit can be based on the literature such as "Dual-channel resolver coarse-fine combined shaft angle conversion principle and application", Zhao Wenxiang, Liu Yujing, Zhang Wei, Ma Liming, New Technology and New Technology, No. 6, 2018. Then, the controlled device can be a steering device with motor control of the fine channel and the coarse channel, and the steering device realizes control of the angle position through motor control of the fine channel and the coarse channel.

[0052] The synchro conversion unit converts the first angle control signal and the second angle control signal into the first shaft angle signal and the second shaft angle signal, and sends the first shaft angle signal and the second shaft angle signal to the controlled device. The first shaft angle signal and the second shaft angle signal correspond to the motor control of the coarse channel and the fine channel, respectively.

[0053] Based on this, the communication unit receives the angle instruction from the network. The processing unit obtains the second angle control signal and the first angle control signal corresponding to the fine channel and the coarse channel of the controlled device by the coarse-fine split processing mode of the angle instruction. The synchro-to-digital converter unit generates the first axis angle signal and the second axis angle signal capable of being recognized by the controlled device according to the first angle control signal and the second angle control signal. The controlled device controls the motor rotation of the coarse channel and the fine channel according to the first axis angle signal and the second axis angle signal, thereby realizing angle control.

[0054] The synchro-to-digital conversion unit receives two 14-bit binary first synchro signals and second synchro signals from the controlled device, and converts the first synchro signals and the second synchro signals into two second angle position signals and first angle position signals with a speed ratio of 64:1. The first synchro signals represent motor feedback collection for motor control of the coarse channel of the controlled device, and the second synchro signals represent motor feedback collection for motor control of the fine channel of the controlled device.

[0055] The processing unit generates angle information of the first angle position signal and the second angle position signal in a coarse-fine combination manner.

[0056] Specifically, the processing unit can combine the angle information in a coarse-fine combination manner according to documents such as “Coarse-fine combination axis angle conversion principle and application of double-channel synchro”.

[0057] The communication unit sends the angle information to the upper computer.

[0058] Based on this, the controlled device respectively implements motor control of the coarse channel and the fine channel according to the first axis angle signal and the second axis angle signal. The controlled device rotates to the angle position corresponding to the angle instruction, and generates the first synchro signal and the second synchro signal corresponding to the angle position of the coarse channel and the fine channel. The synchro-to-digital conversion unit converts the first synchro signal and the second synchro signal into the second angle position signal and the first angle position signal. The processing unit generates angle information according to the first angle position signal and the second angle position signal. The communication unit sends the angle information to the upper computer corresponding to the address. The upper computer can obtain the accuracy or deviation of angle control by comparing the received angle information with the sent angle instruction, and further realize closed-loop feedback control of the angle position of the controlled device.

[0059] Meanwhile, the power supply unit supplies power to one or more of the communication unit, the processing unit, the synchro-to-digital converter unit, and the synchro-to-digital conversion unit.

[0060] Further, Figure 2 A second kind of topological schematic diagram of the posture acquisition conversion device based on the axis angle conversion module of the embodiment is shown.

[0061] Figure 2The posture acquisition conversion device comprises a first data buffer unit and a second data buffer unit.

[0062] The processing unit sends the angle control signal to the synchro-to-digital conversion unit through the first data buffer unit, and the resolver-to-digital conversion unit sends the angle position signal to the processing unit through the second data buffer unit.

[0063] Preferably, the first data buffer unit and the second data buffer unit can be integrated into a total data buffer unit. The processing unit sends the angle control signal to the synchro-to-digital conversion unit through the total data buffer unit, and the resolver-to-digital conversion unit sends the angle position signal to the processing unit through the total data buffer unit.

[0064] Further, Figure 3 A topological schematic diagram of the synchro-to-digital conversion unit of the embodiment is shown.

[0065] Figure 3 The synchro-to-digital conversion unit comprises a first synchro-to-digital conversion circuit and a second synchro-to-digital conversion circuit.

[0066] The first synchro-to-digital conversion circuit converts the first angle control signal into a first shaft angle signal;

[0067] The second synchro-to-digital conversion circuit converts the second angle control signal into a second shaft angle signal.

[0068] Preferably, the first synchro-to-digital conversion circuit and / or the second synchro-to-digital conversion circuit are configured as a DSC processor.

[0069] Further, Figure 4 A topological schematic diagram of the resolver-to-digital conversion unit of the embodiment is shown.

[0070] Figure 4 The resolver-to-digital conversion unit comprises a first resolver-to-digital conversion circuit and a second resolver-to-digital conversion circuit.

[0071] The first resolver-to-digital conversion circuit converts the first resolver signal into a first angle position signal;

[0072] The second resolver-to-digital conversion circuit converts the second resolver signal into a second angle position signal.

[0073] Preferably, the first resolver-to-digital conversion circuit and / or the second resolver-to-digital conversion circuit are configured as a RDC converter.

[0074] Further, Figure 5 A third topological schematic diagram of the posture acquisition conversion device based on the shaft angle conversion module of the embodiment is shown.

[0075] Figure 5The posture acquisition conversion device can include multiple self-syncline conversion units and multiple rotary voltage conversion units. One self-syncline conversion unit and one rotary voltage conversion unit correspond to one controlled device. Then the posture acquisition conversion device can realize angle position control of the controlled device. Multiple sets of self-syncline conversion units and rotary voltage conversion units can respectively realize angle position control and signal acquisition in horizontal and vertical directions.

[0076] The above are only preferred embodiments of the present application, and are not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1.A pose acquisition and conversion device based on an axis-angle conversion module, characterized in that, the pose acquisition and conversion device comprises, a communication unit, a processing unit, a synchro-to-digital conversion unit and a rotary-to-digital conversion unit; the communication unit receives angle instructions from a host computer; the processing unit generates first and second angle control signals according to the angle instructions, wherein the first angle control signal represents coarse control of a controlled device and the second angle control signal represents fine control of the controlled device; the synchro-to-digital conversion unit converts the first and second angle control signals into first and second axis-angle signals and sends the first and second axis-angle signals to the controlled device; the rotary-to-digital conversion unit receives first and second rotary-to-digital signals from the controlled device and converts the first and second rotary-to-digital signals into first and second angle position signals, wherein the first rotary-to-digital signal represents coarse acquisition of the controlled device and the second rotary-to-digital signal represents fine acquisition of the controlled device; the processing unit generates angle information according to the first and second angle position signals; the communication unit sends the angle information to the host computer. 2.The pose acquisition and conversion device based on an axis-angle conversion module according to claim 1, characterized in that, the pose acquisition and conversion device comprises a first data buffer unit; the processing unit sends the angle control signals to the synchro-to-digital conversion unit through the first data buffer unit. 3.The pose acquisition and conversion device based on an axis-angle conversion module according to claim 1, characterized in that, the pose acquisition and conversion device comprises a second data buffer unit; the rotary-to-digital conversion unit sends the angle position signals to the processing unit through the second data buffer unit. 4.The pose acquisition and conversion device based on an axis-angle conversion module according to claim 1, characterized in that, the synchro-to-digital conversion unit comprises a first synchro-to-digital conversion circuit and a second synchro-to-digital conversion circuit; the first synchro-to-digital conversion circuit converts the first angle control signal into the first axis-angle signal; the second synchro-to-digital conversion circuit converts the second angle control signal into the second axis-angle signal. 5.The pose acquisition and conversion device based on an axis-angle conversion module according to claim 4, characterized in that, the first synchro-to-digital conversion circuit and / or the second synchro-to-digital conversion circuit is configured as a DSC processor. 6.The pose acquisition and conversion device based on an axis-angle conversion module according to claim 1, characterized in that, the rotary-to-digital conversion unit comprises a first rotary-to-digital conversion circuit and a second rotary-to-digital conversion circuit; the first rotary-to-digital conversion circuit converts the first rotary-to-digital signal into the first angle position signal; the second rotary-to-digital conversion circuit converts the second rotary-to-digital signal into the second angle position signal. 7.The pose acquisition and conversion device based on an axis-angle conversion module according to claim 6, characterized in that, The first rotary voltage conversion circuit and / or the second rotary voltage conversion circuit is configured as an RDC converter. 8.The attitude acquisition and conversion device based on the shaft angle conversion module according to claim 1, characterized in that, The attitude acquisition and conversion device comprises a power supply unit. The power supply unit supplies power to one or more of the communication unit, the processing unit, the synchro conversion unit and the rotary voltage conversion unit. 9.The attitude acquisition and conversion device based on the shaft angle conversion module according to claim 1, characterized in that, The synchro conversion unit converts the first angle control signal and the second angle control signal into a first shaft angle signal and a second shaft angle signal in a coarse-fine split manner. 10.The attitude acquisition and conversion device based on the shaft angle conversion module according to claim 1, characterized in that, The rotary voltage conversion unit converts the first rotary voltage signal and the second rotary voltage signal into a first angle position signal and a second angle position signal in a coarse-fine combination manner.

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