CN103048483B - Angle signal harvester and disposal route thereof - Google Patents

Abstract

An angle signal acquisition device, comprising: an outer cover, a mounting seat, a printed circuit board, a magnetic steel, a magnetic steel seat, and a signal processing module, wherein: the outer cover is provided with grooves and inner steps, and the printed circuit board is embedded in the outer cover It is positioned by the groove and the inner step, and is installed on the mounting base with the outer cover, and the magnetic steel is embedded and fixed in the magnetic steel base through the mounting base; wherein the printed circuit board is connected with the signal processing module, and the printed circuit board The angle is collected, and the angle is converted into serial data and output to the signal processing module, and the signal processing module processes the serial data to obtain angular velocity and angular acceleration. The angle signal acquisition device in the present invention has low cost, easy installation and small error.

Description

Angle signal acquisition device and processing method thereof

technical field

The invention relates to signal acquisition, in particular to an angle signal acquisition device and an angle signal processing method.

Background technique

At present, in order to better control the angular direction and rotational speed of the device, it is necessary to obtain an angular signal through a sensor, and adjust the control device according to the obtained angular signal. As for the selection of sensors:

The mechanical potentiometer is relatively difficult to install, and it is easy to cause mechanical wear after a long time of use. In addition, an analog-to-digital converter must be added to convert the signal into a digital signal before digital signal processing can be performed.

The principle of the gyroscope based on micro-electromechanical system (MEMS) technology is to judge the direction of the gyroscope by relying on the strength and orientation of the earth's magnetism. Due to the weak geomagnetic field, when there is a strong magnetic field near the sensor, the error will be large.

If linear acceleration is used to convert angular acceleration, at least three linear acceleration sensors must be fixed at different geometric positions. The geometric structure is complex, the cost is high, and there are geometric errors.

Contents of the invention

In view of this, it is necessary to provide an angle signal acquisition device and an angle signal processing method with low cost and small acquisition signal error.

The angle signal acquisition device provided by the present invention includes: an outer cover, a mounting seat, a printed circuit board, a magnetic steel, a magnetic steel seat and a signal processing module, wherein: the outer cover is provided with grooves and inner steps, and the printed The circuit board is embedded in the outer cover and positioned by the groove and the inner step, and is installed on the mounting base along with the outer cover, and the magnetic steel is embedded and fixed on the mounting base through the mounting base. In the magnetic steel base; wherein the printed circuit board is connected with the signal processing module, and the printed circuit board collects the angle by sensing the change of the strong magnetic field with strong anti-interference ability around the magnetic steel, and converts the angle into a serial The data is output to the signal processing module, and the signal processing module processes the serial data to obtain angular velocity and angular acceleration.

The present invention also provides a method for collecting and processing an angle signal, which includes the following steps: the angle sensor collects the angle through the change of the magnetic field of the magnet, and converts it into serial data that has a highly linear relationship with the angle; The change of the strong magnetic field with strong anti-interference ability around the steel is used to output the serial data to the signal processing module; the signal processing module processes the serial data to obtain angular velocity and angular acceleration.

The angular signal acquisition device and its acquisition and processing method in the embodiment of the present invention utilizes the angular velocity and angular acceleration collected by the printed circuit board, the magnetic steel and the signal processing module, and is low in cost, easy to install and small in error.

Description of drawings

Fig. 1 is a structural diagram of an angle signal acquisition device in an embodiment of the present invention;

Fig. 2 is a diagram of the connection relationship between the printed circuit board and the signal processing module in Fig. 1;

Fig. 3 is a block diagram of the signal processing module in Fig. 2;

Fig. 4 is the main flow chart of angle signal acquisition and processing method in one embodiment of the present invention;

FIG. 5 is a specific flowchart of step S30 in FIG. 4 .

detailed description

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In the description of the present invention, the orientation or positional relationship indicated by the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom" etc. are based on the drawings The orientations or positional relationships shown are only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation, and thus should not be construed as limitations on the invention.

Please refer to FIG. 1 . FIG. 1 is a structural diagram of an angle signal acquisition device in an embodiment of the present invention.

In this embodiment, the angle signal acquisition device includes: an outer cover 1 , a mounting base 4 , a printed circuit board 2 , a magnetic steel 3 and a magnetic steel base 5 .

In this embodiment, the outer cover 1 is provided with a groove and an inner step (not shown), and the printed circuit board 2 is embedded in the outer cover 1 and positioned by the groove and the inner step. , and installed on the mounting seat 4 along with the outer cover 1, the magnetic steel 3 is embedded and fixed in the magnetic steel seat 5 through the mounting seat 4.

Please refer to FIG. 2 . FIG. 2 is a diagram showing the connection relationship between the printed circuit board 2 and the signal processing module 10 in FIG. 1 .

In this embodiment, the angle signal acquisition device also includes a signal processing module 10 (not shown in FIG. 1 ), wherein the printed circuit board 2 is connected to the signal processing module 10, and the printed circuit board 2 collects the angle, and the The angle is converted into serial data and output to the signal processing module 10, and the signal processing module 10 processes the serial data to obtain angular velocity and angular acceleration.

In this embodiment, the signal processing module 10 is set in an FPGA (or CPLD) chip.

In this embodiment, the printed circuit board 2 is roughly circular, and is provided with an angle sensor, a voltage regulator, an analog-to-digital converter and related peripheral circuits, wherein the angle sensor is arranged on the printed circuit board 2 The middle part is used to accept the magnetic fields of different angles generated by the magnetic steel 5 .

In this embodiment, the angle sensor is a Hall angle sensor. The Hall angle sensor based on the Hall principle judges the change of the angle by sensing the change of the surrounding strong magnetic field, which is not easily affected by magnetic interference, and is low in cost and easy to install.

Please refer to FIG. 3 , which is a block diagram of the signal processing module 10 in FIG. 2 .

In this embodiment, the signal processing module 10 includes: a serial-to-parallel converter 101 , an angle zero adjuster 102 , an angle filter 103 , a first differentiator 104 , an angular velocity filter 105 and a second differentiator 106 .

In this embodiment, the serial-to-parallel converter 101 receives the serial data sent by the printed circuit board, and converts the serial data into parallel data.

In this embodiment, the serial data is 10 bits, and has a highly linear relationship with an angle from 0 to 360 degrees in a default state.

The angle zeroer 102 is used for zeroing the parallel data to obtain zeroing data.

The angle filter 103 is used to filter the zeroing data to obtain filtered data.

The first differentiator 104 is used for performing a differential operation on the filtered data to obtain the angular velocity. In this embodiment, the first differentiator 104 performs a time-differentiating operation on the filter data.

The angular velocity filter 105 is used to filter the angular velocity to obtain an angular velocity filtered signal.

The second differentiator 106 is used for performing a differential operation on the angular velocity filter signal to obtain the angular acceleration. In the present embodiment, the second differentiator 106 performs differential calculation with respect to time on the angular velocity filter data.

In this embodiment, the signal processing module 10 further includes a data memory 100 for storing parallel data, zeroing data, filtering data, angular velocity, angular velocity filtering signal, and angular acceleration.

In this embodiment, the signal processing module 10 further includes a program memory 108 , a parallel-to-serial converter 107 , and a chip select and clock signal generator 109 .

In this embodiment, the program memory 108 is used to store the program modified by the user, and the parallel-to-serial converter 107 transmits the modified program to the printed circuit board 2 in a serial manner.

In this embodiment, the chip select and clock signal generator 109 is used to ensure the synchronization of signal transmission between the printed circuit board 2 and the signal processing module 10 .

Please refer to FIG. 4 . FIG. 4 is a main flowchart of an angle signal processing method in an embodiment of the present invention.

In the present embodiment, the method for angle signal acquisition includes the following steps:

In step S10 , the angle sensor collects the angle according to the change of the magnetic field of the magnet 3 .

In step S20 , the printed circuit board 2 converts the angle into serial data and outputs it to the signal processing module 10 .

In step S30, the signal processing module 10 processes the serial data to obtain angular velocity and angular acceleration.

Please refer to Fig. 5, Fig. 5 shows the specific flowchart of step S30 in Fig. 4

In this embodiment, the specific steps of step S30 include the following steps:

In step S300, the serial-to-parallel converter 101 receives the serial data sent by the printed circuit board 2, and converts the serial data into parallel data.

In step S302, the angle zero adjuster 102 performs zero adjustment on the parallel data to obtain zero adjustment data.

In step S304, the angle filter 103 filters the zeroing data to obtain filtered data.

In step S306, the first differentiator 104 performs a differential operation on the filtered data to obtain the angular velocity.

In step S308, the angular velocity filter 105 filters the angular velocity to obtain an angular velocity filtered signal;

In step S310, the second differentiator 106 performs a differential operation on the angular velocity filter signal to obtain the angular acceleration.

The angle signal acquisition device and the angle signal processing method in the embodiment of the present invention utilize the angular velocity and angular acceleration collected by the printed circuit board 2, the magnetic steel 3 and the signal processing module 10, and are low in cost, easy to install and small in error.

Although the present invention has been described with reference to the current preferred embodiments, those skilled in the art should understand that the above-mentioned preferred embodiments are only used to illustrate the present invention, and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and scope of principles shall be included in the protection scope of the present invention.

Claims (4)

1. An angle signal acquisition device, comprising: an outer cover, a mounting seat, a printed circuit board, a magnetic steel, a magnetic steel seat and a signal processing module, wherein: The outer cover is provided with a groove and an inner step, and the printed circuit board is embedded in the outer cover and positioned by the groove and the inner step, and is installed on the mounting seat along with the outer cover , the magnetic steel is embedded and fixed in the magnetic steel seat through the mounting seat; Wherein the printed circuit board is connected with the signal processing module, and the printed circuit board collects the angle through the angle sensor arranged in the middle thereof, and converts the angle into serial data and outputs it to the signal processing module, and the signal processing The module processes the serial data to obtain angular velocity and angular acceleration; The signal processing modules include: a serial-to-parallel converter for converting the serial data into parallel data; an angle zero adjuster, used to perform zero adjustment on the parallel data to obtain zero adjustment data; an angle filter, configured to filter the zeroing data to obtain filtered data; a first differentiator, configured to perform a differential operation on the filtered data to obtain the angular velocity; an angular velocity filter, configured to filter the angular velocity to obtain an angular velocity filter signal; The second differentiator is configured to perform a differential operation on the angular velocity filter signal to obtain the angular acceleration. 2. The angle signal acquisition device according to claim 1, further comprising a data memory for storing parallel data, zeroing data, each filtering data and signal data of angle, angular velocity and angular acceleration. 3. angle signal acquisition device as claimed in claim 1, is characterized in that, described printed circuit board is provided with angle sensor, voltage stabilizer and analog-to-digital converter, wherein, angle sensor is used for receiving described magnetic steel Magnetic field generated at different angles. 4. A method utilizing the angle signal acquisition device according to claim 1 to collect angle signals, comprising: The angle sensor collects the angle through the change of the strong magnetic field around the magnet and converts it into serial data; The printed circuit board outputs the serial data to the signal processing module; The signal processing module processes the serial data to obtain angular velocity and angular acceleration; The signal processing module processing the serial data to obtain angular velocity and angular acceleration includes: receiving the serial data sent by the printed circuit board, and converting the serial data into parallel data; performing zero adjustment on the data to obtain zero adjustment data; filtering the zero adjustment data to obtain filtered data; performing differential operations on the filtered data to obtain the angular velocity; filtering the angular velocity to obtain an angular velocity filter signal; filtering the angular velocity The signal is differentiated to obtain the angular acceleration.