Demodulator, selsyn and selsyn nonlinear compensation system

Abstract

The utility model provides a demodulator, a synchro and a synchro nonlinear compensation system, and relates to the technical field of synchro, the demodulator comprises a synchro synchronous digital solver, a processor and an input and output module, the demodulator is used for being electrically connected with the synchro, and the synchro nonlinear compensation system is used for being electrically connected with the synchro. Comprising a nonlinear compensation parameter acquisition system and the demodulator, and the nonlinear compensation parameter acquisition system comprises a high-precision index plate, a rotary driving module, a reading module and a storage module. By using the selsyn nonlinear compensation system, different selsyn nonlinear compensation data packets can be obtained, when the selsyn is used, only the corresponding nonlinear compensation data packets need to be used, and the data of the selsyn is subjected to nonlinear compensation by depending on a selsyn synchronous digital resolver and a processor in a demodulator, so that the non-linear compensation of the selsyn is realized. And data with higher precision and stability can be obtained.

Description

TECHNICAL FIELD

[0001] The utility model relates to self -angle machine technical field especially is demodulator and self -angle machine and self -angle machine non -linear compensation system. BACKGROUND

[0002] Self -angle machine is a kind of motor type angle sensor based on electromagnetic induction principle, it can convert angular displacement into electrical signal, or electrical signal is converted into angular displacement information, commonly used in electrical system realizes angular displacement transmission and measurement, it is convenient for long-distance transmission, it is essentially a kind of ac rotary transformer. Its main structure is composed of a stator, rotor etc.

[0003] Self -angle machine main features are simple structure, stable operation, strong anti-interference ability, fast response etc., are widely used in various measurement and control systems;

[0004] Self -angle machine has some problems such as nonlinear problems caused by electrical error, mechanical error, which directly affects output accuracy.

[0005] Zero error refers to the deviation between actual output signal and ideal zero output signal when self -angle machine is in the theoretical zero position. It is when self -angle machine should be in a certain specific, representative angle starting or reference zero position according to design requirements, the actual output performance is different from the performance that should be output when it is exactly in the zero position. This difference is zero error. When the output signal based on zero error is converted into angle, the deviation caused by zero error will accumulate continuously with the continuous change of angle. Because the subsequent angle calculation is usually based on the initial zero deviation and carried out according to certain linear or nonlinear conversion relationship, so in the whole angle measurement interval, this error will gradually superimpose, so that the deviation between output angle and actual angle becomes larger and larger, and this deviation is not uniform linear increase, presents the complex nonlinear relationship with the change of angle, seriously affects the accuracy and reliability of self -angle machine output angle.

[0006] The nonlinear error of self -angle machine is caused by the superposition of multiple factors, when the output signal is used to determine the rotor angle, due to the signal distortion and complex change caused by electrical error, the angle value obtained by conventional conversion method and actual angle will produce nonlinear deviation. This deviation will be different with the change of rotor angle, so that the output of the whole angle measurement system presents nonlinear characteristics, reduces the measurement accuracy and the reliability of system.

[0007] The electrical error of the harmonic magnetic field generates a large number of harmonic components in the output signal. For example, the third harmonic magnetic field caused by the core saturation induces a third harmonic electromotive force in the winding, which is superimposed on the fundamental electromotive force. This makes the output signal waveform no longer a simple sine wave, but a complex waveform containing multiple frequency components. The existence of the harmonic components makes the correspondence between the output signal and the actual angle of the rotor extremely complex and nonlinear. When the output signal is used to restore the angle, these additional harmonic components interfere with the normal angle calculation, causing the angle measurement result to have irregular and nonlinear deviations at different angle positions, which seriously affects the accuracy and stability of the output angle of the synchro. Practical new type content

[0008] The utility model discloses a demodulator and synchro and synchro nonlinear compensation system can improve the accuracy and stability of the output angle of synchro.

[0009] To solve the above problems, the utility model provides a kind of demodulator, including synchro synchronous digital resolver, processor and input-output module, the demodulator is used to be electrically connected with synchro, the synchro synchronous digital resolver is used to receive the analog signal of synchro, and these analog signals are converted into digital quantity, the processor is electrically connected with synchro synchronous digital resolver, the processor is used to receive the signal of synchro synchronous digital resolver, processing and operation are carried out, and the processor can be electrically connected with the storage module by input-output module.

[0010] According to an embodiment of the utility model, the demodulator further includes a storage unit electrically connected to the processor for storing downloaded nonlinear compensation data packets.

[0011] Optionally, the input-output module can use wireless communication modules such as Bluetooth, WiFi, etc. wireless transmission mode, or can use wired communication mode.

[0012] According to an embodiment of the utility model, the input-output module includes a communication interface.

[0013] Preferably, the communication interface is an RS485 interface.

[0014] According to an embodiment of the utility model, the demodulator further includes a power supply module.

[0015] According to an embodiment of the utility model, the power supply module includes external power supply, direct current power supply group and auxiliary power supply, wherein the external power supply is used for providing initial electric energy for the whole demodulator, the direct current power supply group is used for converting the input voltage of the external power supply into the voltage that can supply power for the synchro resolver, and the auxiliary power supply is used for converting the input voltage of the external power supply into the voltage that can supply power for the processor and the input and output module.

[0016] According to an embodiment of the utility model, the power supply module further includes an excitation signal source for outputting an alternating excitation signal, which is output and transmitted to the synchro resolver to provide the excitation required for the operation of the synchro resolver, so that the synchro resolver can generate a corresponding output signal according to the rotor angle position thereof.

[0017] A synchro resolver includes the above-described demodulator.

[0018] A synchro resolver nonlinear compensation system includes a nonlinear compensation parameter acquisition system and the above-described demodulator, the nonlinear compensation parameter acquisition system includes a high-precision protractor, a rotary drive module, a reading module and a storage module, the high-precision protractor is provided with a mounting position for mounting the synchro resolver, the rotary drive module is used for driving the high-precision protractor to rotate, the reading module is used for reading the data of the synchro resolver, and the original demodulation data is matched with the angle of the high-precision protractor to form a one-to-one mapping relationship, so that the nonlinear compensation parameter acquisition is completed, and a nonlinear compensation data packet is generated, the nonlinear compensation data packet is stored in the storage module, preferably, the reading module and the storage module are preferably realized by a computer, and the demodulator is electrically connected with the nonlinear compensation parameter acquisition system through the input and output module.

[0019] According to an embodiment of the utility model, the rotary drive module includes a servo system, and the precision is higher.

[0020] The utility model discloses the beneficial effect is, through utilizing synchro resolver nonlinear compensation system, can obtain the nonlinear compensation data packet of different synchro resolver, when using synchro resolver, only need to utilize corresponding nonlinear compensation data packet, rely on the resolver digital resolver and processor in demodulator, carry out nonlinear compensation to the data of synchro resolver, thereby obtain the data of higher precision and stability. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model is further explained in connection with the drawings and embodiments.

[0022] Figure 1 It is whole schematic view for synchro resolver nonlinear compensation system.

[0023] Figure 2 It is the schematic diagram of demodulator. DETAILED DESCRIPTION

[0024] The following description is only used to disclose the utility model so that those skilled in the art can implement the utility model. The examples in the following description are only as examples, and other obvious modifications can be thought of by those skilled in the art. The basic principles of the utility model defined in the following description can be applied to other embodiments, modification schemes, improvement schemes, equivalent schemes and other schemes without departing from the spirit and scope of the utility model.

[0025] A demodulator, such as Figure 2 , comprises a synchro resolver synchronous digital resolver 1, a processor 2, an input and output module 3 and a storage unit, the above structure can be installed on a circuit board to form a demodulation board, the demodulator is used to be electrically connected with the synchro resolver 8, the synchro resolver synchronous digital resolver 1 is used to receive analog signals of the synchro resolver and convert the analog signals into digital quantities, the processor 2 is electrically connected with the synchro resolver synchronous digital resolver 1, the processor 2 is used to receive signals of the synchro resolver synchronous digital resolver 1, process and calculate, calculate high-precision theoretical actual values by using compensation data packets, and the processor 2 can be electrically connected with the storage module through the input and output module 3 to realize input and output of signals.

[0026] The processor 2 is preferably an ARM processor, which is the core control unit of the demodulator 12 and receives digital signals from the synchro resolver synchronous digital resolver 1. It processes and calculates these original angle signals. At the same time, the ARM processor is debugged and data is interacted with external devices through a debugging serial port, communicates and transmits data with other devices through an RS485 interface, realizes integration and collaborative work with the whole system.

[0027] Preferably, the storage unit can be arranged in the processor 2 or arranged separately.

[0028] The input and output module 3 adopts an RS485 interface, and the non-linear compensation data packet is downloaded into the storage unit FLASH in the demodulation board by the host computer through the RS485 interface in a specific electronic format.

[0029] The demodulator further comprises a power supply module, and the power supply module comprises an external power supply 6, a direct current power supply set 5, an auxiliary power supply 4 and an excitation signal source 7.

[0030] The external power supply 6 adopts a 24VDC power supply and is used to provide initial electric energy for the whole demodulator 12.

[0031] The direct current power supply set 5 is used to convert the 24VDC power supply input from outside into a direct current voltage of ±15V to supply power for the synchro resolver synchronous digital resolver 1.

[0032] The auxiliary power supply is used for converting the externally input 24VDC power supply into 5V and 3.3V through a power supply chip, and supplying the processor 2, RS485 communication circuit and signal driving circuit.

[0033] The excitation signal source 7 is powered by an external 24VDC power supply, and after filtering, the excitation signal source 7 inputs the filtered signal into an excitation power supply module. The excitation power supply module outputs RH and RL alternating excitation signals with a frequency of 400Hz and a voltage of 36V. The alternating excitation signals are output and transmitted to the selsyn 8, so as to provide the selsyn 8 with excitation required for work, and enable the selsyn 8 to generate corresponding output signals according to the angle position of the rotor of the selsyn 8.

[0034] When the selsyn 8 receives the excitation signals, the selsyn 8 outputs original angle data without compensation to the selsyn resolver 1 according to the angle position of the rotor of the selsyn 8.

[0035] The selsyn nonlinear compensation system, such as Figure 1 , comprises a nonlinear compensation parameter acquisition system and a demodulator 12. The nonlinear compensation parameter acquisition system comprises a high-precision index plate 9, a rotary driving module 10, a reading module and a storage module.

[0036] The high-precision index plate 9 is provided with a mounting position for mounting the selsyn 8. The rotary driving module 10 comprises a servo system. The rotary driving module 10 is used for driving the high-precision index plate 9 to rotate. The reading module is used for reading the data of the selsyn. The storage module is used for storing the nonlinear compensation data packet.

[0037] In the embodiment, the reading module and the storage module are preferably realized by a computer 11.

[0038] The computer 11 is electrically connected with the rotary driving module 10, and is used for controlling the rotation of the rotary driving module 10.

[0039] The specific steps of acquiring the nonlinear compensation parameters are as follows:

[0040] Step one: as Figure 1 , fix the selsyn numbered A on the high-precision index plate 9, such as fixing through a clamping structure, a bolt structure or the like. For example, 36000 points are selected for one circle. The computer 11 controls the servo system to rotate step by step every 0.01 degree, and synchronously reads the original demodulation data of the selsyn 8. The original demodulation data is labeled with the angle of the high-precision index plate 9 to form a one-to-one mapping relationship, and a nonlinear compensation data packet is generated. For example, the data packet is shown in the following table.

[0041] High precision protractor angle (theoretical actual angle) unit: ° Raw demodulation data (raw data exists nonlinear deviation) unit: ° 0.000 0.000 0.010 0.009 0.020 0.021 … … 359.99 359.989

[0042] Step two: when using the A-numbered self-encoder 8, then using the corresponding compensation data package, the demodulation board obtains high-precision theoretical actual value by reverse lookup according to the actually read original demodulation data, and this scheme has been applied in actual products, and the product precision can be improved by five times.

[0043] A self-encoder comprises the above-described demodulator 12.

[0044] It should be understood by those skilled in the art that the above description and the embodiments of the utility model shown in the drawings are only as examples and do not limit the utility model. The purpose of the utility model has been completely and effectively realized. The function and structural principle of the utility model have been displayed and explained in the embodiments, and the embodiments of the utility model can have any deformation and modification without departing from the principle.

Claims

1. A demodulator characterized by: The demodulator comprises a synchro resolver (1), a processor (2), an input-output module (3) and a storage unit, the processor (2) is electrically connected with the synchro resolver (1), the input-output module (3) and the storage unit.

2. The demodulator of claim 1, wherein: The input-output module (3) comprises a communication interface.

3. The demodulator of claim 2, wherein: The communication interface is an RS485 interface.

4. The demodulator of claim 2, wherein: The demodulator further comprises a power supply module.

5. The demodulator of claim 4, wherein: The power supply module comprises an external power source (6), a direct current power supply set (5) and an auxiliary power source (4).

6. The demodulator of claim 5, wherein: The power supply module further comprises an excitation signal source (7).

7. A self-encoder characterized by: The demodulator according to any one of claims 1-6.

8. A system for non-linear compensation of a synchro, characterized by: The demodulator (12) according to any one of claims 1-6 and a nonlinear compensation parameter acquisition system, the nonlinear compensation parameter acquisition system comprising a high-precision protractor (9), a rotary drive module (10), a reading module and a storage module, the high-precision protractor (9) being provided with a mounting position for mounting a synchro resolver, the rotary drive module (10) being used for driving the high-precision protractor (9) to rotate, the reading module being used for reading data of the synchro resolver, and the storage module being used for storing the data of the synchro resolver and data of the high-precision protractor (9) corresponding to the synchro resolver, the demodulator (12) being electrically connected with the nonlinear compensation parameter acquisition system through the input-output module (3).

9. The self-angulation non-linear compensation system of claim 8, wherein: The rotary drive module (10) comprises a servo system.

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