CN107747956A - A kind of data fusion method of round induction synchrometer - Google Patents
A kind of data fusion method of round induction synchrometer Download PDFInfo
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- CN107747956A CN107747956A CN201710760244.3A CN201710760244A CN107747956A CN 107747956 A CN107747956 A CN 107747956A CN 201710760244 A CN201710760244 A CN 201710760244A CN 107747956 A CN107747956 A CN 107747956A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
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Abstract
The invention discloses a kind of data fusion method of round induction synchrometer.This method is by obtaining 16 rough passages in the range of 360 ° of round induction synchrometer and being proficient in original figure angulation degrees of data, 180 coarse-fine zero drift values are obtained by 180 zero points being proficient in, angle compensation is carried out to the data of rough passage according to coarse-fine zero drift value, utilize the cycle residing for the rough passage angle-data positioning accurate passage after compensation, and the periodicity to being proficient in carries out cycle correction, the periodicity being proficient in is combined with being proficient in track data again, realizes the data fusion of inductosyn.Relative to traditional method only merged using cycle error correction, the absolute angle obtained using this method is adapted to more rugged environment, possesses higher reliability.
Description
Technical field
The present invention relates to a kind of data fusion method of round induction synchrometer, it is mainly used in based on round induction synchrometer
Angle measuring system, obtained correctly by data fusion, reliable round induction synchrometer absolute angle.
Background technology
In high-precision scanning control system, angle measuring system is its important part, round induction synchrometer due to
The various advantages such as precision is high, stability is good, are widely used as measuring cell and are applied.Round induction synchrometer by rough passage and
It is proficient in and is integrated on a plate, also, rough passage and to be proficient in be separate, the precision being proficient in can reach angle
Second level, the precision of rough passage are typically other in angle classification.When round induction synchrometer is applied in wide-angle angle measuring system, being proficient in can
To ensure measurement accuracy, but current accurate mechanical angle can not be positioned, rough passage can position current substantially mechanical angle
Degree, but measurement error is too big, therefore, it is necessary to rough passage and be proficient in and carry out data fusion, realizes angle measuring system absolute angle
The acquisition of degree.Round induction synchrometer data fusion will not reduce angle error, angle measurement accuracy be improved, still, if data fusion
Do well, the continuity of angle can be influenceed so that the jump of fixed angle size occurs in angle value, and hop interval is to be proficient in survey
± 1 times of cycle is measured, angle measurement accuracy is caused to influence, it is necessary to design a kind of data fusion method of high reliability indirectly.
The content of the invention
In order to solve problems of the prior art, the invention provides a kind of number fusion side of round induction synchrometer
Method.
The technical proposal for solving the technical problem of the invention is as follows：
(1) rough passage angle compensation：Obtain 16 rough passages in the range of 360 ° of round induction synchrometer and be proficient in original
Digital quantity angle-data, and decimal number is converted into, 180 coarse-fine zero drift values are obtained by 180 zero points being proficient in,
According to the size of coarse-fine zero drift value, offset adjustment is carried out to rough passage angle, offset value is coarse-fine zero drift
The average of maxima and minima, according to the coarse-fine zero drift value curve form after adjustment offset, after adjustment offset
Rough passage angle be segmented, segments interval is [6,10], and the coarse-fine zero drift value in every section of section is entered
Row linear fit, then the coarse-fine zero drift value after fitting is cut with the rough passage angle value after adjustment offset, complete to know a little about
The angle compensation in road.
(2) smart channel angle periodicity amendment：180 times are amplified to the rough passage angle value after compensation, and is converted into 24
Binary number, take the 13rd to the 16th to be converted into decimal number, and with being proficient in the 13rd of original figure angulation degrees of data
Position is compared to the decimal number of the 16th conversion, if comparative result is more than 7, to the 17th of the binary numbers of 24
Carried out to the 24th plus ' 1 ' corrects, if comparative result is less than -7, the 17th to the 24th of the binary numbers of 24 is entered
Row subtracts ' 1 ' amendment, if comparative result is more than or equal to -7, and less than or equal to 7, the angle periodicity being proficient in is without repairing
Just.
(3) smart channel angle is replaced：By low 16 data of 24 bits obtained in step (2) with being proficient in original
Beginning digital quantity angle-data is replaced, and it is the data after merging to obtain the new data of 24.
The beneficial effects of the invention are as follows：Using the data fusion method angle measuring system can be caused to adapt to the ring of rather harsh
Border, continuous absolute angle can be obtained in real time, significantly improve the performance of angle measuring system.
Brief description of the drawings
Fig. 1 is round induction synchrometer number blending algorithm FB(flow block)；
Fig. 2 is coarse-fine zero drift value piecewise graph；
Embodiment
Below in conjunction with the accompanying drawings 1 and accompanying drawing 2 the present invention is further described.According to concrete principle in above-mentioned " content of the invention ",
Devise a kind of data fusion method of round induction synchrometer.The sets of data fusion method is carried out according to the flow of accompanying drawing 1.
First, rough passage angle compensation is carried out：Obtain 16 rough passages in the range of 360 ° of round induction synchrometer and be proficient in
Road original figure angulation degrees of data, and decimal number is converted into, obtain 180 coarse-fine zero-bits by 180 zero points being proficient in
Deviation, according to the size of coarse-fine zero drift value, offset adjustment is carried out to the angle of rough passage, according to being adjusted in accompanying drawing 2
The curve form of coarse-fine zero drift value after offset, the angle of the rough passage after adjustment offset is divided into 9 sections, and to every
Rough passage angle after the adjustment offset of section carries out linear compensation.
Then, smart channel angle periodicity amendment is carried out：180 times are amplified to the rough passage angle value after compensation, and is converted
For the binary number of 24, the 13rd to the 16th is taken to be converted into decimal number, and with being proficient in original figure angulation degrees of data
The 13rd to the 16th conversion decimal number be compared, if comparative result be more than 7, to the binary numbers of 24
17th to the 24th is carried out plus ' 1 ' amendment, if comparative result is less than -7, to the 17th of the binary numbers of 24 to the
24 are subtracted ' 1 ' amendment, if comparative result is more than or equal to -7, and less than or equal to 7, the angle periodicity being proficient in does not enter
Row amendment.
Finally, smart channel angle replacement is carried out：It will complete to be proficient in 24 bit binary datas obtained after periodicity amendment
Low 16 data replaced with original figure angulation degrees of data is proficient in, obtain the new data of 24, complete data fusion.
Claims (1)
- A kind of 1. data fusion method of round induction synchrometer, it is characterised in that following steps：(1) rough passage angle compensation：Obtain 16 rough passages in the range of 360 ° of round induction synchrometer and be proficient in original figure Angulation degrees of data, and decimal number is converted into, 180 coarse-fine zero drift values are obtained by 180 zero points being proficient in, according to The size of coarse-fine zero drift value, offset adjustment is carried out to rough passage angle, and offset value is that coarse-fine zero drift is maximum The average of value and minimum value, according to the coarse-fine zero drift value curve form after adjustment offset, to thick after adjustment offset Channel angle is segmented, and segments interval is [6,10], and enters line to the coarse-fine zero drift value in every section of section Property fitting, then with adjustment offset after rough passage angle value cut be fitted after coarse-fine zero drift value, complete rough passage Angle compensation；(2) smart channel angle periodicity amendment：180 times are amplified to the rough passage angle value after compensation, and is converted into the two of 24 System number, the 13rd to the 16th is taken to be converted into decimal number, and the 13rd with being proficient in original figure angulation degrees of data is arrived The decimal number of 16th conversion is compared, if comparative result is more than 7, to the 17th of the binary numbers of 24 to the 24 are carried out adding ' 1 ' amendment, if comparative result is less than -7, the 17th to the 24th of the binary numbers of 24 is subtracted ' 1 ' amendment, if comparative result is more than or equal to -7, and less than or equal to 7, the angle periodicity being proficient in is without amendment；(3) smart channel angle is replaced：By low 16 data of 24 bits obtained in step (2) with being proficient in original number Word angulation degrees of data is replaced, and it is the data after merging to obtain the new data of 24.
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| CN201710760244.3A CN107747956A (en) | 2017-08-30 | 2017-08-30 | A kind of data fusion method of round induction synchrometer |
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| CN201710760244.3A CN107747956A (en) | 2017-08-30 | 2017-08-30 | A kind of data fusion method of round induction synchrometer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108562307A (en) * | 2018-03-30 | 2018-09-21 | 北京控制工程研究所 | It is a kind of based on n to the self-correcting angle-measuring method of pole inductosyn |
| CN110285750A (en) * | 2019-05-06 | 2019-09-27 | 上海航天控制技术研究所 | A kind of precision angle circuit and angle-measuring method |
| CN115686042A (en) * | 2022-10-25 | 2023-02-03 | 宁波天擎航天科技有限公司 | Encoder zero adjustment method and device, computer equipment and storage medium |
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| CN102829714A (en) * | 2012-08-16 | 2012-12-19 | 中国科学院西安光学精密机械研究所 | Method for realizing absolute angle measurement based on circular induction synchronizer |
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| GB2141235A (en) * | 1983-06-09 | 1984-12-12 | Evershed Power Optics | Position measurement |
| CN101581566A (en) * | 2009-07-20 | 2009-11-18 | 中国科学院上海技术物理研究所 | Method for coupling angle data of coarse-fine dual-angle sensor |
| CN102829714A (en) * | 2012-08-16 | 2012-12-19 | 中国科学院西安光学精密机械研究所 | Method for realizing absolute angle measurement based on circular induction synchronizer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108562307A (en) * | 2018-03-30 | 2018-09-21 | 北京控制工程研究所 | It is a kind of based on n to the self-correcting angle-measuring method of pole inductosyn |
| CN110285750A (en) * | 2019-05-06 | 2019-09-27 | 上海航天控制技术研究所 | A kind of precision angle circuit and angle-measuring method |
| CN115686042A (en) * | 2022-10-25 | 2023-02-03 | 宁波天擎航天科技有限公司 | Encoder zero adjustment method and device, computer equipment and storage medium |
| CN115686042B (en) * | 2022-10-25 | 2024-09-27 | 宁波天擎航天科技有限公司 | Encoder zero adjustment method, encoder zero adjustment device, computer equipment and storage medium |
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Application publication date: 20180302 |